CN115129797A - Electronic map processing method, device, equipment and storage medium - Google Patents

Electronic map processing method, device, equipment and storage medium Download PDF

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Publication number
CN115129797A
CN115129797A CN202110315820.XA CN202110315820A CN115129797A CN 115129797 A CN115129797 A CN 115129797A CN 202110315820 A CN202110315820 A CN 202110315820A CN 115129797 A CN115129797 A CN 115129797A
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China
Prior art keywords
road
node
turning
straight
steering
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CN202110315820.XA
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Chinese (zh)
Inventor
徐建
管婕
唐广法
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to CN202110315820.XA priority Critical patent/CN115129797A/en
Publication of CN115129797A publication Critical patent/CN115129797A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases

Abstract

The embodiment of the application discloses a processing method, a device, equipment and a storage medium of an electronic map; the embodiment can acquire road network information, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map. The scheme can improve the accuracy of the guiding information of the turning road in the electronic map.

Description

Electronic map processing method, device, equipment and storage medium
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a storage medium for processing an electronic map.
Background
The navigation function of the electronic map can give path indication according to actual road conditions, so that the paths of people can be effectively guided, and great convenience is brought to the travel of people. However, the electronic map requires that the map manufacturer obtain the actual road conditions of each road scene in advance, for example, the map database obtains the road scene data, and the electronic map is created based on the obtained road scene data. The turning road segment of the "turning exit road scene" defined in the current map database is not reported with the turning navigation prompt, and the turning exit road scene refers to a scene that a vehicle exits the current straight road through a turning road on the straight road. If the defect needs to be improved, the assignment needs to be performed on the turning road corresponding to the "turning exit road scene" in the electronic map, so as to generate the guiding information of the turning road in the data of the electronic map.
When assigning a value to a turning road in an electronic map, the related technology judges the turning road by combining the vehicle running track based on the collected picture data of the site road condition, the existing road shape data and assigns the value to the turning road based on the judgment result so as to generate the guiding information of the turning road in the data of the electronic map.
In the research and practice process of the prior art, the inventor of the application finds that when the steering road is judged and assigned based on the collected pictures of the road site road conditions, the existing road shape data and the vehicle running track, the vehicle running track is formed according to the artificial driving habits, errors are easy to occur when the guiding information of the steering road in the electronic map is generated, and therefore the accuracy of the guiding information of the steering road in the electronic map is influenced.
Disclosure of Invention
The embodiment of the application provides a processing method, a processing device, processing equipment and a storage medium of an electronic map. The accuracy in generating the guidance information for the turning road in the electronic map can be improved.
The embodiment of the application provides a processing method of an electronic map, which comprises the following steps:
acquiring road network information, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise turning roads and straight roads;
determining a road node having a connection relation with the turning road and the straight road as a bifurcation road root node;
searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road;
when the termination node is identified to be a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road;
and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to an electronic map.
Correspondingly, an embodiment of the present application provides an electronic map processing apparatus, including:
the road information acquisition unit is used for acquiring road network information, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise a turning road and a straight road;
a determination unit configured to determine a road node having a connection relationship with the steered road and the straight road as a bifurcation road root node;
the searching unit is used for searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road;
the second acquisition unit is used for acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road when the termination node is identified as a bifurcation road node;
the generating unit is used for generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter;
and the loading unit is used for loading the steering assignment to the electronic map.
In some embodiments, the determining unit includes:
a selecting subunit, configured to select, from the plurality of road nodes, a road node having a connection relationship with a turning road as a first road node;
an obtaining subunit, configured to obtain first connection information corresponding to the first road node;
a determining subunit, configured to determine that the first road node is a bifurcation road root node if it is detected that all roads connected to the first road node include the steered road and a straight road according to the first connection information;
and the determining subunit is further configured to, if it is detected according to the first connection information that all roads connected to the first road node do not include the straight road, execute a step of selecting, from the plurality of road nodes, a road node having a connection relationship with a turning road as the first road node until it is determined that the first road node is a bifurcation road root node.
In some embodiments, the determining subunit is further specifically configured to: analyzing the first connection information to obtain a first connection relation between the first road node and the steering road and a straight road, wherein the straight road comprises a straight entering road section and a straight exiting road section; when the first connection relation is detected to comprise that the first road node is used as a final node to be connected with a straight-going entering road, the first road node is used as an initial node to be connected with a straight-going exiting road, and the first road node is used as an initial node to be connected with the turning road, a road angle formed between the straight-going entering road and the straight-going exiting road is identified; and when detecting that a road angle formed between the straight-going entering road and the straight-going exiting road meets a preset angle threshold, determining that the first road node is a bifurcation road root node.
In some embodiments, the lookup unit includes:
the acquisition subunit is used for acquiring target connection information of the root node of the bifurcation road;
a searching subunit, configured to search, as a second road node, a road node that is directly or indirectly adjacent to the bifurcation road root node on a turn road corresponding to the target connection information, where the second road node is a road node on the turn road other than the bifurcation road root node;
the first determining subunit is used for determining the connection relationship between the second road node and the road according to the connection information of the second road node;
a second determining subunit, configured to determine that the second road node is a termination node when the second connection relationship is identified to include connection with the turning road using the second road node as a termination node and connection with the second road using the second road node as a connection node;
and the second determining subunit is further configured to, when it is identified that the second connection relationship includes that the second road node is used as a connection node to be connected with two segments of turn sections included in the turn road, determine that the second road node is an adjacent connection node, and perform a step of searching for a road node on the turn road corresponding to the target connection information, which is directly or indirectly adjacent to the bifurcation road root node, as the second road node, until it is determined that the second road node is a termination node.
In some embodiments, the generating unit is further specifically configured to: when the first direction parameter is detected to accord with the preset first direction parameter threshold value and the second direction parameter is detected to accord with the preset second direction parameter threshold value, generating a steering assignment of a steering road between the bifurcation road root node and the termination node as a left-turn value; and when the first direction parameter is detected to accord with the preset third direction parameter threshold value and the second direction parameter is detected to accord with the preset fourth direction parameter threshold value, generating a steering assignment of the steering road between the target road root node and the termination node as a right-turn value.
In some embodiments, the generating unit is further configured to generate guidance information of the steered road according to the steering assignment;
the loading unit is further used for loading the guiding information of the turning road to an electronic map.
In some embodiments, the generating unit includes:
the extraction subunit is configured to extract a turn road sequence corresponding to a turn road between the bifurcation road root node and the termination node, where the turn road sequence includes at least one turn road segment;
the generating subunit is used for marking the turning road sections contained in the turning road sequence according to the turning assignment to obtain turning mark data of the turning road sequence;
the generating subunit is further configured to generate guidance information of the steered road according to the steering marking data of the steered road sequence.
In some embodiments, the generating unit includes:
the acquisition subunit is configured to acquire a turn road sequence corresponding to the turn road, so as to acquire a turn road segment included in the turn road sequence;
the acquisition subunit is further configured to acquire a steering angle between any two adjacent segments of the steered road segments when it is detected that the steering sequence includes multiple segments of the steered road segments;
the searching subunit is used for searching a preset steering radian level list according to the steering angle to obtain a radian level corresponding to the steering angle;
the generating subunit is used for generating the guide information of the steering road according to the steering assignment and the radian level corresponding to the steering road section contained in the steering road;
and the loading unit is also used for loading the guide information of the steering road to an electronic map.
In some embodiments, the apparatus further comprises:
a third obtaining unit, configured to use the straight road where the bifurcation road root node is located as a first straight road, use the straight road where the termination node is located as a second straight road, and obtain a position relationship between the second straight road and the first straight road;
the generating unit is further used for generating steering road guide information corresponding to the target connection information according to the position relation and the steering assignment;
and the loading unit is used for loading the guide information of the steering road to an electronic map.
In addition, an electronic device is further provided in an embodiment of the present application, and includes a processor and a memory, where the memory stores an application program, and the processor is configured to run the application program in the memory to implement the processing method for the electronic map provided in the embodiment of the present application.
In addition, the embodiment of the present application further provides a computer-readable storage medium, where a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor to execute the steps in any electronic map processing method provided by the embodiment of the present application.
In addition, the embodiment of the present application also provides a computer program, and the computer program comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to enable the computer device to execute the steps in the processing method of the electronic map provided by the embodiment of the application.
According to the embodiment of the application, road network information can be obtained, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise turning roads and straight roads; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
In the embodiment, a bifurcation road root node connected with a turning road in road network information is selected, a termination node opposite to the bifurcation road root node is searched, so that a second direction parameter of the turning road between the bifurcation road root node and the termination node is determined, a first direction parameter of a straight road connected with the bifurcation road root node is determined, the turning of the turning road is determined based on the first direction parameter and the second direction parameter, so as to determine the turning assignment of the turning road, and data corresponding to the turning assignment is loaded to an electronic map; by the method, the steering assignment of the steering road is generated according to the road nodes and the roads of the road network information so as to be loaded to the electronic map, errors are avoided, and the accuracy of the guiding information of the steering road in the electronic map is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1a is a schematic view of a scene of a processing system of an electronic map provided in an embodiment of the present application;
FIG. 1b is a first schematic view of a diverted road in a road network according to an embodiment of the present application;
FIG. 1c is a second schematic view of a diverted road in a road network according to an embodiment of the present application;
fig. 2a is a flowchart of a first step of a processing method of an electronic map provided by an embodiment of the present application;
fig. 2b is a schematic diagram of a relationship between a straight entry road segment and a straight exit road segment provided in an embodiment of the present application;
fig. 3 is a flowchart of a second step of a processing method of an electronic map provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of a processing method of an electronic map provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a processing device of an electronic map provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a processing method, a processing device, processing equipment and a storage medium of an electronic map. The processing device of the electronic map may be integrated in an electronic device, and the electronic device may be a server or a terminal.
The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, Network service, cloud communication, middleware service, domain name service, security service, Network acceleration service (CDN), big data and an artificial intelligence platform. The terminal may be, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and the like.
For example, referring to fig. 1a, fig. 1a is a schematic view of a scene of a processing system of an electronic map provided in an embodiment of the present application. The present embodiment takes the example that the processing device of the electronic map is integrated in the electronic device. In this scenario, the cloud database 10 and the electronic device 20 are included, and if the electronic device is a server, a data interaction relationship exists between the cloud database and the server, specifically, data interaction may be implemented by establishing a data interaction channel, a communication connection, and the like between the cloud database and the server, where the data interaction may be unidirectional data transmission or bidirectional data transmission.
The cloud database 10 may be a map cloud database or a database storing map data, where the map data contained in the database includes geographic information data of all parts of the world, and the geographic information data may be data generated according to geographic information of all parts, and the geographic information is not limited to include: mountain information, water system network information, road network information. Taking the road network information as an example, the road network is not limited to include an expressway network, an urban backbone road network, a common lane intersection network, and the like, and the road network is composed of a plurality of roads and intersections between different roads. In the road network of this embodiment, each road may be composed of multiple sections of the same road segment or different road segments, each section of road segment may be defined as a road segment or a road (link), an intersection between different roads or different road segments may be defined as a road node or an intersection node, and the road node or the intersection node is a connection between different road segments or different roads. Further, road network information is generated according to roads and road nodes defined in the road network and is stored in map data; specifically, when generating the road network information, the geographic data exchange specification may be used to perform data conversion on the roads in the road network to obtain corresponding road geographic data information, so as to form the road network information, where the geographic data exchange specification may be: relational Data Format (RDF), Geographic Data File (GDF), and the like.
For example, in map data corresponding to a Relational Data Format (RDF), a data format of a steered road defined by the RDF data format is: the interrupt _ CATEGORY is 2, that is, the data is the data after the steering road is converted into the data form. The turning road has various scenes in a road network, such as a scene that the turning road is used for switching straight main lanes for left-turning or right-turning, and the like, and the following description is specifically referred to in conjunction with fig. 1b and fig. 1 c.
Referring to fig. 1b, fig. 1b is a first schematic view of a turn road in a road network provided in the present embodiment, as shown in fig. 1b, a position relationship between a first straight road 11 and a second straight road 13 is a staggered or crossed relationship, the first straight road 11 includes a first straight entering road 111 and a first straight exiting road 112, a bifurcation road root node 21 is connected to the first straight entering road 111 and the first straight exiting road 112 respectively, the bifurcation road root node 21 is connected to the first straight entering road 111 as an end node, and the bifurcation road root node 21 is connected to the first straight exiting road 112 as an initial node; and the bifurcation road root node 21 as a start node is connected to the diverted road 12. Further, the second straight road 13 is connected through a termination node 22 of the turn road 12. It should be noted that the turning road in fig. 1b belongs to a right-turning road, and it is understood that the left-turning road for other scenes is symmetrical or opposite to the right-turning road 12 in fig. 1b, which is not illustrated in this application.
Fig. 1c is a second schematic view of a turning road in a road network provided in the embodiment of the present application, where a positional relationship between a first straight road 31 and a second straight road 33 is a parallel relationship, and traveling directions of the first straight road 31 and the second straight road 33 are opposite, where the first straight road 31 includes a first straight entering road 311 and a first straight exiting road 312, a bifurcation road root node 41 is connected to the first straight entering road 311 and the first straight exiting road 312 respectively, the bifurcation road root node 41 is connected to the first straight entering road 311 as a final node, and the bifurcation road root node 41 is connected to the first straight exiting road 312 as a starting node; and the bifurcation road root node 41 as a start node is connected to the diverted road 32. Furthermore, the second straight road 33 is articulated by a termination node 42 of the diverted road 32. The above are merely exemplary cases of diverted roads in a road network, and the diverted roads in the present application are not limited to the road conditions described above or defined in fig. 1c, and road conditions similar or analogous to those described above are still within the scope of the present application.
And converting or defining the data format of the roads in the road network by using the data format to obtain the road geographic data in the corresponding electronic map data format. And after the road geographic data in the corresponding electronic map data format is obtained, generating road network information according to the road geographic data in the electronic map data format, and storing the road network information in a database.
The server (electronic device 20) may obtain road network information from the map database, where the road network information includes a plurality of road node information, a plurality of road information, and connection information of each road node connected to at least one road, where the types of the roads include a turn road and a straight road; determining a road node having a connection relation with a turning road and a straight road as a bifurcation road root node; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
It should be noted that the scenario diagram of the processing system of the electronic map shown in fig. 1a is merely an example, and the processing system and the scenario of the electronic map described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application, and it is known by a person of ordinary skill in the art that the technical solution provided in the embodiment of the present application is also applicable to similar technical problems with the evolution of the processing system of the electronic map and the appearance of new business scenarios.
The following are detailed descriptions. It should be noted that the following description of the embodiments is not intended to limit the preferred order of the embodiments.
The embodiment will be described from the perspective of a processing device of an electronic map, which may be specifically integrated in an electronic device, where the electronic device may be a server or a terminal; the terminal may include a tablet Computer, a notebook Computer, a Personal Computer (PC), a wearable device, a smart device of a virtual reality device, and the like.
The embodiment of the present application is described by taking an example in which the data processing method is executed by an electronic device.
As shown in fig. 2a, fig. 2a is a flowchart of steps of a processing method of an electronic map according to an embodiment of the present application, where when a processor on a terminal executes a program corresponding to the data processing method, a specific flow of the processing method of the electronic map is as follows:
210. road network information is obtained.
Specifically, the road network information includes a plurality of pieces of road node information, a plurality of pieces of road information, and connection information of each road node connected to at least one piece of road; the types of roads include a turn road and a straight road. Each piece of road node information corresponds to one road node, and each piece of road information corresponds to one section of road. The road network is a road system formed by a plurality of same roads or different roads, which are interconnected and interwoven into a mesh distribution, can be presented in a road architecture pattern mode, embodies the layout architecture of the roads, and can be a road network, an urban road network and the like. The road network information may include information such as the architecture, attributes, topological relationships, etc. of the road network or roads, which may reflect the positional relationships between the roads, the intersection manners between the roads having intersection relationships, etc. In the road network of this embodiment, each road may be composed of multiple sections of the same road segment or different road segments, each section of road segment may be defined as a road or a road segment, and intersections between different roads or different road segments may be defined as road nodes or intersection nodes, which are junctions between different road segments or different roads.
In some embodiments, the road network information may be obtained from a map database to determine a plurality of road nodes, a plurality of roads, and a connection relationship between each road node and at least one road included in the road network according to the road network information. The road network information may be road geographic data conforming to an electronic map data format, that is, road network information, which is obtained by converting data corresponding to a road network by using a geographic data exchange specification and stored in a database. The embodiment acquires the road network information to know the road network information of the target location or each place.
The straight road may be a straight lane, and the actual lane shape of the straight lane is not necessarily straight, and mainly refers to a lane path along which the vehicle travels along the designed route of the lane. And the turning road generally refers to a road which needs to be turned when the straight main lane driving is changed to a straight main lane of other different routes. Therefore, in a road network, the driving route of the traffic flow between two roads with different driving routes needs to be changed by a turning road, i.e. in the road structure, the turning road is hung between two straight roads with different driving routes, and it can be understood that the turning road is a road away from the straight roads.
In the embodiment of the present application, a road may be composed of multiple sections of different-shaped road segments or road segments with the same shape, the joints between the road segments are referred to as road nodes, and the road nodes may also be intersections located at intersections of different road segments, and it can be understood that the intersections are connected with multiple sections of road segments. The road network information includes road nodes and road types connected with the road nodes, and the connection information between the road nodes and at least one section of road can be embodied.
220. And determining a road node having a connection relation with the turning road and the straight road as a bifurcation road root node.
In the embodiment of the application, the turning roads in the road network are mainly identified to generate the turning assignment of the turning roads in the road network, so that the guiding information is generated and loaded into the electronic map, and the subsequent navigation guidance is facilitated.
Since many road nodes are comprised in a road network and each road node is connected to a respective functional or active road or road segment. In the embodiment of the present application, since the diverted road and the straight road are connected by the branched road node, in order to determine the subsequent steering assignment corresponding to the diverted road in the road network, the branched road root node in the road node needs to be determined first.
In some embodiments, step 220 comprises the steps of:
(1) selecting a road node which has a connection relation with a turning road from a plurality of road nodes as a first road node;
(2) acquiring first connection information corresponding to a first road node;
(3) if all roads connected with the first road node include a turning road and a straight road according to the first connection information, determining that the first road node is a bifurcation road root node;
(4) and if detecting that all roads connected with the first road node do not contain straight roads according to the first connection information, executing a step of selecting a road node which has a connection relation with the turning road from the plurality of road nodes as the first road node until the first road node is determined to be a bifurcation road root node.
The method includes the steps that firstly, road nodes which have connection relations with turning roads are selected from a plurality of road nodes to serve as first road nodes, the selection mode can be achieved in a traversing mode, for example, turning roads in a road network are searched in a traversing mode, road nodes connected with the turning roads are obtained, in the traversing process, traversing is usually conducted in the non-traversed turning roads, namely traversing is conducted in the turning roads without generating turning assignments and guiding information, and therefore the operation efficiency of traversing the turning roads is improved. In addition, the method can also be carried out by traversing road nodes, for example, traversing unidentified road nodes, and selecting road nodes having connection relation with the turning road from the traversed road nodes as first road nodes. The road node which has a connection relation with the turning road is preliminarily identified as the first road node through the above mode so as to be further screened or further generate corresponding data.
After a first road node having a connection relation with a turning road is selected, first connection information of the first road node is obtained, and the first connection information is connection information of the first road node and at least one section of road. And acquiring the connection relation between the first road node and the road according to the first connection information.
And identifying or detecting that the road connected with the first road node comprises a turning road and a straight road by the first connection information, and determining that the first road node is a bifurcation road root node. When the first connection information identifies or detects that the road connected by the first road node does not contain a straight road, the road node does not belong to a bifurcation road root node generally, but belongs to a connection node between two sections of road sections, traversing the next first road node, and identifying or detecting whether the road node is the bifurcation road root node or not by the first connection information of the next first road node; and (3) screening all the bifurcation road root nodes until all the first road nodes are traversed, or executing subsequent steps to generate a steering assignment candidate of the steering road to traverse the next first road node when the root bifurcation road root nodes are reached, wherein the steps are not limited.
In some embodiments, the step of "(3) determining that the first road node is the bifurcation road root node" when all the roads connected to the first road node include the diversion road and the straight road according to the first connection information may include:
(3.1) analyzing the first connection information to obtain a first connection relation between the first road node and a turning road and a straight road, wherein the straight road comprises a straight entering road section and a straight exiting road section;
(3.2) when the first connection relation is detected, namely the first road node is used as a final node to be connected with the straight-going entering road, the first road node is used as an initial node to be connected with the straight-going exiting road, and the first road node is used as an initial node to be connected with the steering road, identifying a road angle formed between the straight-going entering road and the straight-going exiting road;
and (3.3) when detecting that the road angle formed between the identified straight-going entering road and the straight-going exiting road meets the preset angle threshold, determining that the first road node is the bifurcation road root node.
It should be noted that one road node may be used as a starting node or an ending node of a section of road, or may be used as a starting node and an ending node between different sections of road, for example, one road node is used as an ending node of a section of road and is used as a starting node of another section of road, an ending node refers to a section of road located at the ending node as an end of the section of road, and an ending node refers to a section of road located at the starting node as a starting position of the section of road. Generally, a road includes multiple sections of road segments, and two adjacent sections of road segments are connected by road nodes, it can be understood that a road node is used as a final node of one section of road segment, and the final node is used as a starting node of another section of road segment, so that two adjacent sections of road segments are connected.
In this embodiment, the straight road includes a straight entry section and a straight exit section, the straight entry section and the straight exit section are connected by the same road node, and if the first road node is used as a final node to be connected with the straight entry section, and the first road node is used as an initial node to be connected with the straight exit section, and the first road node is used as an initial node to be connected with the turning road, the first node is located at the intersection of the bifurcation road. It should be noted that, when the steered road is determined to be steered, the steered road is determined to be dependent on the positional relationship with the straight road, and if two segments having the first road node as the start node are symmetrical, the steering action of the steered road on the road cannot be reflected, that is, it cannot be determined which of the two segments having the first road node as the start node has the steering action.
In this embodiment, it is necessary to determine that the straight entry link and the straight exit link constitute the straight road when the straight entry link and the straight exit link belong to a pair of similar links. Therefore, it is necessary to determine a road angle of a straight entry section and a road angle of a straight exit section included in the straight road, and then determine whether the straight entry section and the straight exit section are similar sections according to the road angles of the two, for example, when the road angle of the straight entry section and the road angle of the straight exit section both fall within a preset angle threshold range, it is determined that the straight entry section and the straight exit section are similar. Since the road angle of the straight entry road segment and the road angle of the straight exit road segment are calculated in the same manner, the embodiment takes calculating the road angle of the straight entry road segment as an example.
Referring to FIG. 2b, the scoreboard road root node is node1 and the coordinates of node1 are(x, y), the starting node of the straight-going entry road section is recorded as node2, and the coordinate of node2 is (x, y) 1 ,y 1 ) Recording coordinates (x) of end nodes of straight-through exit section 2 ,y 2 ) Then, the straight entering road is taken as the vector
Figure BDA0002991407550000131
And taking the straight-going exit road section as a vector
Figure BDA0002991407550000132
It is calculated as follows:
Figure BDA0002991407550000133
Figure BDA0002991407550000134
then, calculating the numerator dot and the denominator distance according to an included angle formula of the two vectors:
x 1 *x 2 +y 1 *y 2 ＝dot，
Figure BDA0002991407550000135
further, the following are calculated: cos θ is dot/distance;
and finally, solving the road included angle theta by using the inverse cosine:
and when a road angle theta formed between the straight-going entering road and the straight-going exiting road is obtained, comparing the road included angle with a preset angle threshold, setting the preset road included angle threshold to be within a range of 15 degrees, namely theta belongs to [0 DEG, 15 DEG ], and determining that the first road node is a bifurcation road root node.
230. And searching a termination node of the turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road.
After the bifurcation road root node is determined, target connection information corresponding to the bifurcation road root node is obtained, the target connection information is connection information of the bifurcation road root node, a straight road and a turning road, and whether a connection relation exists between the bifurcation road root node and the turning road can be determined according to the target connection information.
After the turning road having a connection relation with the bifurcation road root node is determined, since the turning road takes the bifurcation road root node as a starting node, an ending node of the turning road needs to be found. The end node represents an end node of a road, i.e. a road end of a road composed of one or more segments; in the present embodiment, the termination node is an end node of the steered road.
Specifically, the end node of the turning road corresponding to the target connection information in the road network is searched, and when the turning road only comprises a turning road section, the road node adjacent to the root node of the bifurcation road on the turning road is the end node; if the turning road includes a plurality of turning sections, the road node at the end of the turning road is a termination node, and a plurality of adjacent connection nodes may be included between the termination node and the bifurcation road root node on the turning road.
In some embodiments, step 230 specifically comprises the steps of:
(1) acquiring target connection information of a root node of a bifurcated road;
(2) searching road nodes which are directly or indirectly adjacent to the root nodes of the bifurcation roads on the turning roads corresponding to the target connection information as second road nodes, wherein the second road nodes are road nodes except the root nodes of the bifurcation roads on the turning roads;
(3) determining the connection relation between the second road node and the road according to the connection information of the second road node;
(4) when the second connection relation is identified, connecting the second road node serving as a terminal node with the turning road, connecting the turning road with the second road node serving as a connecting node, and determining the second road node as a terminal node;
(5) and when the second connection relation is identified to include that the second road node is used as a connection node to be respectively connected with two sections of turning road sections included in the turning road, determining the second road node as an adjacent connection node, and executing the step of searching for the road node which is directly or indirectly adjacent to the root node of the bifurcation road on the turning road corresponding to the target connection information as the second road node until the second road node is determined as a termination node.
In (5), the step of performing, as the second road node, a road node directly or indirectly adjacent to the bifurcation road root node on the turn road corresponding to the search target connection information until it is determined that the second road node is the end node may include the following steps:
after the second road node is determined to be the adjacent connecting node, another road node adjacent to the adjacent connecting node on the turning road is obtained to be used as the second road node;
acquiring second connection information corresponding to the second road node and the road from the connection information so as to identify a second connection relation between the second road node and the road according to the second connection information;
and when the second connection relation is identified to include that the second road node is used as a terminal node to be connected with the turning road and the turning road is used as a connection node to be connected with the second straight road, determining the second road node as the terminal node.
It should be noted that, when a plurality of road nodes are included between the bifurcation road root node and the terminating node on the diversion road, the plurality of road nodes included between the bifurcation road root node and the terminating node are adjacent connecting nodes, and the adjacent connecting nodes are road nodes directly or indirectly adjacent to the bifurcation road root node and are used for respectively connecting any two adjacent sections of diversion road sections included on the diversion road. When the end node of the turning road is searched, the road node directly or indirectly adjacent to the root node of the bifurcation road on the turning road is sequentially searched to be used as a second road node until the searched second road node is determined to be the end node.
Further, when the end node of the turning road is found, it may be determined whether the road is a main road by identifying the road attribute of the road where the end node is located, so as to determine whether the end node has a connection relationship with other main roads, which is specifically implemented as follows:
acquiring road attribute information corresponding to the second road to determine the hitching relation between the second road and other roads according to the road attribute information;
and when the second straight road hook is determined to have a hooking relation with other main roads according to the hooking information, determining that the road attribute of the second straight road is a straight road, and determining that the termination node is a branched main road node.
Through the method, the attribute of the second road where the end node of the turning road is located can be confirmed to determine the hitching relation between the second road and other roads, so that whether the second road is a non-motor lane or a rotary island attribute lane is determined. It can be understood that, when the second road connected to the turn road is a non-motorized lane or a rotary island attribute lane, the second road does not have a hitching relationship with other lanes, if the guidance information corresponding to the turn road is generated, the driver may be misled to enter the lane which cannot be normally driven according to the guidance information, that is, the guidance information corresponding to the turn road is the wrong guidance information.
240. And when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding steering road.
Specifically, when the end node is identified as a branch main road node, it is described that the end node enters the turn road from the branch road node on the straight road, and then the end node can enter another main lane from the turn road.
In this embodiment, in order to generate the guidance information of the turning road, the direction parameter of the straight road and the direction parameter of the turning road need to be determined first, so as to determine the turning assignment, and further generate the guidance information of the turning road. Firstly, the direction parameter of the straight road corresponding to the target connection information and the direction parameter corresponding to the corresponding steering road need to be acquired.
In this embodiment, the direction parameter may be an angle, a direction, a longitude and latitude, and the like, which is not limited herein. When acquiring the direction parameter, the direction of the straight road may be detected through an electronic compass algorithm or a trained model, and it should be noted that the direction parameter of the straight road corresponding to the target connection information is relative to the entire road network, so as to acquire a first direction parameter of the straight road in the entire road network and acquire a second direction parameter of the steered road in the entire road network. In other embodiments, a certain direction may be used as a reference direction by a specific algorithm, so as to obtain a first direction parameter of the straight road according to the reference direction, and obtain a second direction parameter of the turning road according to the reference direction, so as to determine a position relationship between the straight road corresponding to the target connection information and the corresponding turning road. The method can also be used for acquiring a first node coordinate of a root node of a bifurcation road through a road network, confirming a second node coordinate corresponding to a starting node corresponding to a straight-going entering road section taking the root node of the bifurcation road as a final node, and acquiring a first direction parameter of the straight-going entering road section in the straight-going road corresponding to target connection information according to the first node coordinate and the second node coordinate; further, a third node coordinate of the termination node on the turning road is obtained, and a second direction parameter of the turning road corresponding to the target connection information is obtained according to the first node coordinate and the third node coordinate. The above is an example of obtaining the direction parameter, and the present embodiment does not limit this.
250. And generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
In this embodiment, after the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are obtained, the turning assignment of the turning road corresponding to the target connection information may be determined according to a preset direction parameter threshold. The steering assignment is a value that identifies a steering of the steered road relative to the straight road, the steering assignment including a left turn value and a right turn value. After the steering assignments are obtained, the steering assignments can be loaded into an electronic map.
In some embodiments, the step of generating a steering assignment for the steered road according to the first direction parameter and the second direction parameter specifically includes:
when the first direction parameter is detected to accord with a preset first direction parameter threshold value and the second direction parameter is detected to accord with a preset second direction parameter threshold value, generating a steering assignment of a steering road between a bifurcation road root node and a termination node as a left-turning value;
and when the first direction parameter is detected to accord with the preset third direction parameter threshold value and the second direction parameter is detected to accord with the preset fourth direction parameter threshold value, generating a steering assignment of the steering road between the target road root node and the termination node as a right-turn value.
In this embodiment, the first direction parameter threshold value and the second direction parameter threshold value are left-turn threshold value conditions for determining that the turn road is a straight road (or a straight entry road having a bifurcation road root node as a final node in the straight road), and the third direction parameter threshold value and the fourth direction parameter threshold value are right-turn threshold value conditions for determining that the turn road is a straight road (or a straight entry road having a bifurcation road root node as a final node in the straight road). Exemplarily, taking an angle as a direction parameter as an example, setting a corresponding angle range of a first direction parameter threshold as [10, 80], setting a corresponding angle range of a second direction parameter threshold as [15, 160], and when an angle of a straight road (or a straight entering road in the straight road with a bifurcation road root node as a final node) conforms to [10, 80], and an angle of a turning road conforms to [15, 160], determining a turning assignment of the turning road between the bifurcation road root node and the final node as a left-turning value; and setting the corresponding angle range of the third direction parameter threshold value as [280, 350], setting the corresponding angle range of the fourth direction parameter threshold value as [200, 335], and when the angle of the straight road (or the straight entering road with the branched road root node as the final node in the straight road) is in accordance with [280, 350], and the angle of the turning road is in accordance with [200, 335], determining that the turning assignment of the turning road between the branched road root node and the final node is the right turning value.
Obtaining the turn road turn assignment, which may be expressed as "Link _ Left" and "Link _ Right" in data format, is achieved by the above-described embodiments to determine a turn or driving direction of the turn road going straight into the road segment in a relatively straight road in the electronic map.
In some embodiments, loading the steering assignment to the electronic map specifically includes the following steps:
(1) generating guidance information of a turning road according to the turning assignment;
(2) and loading the guiding information of the turning road to the electronic map.
Specifically, after obtaining a steering assignment of a steering road corresponding to the target connection information, the steering road needs to be calibrated according to the steering assignment, and guidance information of the steering road is generated after calibration, where it is noted that the guidance information is data in an electronic map data format corresponding to the steering road. Further, the guidance information of the turning road is loaded into the electronic map, so that the navigation function of the electronic map navigates and guides the vehicle which needs to travel to the turning road according to the guidance information.
Further, generating the guidance information of the turning road according to the turning assignment specifically comprises the following steps:
(1.1) extracting a turning road sequence corresponding to a turning road between a root node and a termination node of the bifurcation road, wherein the turning road sequence comprises at least one section of turning road section;
(1.2) marking a turning road section contained in the turning road sequence according to the turning assigned value to obtain turning mark data of the turning road sequence;
and (1.3) generating the guiding information of the turning road according to the turning mark data of the turning road sequence.
In this embodiment, the sequence of the turning road includes one or more turning sections, and when the sequence of the turning road includes multiple turning sections, the turning road is formed by connecting multiple turning sections.
After the steering assignment is obtained, obtaining steering road sections contained in a steering road sequence of a steering road corresponding to the target connection information, marking the steering road sections in the steering sequence to obtain steering marking data corresponding to each steering road section, wherein the steering marking data is in a data form for identifying the steering of the corresponding steering road section, namely the steering of the steering road sections is presented as the steering marking data in a data form; and then generating steering mark data of a steering road sequence according to the steering mark data corresponding to each steering road section, thereby generating the guiding information of the steering road section.
In another embodiment, the embodiments of the present application further include:
acquiring a steering road sequence corresponding to a steering road to acquire a steering road section contained in the steering road sequence;
when the steering sequence is detected to comprise a plurality of sections of steering road sections, acquiring the steering angle between any two adjacent sections of steering road sections;
and searching a preset steering radian grade list according to the steering angle to obtain the radian grade corresponding to the steering angle.
Further, loading the steering assignment to the electronic map specifically includes:
generating the guiding information of the turning road according to the turning assignment and the radian level corresponding to the turning road section contained in the turning road;
and loading the guiding information of the turning road to the electronic map.
In this embodiment, when it is detected that the sequence of the turn road corresponding to the target connection information includes a plurality of turn sections, since the shape of each turn section may be different, a turn angle between any two turn sections having a connection relationship is calculated, where the turn angle may be an angle required for a vehicle to travel through one turn section and another turn section. After the steering angles between all the adjacent two sections of steering road sections on the steering road are calculated, the radian levels corresponding to the steering angles are respectively searched according to a preset steering radian level list, the radian levels can reflect the turning acute degree between the corresponding adjacent two sections of steering road sections, the radian levels can be a first-level radian, a second-level radian, a third-level radian and the like, and the radian levels can also be a high-level radian, a middle-level radian, a low-level radian and the like. And further, generating the guiding information of the turning road according to the turning assignment and the radian level corresponding to each two adjacent turning road sections in the turning road.
Illustratively, when the sequence of the turning road comprises two turning road sections, the guidance information of the turning road is generated according to the radian level corresponding to the turning angle between the two turning road sections and the turning assignment. Specifically, when the radian level is a high-grade radian and the steering assignment value is a right turn value, the generated guidance information may be a high-radian right turn, and the message of the guidance information in the navigation function of the electronic map may be "please prepare for right turn, note that the right turn road is a high-radian right turn road, please note safety", which is not limited herein.
For example, when generating the guidance information, the present implementation may further determine the number of guidance information units in the guidance information according to the number of turn sections included in the turn road sequence. Specifically, when the turning road sequence comprises a plurality of turning road sections, the turning angles corresponding to all the turning road sections in the turning road sequence are obtained, the radian level corresponding to each turning angle is searched, a corresponding guiding information monomer is generated according to each turning radian and the turning assignment, and the guiding information of the turning road is generated according to all the guiding information monomers.
Further, the guidance information of the turn road is loaded to the electronic map so that the electronic map contains the guidance information data of the turn road to make a guidance message of the turn road in the navigation function of the electronic map.
In another implementation, the embodiments of the present application further include:
and taking the straight road where the root node of the bifurcation road is located as a first straight road, taking the straight road where the termination node is located as a second straight road, and obtaining the position relationship between the second straight road and the first straight road.
Further, loading the steering assignment to the electronic map includes:
generating steering road guide information corresponding to the target connection information according to the position relation and the steering assignment;
and loading the guiding information of the turning road to the electronic map.
It should be noted that the first straight road, the second straight road and the turning road are co-located, the turning road forms a hitching relationship or a connection relationship with the first straight road through the branching road root node, and the turning road forms a hitching relationship or a connection relationship with the second straight road through the termination node.
The driving directions of the first straight road and the second straight road are usually different, if the driving directions of the first straight road and the second straight road are opposite, the position relationship between the first straight road and the second straight road is parallel to each other, and if the driving direction of the second straight road is left or right relative to the driving direction of the first straight road, the position relationship between the first straight road and the second straight road is crossed or intersected. Generating the guiding information corresponding to the turning road according to the position relation and the turning assignment, wherein if the position relation between the first straight road and the second straight road is parallel to each other and the turning assignment is a left-turning value, the guiding information corresponding to the turning road is generated to be a left-turning U-turn; if the position relationship between the first straight road and the second straight road is crossed or intersected and the steering assignment is a right turn value, generating corresponding guiding information of the steering road to enable the steering road to enter other main lanes for right turn. The above description of the position relationship and the steering assignment generation guidance information is only an example, and the present embodiment may also include other examples similar or similar to the above description, and also belongs to the scope of the implementation manner of the present embodiment.
Furthermore, the guidance information of the turning road is loaded into the electronic map, so that the electronic map can play the navigation message of the corresponding turning road in the road network according to the guidance information.
It should be noted that, in the embodiment of the present application, the step 210 and the step 250 are used for determining the steering assignment of a certain steered road in the road network, so as to generate the guidance information of the steered road. However, for other turning roads in the road network, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are obtained by obtaining the root node of the bifurcation road corresponding to the turning road and the end node corresponding to the turning road, when the end node is the bifurcation road node, so as to determine the turning assignment of the corresponding turning road, and further generate the corresponding guiding information, and load the corresponding guiding information into the electronic map. According to the embodiment of the application, the guidance information is generated for all the target turning roads meeting the requirements in the road network in a traversing mode, and the guidance information is loaded into the electronic map. It should be noted that before the guidance information is loaded to the electronic map, guidance information may be generated for all target turning roads meeting the requirements in the road network, and then the guidance information corresponding to all target turning roads meeting the requirements is loaded to the electronic map; when the guide information of a certain target turning road meeting the requirement is generated, the guide information is loaded into the electronic map, and then the guide information of other target turning roads meeting the requirement is generated and loaded into the electronic map; and is not limited herein.
According to the embodiment of the application, the guide information of the corresponding target steering road meeting the requirements is generated through the plurality of pieces of road node information, the plurality of pieces of road information and the connection information between each road node and the road contained in the road network information, the on-site picture data and the on-site exploration track data of the corresponding steering road are not needed, the dependence on the real scene data of the steering road is avoided, the human resources are not needed, and meanwhile, the generation efficiency of the electronic map data is improved.
As can be seen from the above, the embodiment of the present application may acquire road network information, where the road network information includes information of a plurality of road nodes, information of a plurality of sections of roads, and connection information of each road node connected to at least one section of road, where the types of roads include a turn road and a straight road; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
Then, a bifurcation road root node connected with a turning road in the road network information is selected, a termination node opposite to the bifurcation road root node is searched, so that a second direction parameter of the turning road between the bifurcation road root node and the termination node is determined, a first direction parameter of a straight road connected with the bifurcation road root node is determined, the turning of the turning road is determined based on the first direction parameter and the second direction parameter, the turning assignment of the turning road is determined, and data corresponding to the turning assignment is loaded to an electronic map; by the method, the steering assignment of the steering road is generated according to the road nodes and the roads of the road network information so as to be loaded to the electronic map, errors are avoided, and the accuracy of the guiding information of the steering road in the electronic map is improved.
The method described in the above examples is further illustrated in detail below by way of example.
In this embodiment, an example will be described in which the processing device of the electronic map is specifically integrated in an electronic device.
As shown in fig. 3, a processing method of an electronic map includes the following specific processes:
301. road network information is obtained.
In this embodiment, the road network information may be obtained from the map database to determine a plurality of road nodes, a plurality of roads, and a connection relationship between each road node and at least one road in the road network according to the road network information.
In this embodiment, a road, also called link, is composed of a series of points to simulate a real road, and a road may be expressed by 1 or more links. Road nodes are the start and end points of a road, usually connecting multiple roads. The road shape point is a point in the road other than the start point and the end point, and is used to control the shape of the road. Road attributes, basic information for describing a road, such as road type, road grade, number of lanes, etc. The traffic flow direction refers to a direction in which the road allows the vehicle to travel. The road network information of the present embodiment is not limited to include the road-related information described above.
In this embodiment, the road network information may be data information obtained by converting map data in a specific electronic map data format, for example, by using a Relational Data Format (RDF) to perform data conversion on the map data, so as to obtain the road network information. It should be noted that, there is a difference in the use of the electronic map obtained by converting different data formats, for example, in the electronic map data obtained by converting the Relational Data Format (RDF), when exiting from a road, the navigation function does not need to broadcast a turn, and the turn road is defined as a corresponding data format: manoeuvre (interrupt _ CATEGORY ═ 2). Therefore, the electronic map is generated, when the electronic map is used for navigation, the electronic map broadcasts the corresponding turning road, if a vehicle enters another straight road on a certain straight road, the turning road needs to be turned left or right in advance, and the road function can prompt in front of or near a bifurcation road root node.
302. And determining a road node having a connection relation with the turning road and the straight road as a bifurcation road root node.
In this embodiment, the searching and identifying of the road nodes in the road network may be performed by a depth-first search algorithm. The depth-first search algorithm is an algorithm for traversing or searching a tree or a graph by which branches of the tree are searched as deep as possible, the branches of the tree being "V" shaped diverging paths or distributions that appear after a certain node, and in a road network, the branches "V" can be understood as diverging roads of diverging road nodes in the road network. When the edge of the "V" corresponding to the road node has been searched, the starting node of the edge that will go back to the found node (road node) "V" is searched, and this backtracking process is performed until all nodes reachable from the source node are found. If there are no more undiscovered nodes, then one is selected as the source node and the process is repeated, with the entire process repeating until all nodes have been accessed.
Further, the embodiment of the application is performed by combining a depth-first search algorithm with a "stack". The stack (stack), also known as stack, is a linear table with limited operation, belongs to a computer data structure, and has the characteristic of last-in first-out; it is limited to insert and delete operations only at the end of the table, this end being called the top of the stack and the opposite end being called the bottom of the stack. Inserting a new element into a stack, which is called stack pushing, stack pushing or push, and the new element is placed on the top element of the stack to be a new top element of the stack; deleting an element from a stack, also known as popping or popping, deletes the top-of-stack element, making its neighbors a new top-of-stack element.
In this embodiment, the road nodes in the road network are identified by a depth-first algorithm, and the identification process may be as follows: firstly, initializing, putting any road node into a stack, then taking out a first road node from the stack, detecting whether the road node is a bifurcation road root node, and if the road node is the bifurcation road root node, pressing the bifurcation road root node into the stack to search for an adjacent node of the bifurcation road root node; and if the road node is not the bifurcation road root node, detecting the bifurcation road root node.
When detecting whether a road node is a bifurcation road root, the method mainly comprises the following steps: determining whether the road node to be detected is a third-order point, namely whether three road sections are connected with the road node to be detected; determining whether a section of turning road exists in the road nodes to be detected, namely the turning road with a data format of Manoeuvre (Intersegment _ CATEGORY 2) and whether a straight-going entering road section and a straight-going exiting road section exist; it is respectively confirmed whether the road angle of the straight entry section and the road angle of the straight exit section are within a preset angle threshold range, such as [0, 15] in the present embodiment. And if the conditions are met, determining the road node as a bifurcation road root node.
303. And searching adjacent connecting nodes which are directly or indirectly adjacent to the root node of the bifurcation road on the diversion road corresponding to the target connecting information according to the target connecting information of the root node of the bifurcation road until searching the termination node of the diversion road corresponding to the target connecting information.
After the bifurcation road root node is pushed into the stack, the adjacent road nodes of the bifurcation road root node are searched. Wherein, the process of searching the adjacent road nodes of the bifurcation road root node is as follows: taking a bifurcation road root node from a stack, determining the connection relation between the bifurcation road root node and a road according to target connection information of the bifurcation road root node in road network information, searching adjacent road nodes of the bifurcation road root node, and judging whether the adjacent road nodes are second-order points or not, namely whether a road section (link) connected with the adjacent road nodes is two road sections or not; further determining whether two road sections connected with the adjacent road node are steering road sections, namely steering road sections corresponding to Manoeuvre (Intersegment _ CATEGORY) in data format; if the condition is met, determining an adjacent connecting node on the turning road where the bifurcation road root node of the adjacent road node is located, wherein the adjacent connecting node is used for connecting two adjacent turning road sections contained in the turning road; and pressing the adjacent connecting node into a stack, and continuously searching a road node which is indirectly adjacent to the root node of the bifurcation road on the diversion road, namely searching a next road node which is adjacent to the adjacent connecting node, and pressing the next road node into the stack.
Further, if the road node directly or indirectly adjacent to the root node of the bifurcation road is found on the diversion road and is not limited to the diversion road section, that is, the road of the road node directly or indirectly adjacent to the bifurcation road is not limited to the diversion road section corresponding to the Manoeuvre (indirect _ junction _ destination ═ 2) data format, it is determined that the road node directly or indirectly adjacent to the bifurcation road does not satisfy the condition of the adjacent connection node, it is determined that the road node directly or indirectly adjacent to the bifurcation road does not belong to the adjacent connection node on the diversion road and belongs to the termination node, and the road node directly or indirectly adjacent to the bifurcation road is popped up to obtain the termination node.
304. It is identified whether the termination node is a bifurcation road node.
And after the termination node is obtained, judging whether the termination node is a bifurcation road node which is the last road node connected with the steering road. Wherein, the process of judging whether the termination node is a bifurcation road node is as follows: identifying the connection information of the termination node to obtain the connection relation between the termination node and other roads or road sections, and determining whether the termination node has an exit road (exit link which has a hitching relation with a turning road) according to the connection relation, namely whether a road or a road section with the termination node as a starting point exists; when determining that a road or a road section with the termination node as a starting point exists, identifying whether the road attribute of the exit road section is a non-motor vehicle attribute or a rotary island attribute; when the road attribute of the exit road section is not identified to be the non-motor vehicle attribute or the roundabout attribute, the termination node is determined to be the bifurcation road node.
305. And when the termination node is identified to be a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road.
When the termination node is determined to be a bifurcation road node, the diversion road connected to the bifurcation road root node is determined to be a road meeting the requirement of the diversion prompt broadcasted in the navigation, so that the diversion of the diversion road needs to be further determined, such as turning left or turning right. Wherein the process of determining the steering of the steering road is: a first direction parameter of a straight entering road segment connected to the bifurcation road root node is calculated, and a second direction parameter of a diverted road connected to the bifurcation road root node is calculated, the direction parameter may be a direction in the road network, e.g. the direction parameter may be an angle.
306. And generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
After the first direction parameter of the straight-going entering road section connected with the root node of the bifurcation road and the second direction parameter of the turning road are obtained, the turning of the turning road connected with the root node of the bifurcation road can be judged according to the first direction parameter of the straight-going entering road section and the second direction parameter of the turning road, so that a turning assignment is determined, and the turning assignment is the direction data corresponding to the turning of the road. If the direction parameter is an angle, the turn of the steered road connected to the bifurcation road root node is determined to be left-turned if the first direction parameter satisfies the threshold range of [10, 80] and the second direction parameter satisfies [15, 160], and a left-turn value is generated (left-turn assignment), and the turn of the steered road connected to the bifurcation road root node is determined to be right-turned if the second direction parameter satisfies the threshold range of [280, 350] and the second direction parameter satisfies [200, 335], and a right-turn value is generated (right-turn assignment). And after obtaining the steering assignment of the steering road connected with the root node of the bifurcation road, determining that the steering road meets the requirement of prompting left turn or prompting right turn, and ending the road link exploration.
Further, after obtaining a steering assignment of a steering road connected with a root node of the bifurcation road, terminating the road link exploration, returning a steering road section in a steering road sequence traversed in the middle, namely obtaining a steering road sequence corresponding to the steering road, wherein the steering road sequence comprises one or more steering road sections, marking the steering road section in the steering road sequence according to the obtained steering assignment to obtain steering marking data corresponding to each steering road section, wherein the steering marking data is in a data form for marking the steering of the corresponding steering road section, namely the steering of the steering road section is presented as the steering marking data in a data form; and then generating steering mark data of a steering road sequence according to the steering mark data corresponding to each steering road section, thereby generating the guiding information of the steering road section.
On the other hand, if the first direction parameter does not satisfy the threshold range of [10, 80] or the second direction parameter does not satisfy [15, 160], and if the second direction parameter does not satisfy the threshold range of [280, 350] and the second direction parameter does not satisfy [200, 335], it is determined that the steered road does not satisfy the requirement of prompting left turn or prompting right turn, the road link exploration is terminated, and the attribute marking is not performed on the steered road segment contained in the steered road sequence.
As can be seen from the above, the embodiment of the present application may acquire road network information, where the road network information includes information of a plurality of road nodes, information of a plurality of sections of roads, and connection information of each road node connected to at least one section of road, where the types of roads include a turn road and a straight road; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
Then, a bifurcation road root node connected with a turning road in the road network information is selected, a termination node opposite to the bifurcation road root node is searched, so that a second direction parameter of the turning road between the bifurcation road root node and the termination node is determined, a first direction parameter of a straight road connected with the bifurcation road root node is determined, turning of the turning road is determined based on the first direction parameter and the second direction parameter, so as to determine a turning assignment of the turning road, and data corresponding to the turning assignment is loaded to an electronic map; by the method, the steering assignment of the steering road is generated according to the road nodes and the roads of the road network information so as to be loaded to the electronic map, errors are avoided, and the accuracy of the guiding information of the steering road in the electronic map is improved.
The method described in the above examples is further illustrated in detail below by way of example.
In this embodiment, an example will be described in which the processing device of the electronic map is specifically integrated in an electronic device.
As shown in fig. 4, a processing method of an electronic map includes the following specific processes:
s401: road network information is obtained.
The road network information includes a plurality of pieces of road node information, a plurality of pieces of road information, and connection information in which each road node is connected to at least one piece of road. The types of roads include a turn road and a straight road.
S402: and stacking the nodes of the link which is not traversed.
And searching and identifying road nodes in the road network through a depth-first algorithm, and stacking the road nodes which are not traversed.
S403: and (4) popping the road nodes at the top of the stack.
S404: judging whether the popped nodes meet the condition of a bifurcation road root node or not; if not, executing the flow steps S402-S404; if yes, determining that the pop node is a bifurcation road root node, and executing a flow step S405.
The conditions of the bifurcation road root node are as follows: determining whether the road node to be detected is a third-order point, namely whether three road sections are connected with the road node to be detected; determining whether a section of turning road exists in the road nodes to be detected, namely the turning road with a data format of Manoeuvre (Intersegment _ CATEGORY 2) and whether a straight-going entering road section and a straight-going exiting road section exist; it is respectively confirmed whether the road angle of the straight entry section and the road angle of the straight exit section are within a preset angle threshold range, such as [0, 15] in the present embodiment. If the above conditions are satisfied, the road node is determined to be a bifurcation road root node, and step S405 is executed. If the condition is not met, the road node is determined not to be the bifurcation road root node, the process steps S402-S404 are continuously executed, and another road node is searched through a depth-first algorithm to select the bifurcation road root node.
S405: and stacking the road nodes adjacent to the root node of the branched road.
After the bifurcation road root node is obtained, the adjacent road node of the bifurcation road root node is searched through a depth-first algorithm, and the adjacent road node is put on a stack.
S406: judging whether the road node adjacent to the root node of the bifurcation road meets the condition of an adjacent connecting node or not; if yes, the adjacent connection node is pushed to execute the flow steps S405-S406, and if not, the flow step S407 is executed.
Judging whether the adjacent road node is an adjacent connecting node or not, wherein the conditions are as follows: judging whether the adjacent road nodes are second-order points or not, namely whether the road sections (links) connected with the adjacent road nodes are two road sections or not; and further determining whether the two segments connected with the adjacent road node are turning segments, namely turning segments corresponding to Manoeuvre (Intersegment _ CATEGORY) in data format. If the condition is met, determining an adjacent connecting node on the turning road where the bifurcation road root node is located, executing the process steps S405-S406, pressing the adjacent connecting node into a stack, and continuously searching for a road node indirectly adjacent to the bifurcation road root node on the turning road, namely searching for the next road node adjacent to the adjacent connecting node until an adjacent road node which does not meet the condition of the adjacent connecting node is searched.
S407: and popping the adjacent road node to obtain a termination node.
And determining the adjacent road node as a termination node of the turning road.
S408: determining whether a turning road meets a preset left-turning or right-turning condition or not according to the road connected with the termination node; if yes, determining the termination node as a bifurcation road node, generating a corresponding steering assignment of the steering road between a bifurcation road following node and the bifurcation road node (termination node), and executing a step S409; if not, stopping searching link and ending the process.
Judging whether the termination node is a bifurcation road node or not, wherein the conditions are as follows: identifying the connection information of the termination node to obtain the connection relation between the termination node and other roads or road sections, and determining whether the termination node has an exit road (exit link which has a hanging relation with a turning road) according to the connection relation, namely whether a road or a road section with the termination node as a starting point exists; when determining that a road or a road section with the termination node as a starting point exists, identifying whether the road attribute of the exit road section is a non-motor vehicle attribute or a rotary island attribute; and when the road attribute of the exit road section is not identified to be the attribute of the non-motor vehicle or the attribute of the rotary island, determining the termination node as the node of the bifurcation road. When it is determined that the end node is a bifurcation road node, it is determined that the steered road meets a preset left-turn or right-turn condition, and the process step S409 is executed. And if the termination node is not the bifurcation road node, determining that the turning road does not meet the preset left-turn or right-turn condition, stopping exploring the road link, and ending the process.
S409: acquiring a steering road sequence corresponding to a steering road; and marking all the steering road sections contained in the steering road sequence according to the steering assignment values so as to load the steering assignment values to the electronic map. The flow ends.
Acquiring a steering road sequence corresponding to a steering road between a bifurcation road root node and a bifurcation road node (termination node); marking all the turning road sections contained in the turning road sequence according to the turning mark values to obtain the turning mark data corresponding to each turning road section, so as to obtain the turning mark data of the turning road sequence; and generating guide information of the turning road based on the turning mark data of the turning road sequence, and loading the guide information to the electronic map.
It should be noted that, in the embodiment of the present application, when the steps are implemented specifically, the above steps may be implemented independently, or may be combined arbitrarily, and the specific implementation of the steps of the above methods may refer to the foregoing method embodiment, which is not described herein again.
In order to better implement the above method, the present application further provides a processing apparatus of an electronic map, where the processing apparatus of the electronic map may be integrated in a network device, such as a server or a terminal, and the terminal may include a tablet computer, a notebook computer, and/or a personal computer.
For example, as shown in fig. 5, the processing device of the electronic map may include a first obtaining unit 510, a determining unit 520, a searching unit 530, a second obtaining unit 540, a generating unit 550, and a loading unit 560, as follows:
a first obtaining unit 510, configured to obtain road network information, where the road network information includes information about a plurality of road nodes, information about a plurality of sections of roads, and connection information about each road node connected to at least one section of road, where the types of roads include a diversion road and a straight road;
a determining unit 520 for determining a road node having a connection relationship with the turn road and the straight road as a bifurcation road root node;
a searching unit 530, configured to search, according to the target connection information of the root node of the bifurcation road, a termination node of the turn road corresponding to the target connection information;
a second obtaining unit 540, configured to obtain, when the termination node is identified as a bifurcation road node, a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turn road;
a generating unit 550, configured to generate a steering assignment of a steered road according to the first direction parameter and the second direction parameter;
a loading unit 560 for loading the steering assignments to the electronic map.
In some embodiments, the determining unit 520 includes:
the selecting subunit is used for selecting a road node which has a connection relation with the turning road from the plurality of road nodes as a first road node;
the acquisition subunit is used for acquiring first connection information corresponding to the first road node;
the determining subunit is used for determining the first road node as a bifurcation road root node if all roads connected with the first road node include a turning road and a straight road according to the first connection information;
and the determining subunit is further configured to, if it is detected according to the first connection information that all roads connected to the first road node do not include a straight road, perform a step of selecting, from the plurality of road nodes, a road node having a connection relationship with the steered road as the first road node until it is determined that the first road node is a bifurcation road root node.
Further, the determining subunit is further specifically configured to:
analyzing the first connection information to obtain a first connection relation between a first road node and a turning road and a straight road, wherein the straight road comprises a straight entering road section and a straight exiting road section;
when the first connection relation is detected to comprise that a first road node is used as a final node to be connected with the straight-going entering road, the first road node is used as an initial node to be connected with the straight-going exiting road, and the first road node is used as an initial node to be connected with the turning road, a road angle formed between a first road angle of the straight-going entering road and the straight-going exiting road is identified;
and when detecting that the road angle formed between the first road angle of the straight entering road and the straight exiting road meets the preset angle threshold, determining that the first road node is a bifurcation road root node.
In some embodiments, the lookup unit 530 includes:
the acquisition subunit is used for acquiring target connection information of a root node of the bifurcation road;
the searching subunit is used for searching road nodes which are directly or indirectly adjacent to the root node of the bifurcation road on the turning road corresponding to the target connection information as second road nodes, and the second road nodes are road nodes except the root node of the bifurcation road on the turning road;
the first determining subunit is used for determining the connection relation between the second road node and the road according to the connection information of the second road node;
the second determining subunit is used for determining the second road node as a termination node when the second connection relation is identified to include that the second road node is used as a termination node to be connected with the turning road and the turning road is connected with the second road node as a connection node;
and the second determining subunit is further configured to, when it is identified that the second connection relationship includes that the second road node is used as a connection node to be respectively connected with two sections of turning road sections included in the turning road, determine that the second road node is an adjacent connection node, and perform a step of searching a road node directly or indirectly adjacent to the bifurcation road root node on the turning road corresponding to the target connection information as the second road node until it is determined that the second road node is a termination node.
Further, the second determining subunit is further specifically configured to: after the second road node is determined to be the adjacent connecting node, another road node adjacent to the adjacent connecting node on the turning road is obtained to be used as the second road node; acquiring second connection information corresponding to the second road node and the road from the connection information so as to identify a second connection relation between the second road node and the road according to the second connection information; and when the second connection relation is identified to include that the second road node is used as a terminal node to be connected with the turning road and the turning road is used as a connection node to be connected with the second straight road, determining the second road node as the terminal node.
Further, the determining subunit is further configured to:
after the ending section of the turning road is found, acquiring road attribute information corresponding to the second road so as to determine the hitching relation between the second road and other roads according to the road attribute information;
and when the second straight road is determined to have a hanging relation with other trunk roads according to the hanging information, determining that the road attribute of the second straight road is a straight road, and determining that the termination node is a branched main road node.
In some embodiments, the generating unit is specifically configured to.
When the first direction parameter is detected to accord with a preset first direction parameter threshold value and the second direction parameter is detected to accord with a preset second direction parameter threshold value, generating a steering assignment value of a steering road between a bifurcation road root node and a termination node as a left-turn value;
and when the first direction parameter is detected to accord with the preset third direction parameter threshold value and the second direction parameter is detected to accord with the preset fourth direction parameter threshold value, generating a steering assignment of the steering road between the target road root node and the termination node as a right-turn value.
Further, in this embodiment, the generating unit 550 is further configured to generate guidance information of a steered road according to the steering assignment;
and a loading unit 560 for loading the guidance information of the turning road to the electronic map.
In some embodiments, the generating unit 550 includes: extracting a subunit and generating a subunit;
an extracting unit, configured to extract a turn road sequence corresponding to a turn road between a bifurcation road root node and a termination node after the generating unit 550 generates the guidance information, where the turn road sequence includes at least one turn road segment;
the generating subunit is further used for marking the turning road sections contained in the turning road sequence according to the turning assigned values to obtain turning mark data of the turning road sequence;
and the generating subunit is also used for generating the guiding information of the turning road according to the turning mark data of the turning road sequence.
In some embodiments, the generating unit 550 further comprises: acquiring a subunit, searching the subunit and generating the subunit;
the acquisition subunit is used for acquiring a turning road sequence corresponding to the turning road so as to acquire a turning road section contained in the turning road sequence;
the acquisition subunit is further used for acquiring a steering angle between any two adjacent segments of the steering road section when the steering sequence is detected to contain the segments of the steering road section;
and the searching subunit is used for searching a preset steering radian level list according to the steering angle to obtain the radian level corresponding to the steering angle.
The generating subunit is used for generating the guiding information of the turning road according to the turning assignment and the radian level corresponding to the turning road section contained in the turning road;
and a loading unit 560 for loading the guidance information of the turning road to the electronic map after the generation subunit generates the guidance information.
In some embodiments, the embodiments of the present application further include: a third acquisition unit;
and the third acquisition unit is used for taking the straight road where the root node of the bifurcation road is located as the first straight road, taking the straight road where the termination node is located as the second straight road, and acquiring the position relationship between the second straight road and the first straight road.
And a generating unit 550, configured to generate steering assignment of the steered road, and then generate guidance information of the steered road corresponding to the target connection information according to the position relationship and the steering assignment.
And a loading unit 560 for loading the guidance information of the steered road to the electronic map after the guidance information is generated by the generation unit 550.
In a specific implementation, the above units may be implemented as independent entities, or may be combined arbitrarily to be implemented as the same or several entities, and the specific implementation of the above units may refer to the foregoing method embodiments, which are not described herein again.
As can be seen from the above, the embodiment may obtain, by the first obtaining unit 510, road network information, where the road network information includes information about a plurality of road nodes, information about a plurality of sections of roads, and connection information between each road node and at least one section of road, where the types of the roads include a turning road and a straight road; determining a road node having a connection relationship with the turn road and the straight road as a bifurcation road root node by the determination unit 520; searching a termination node of the turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road through the searching unit 530; the second obtaining unit 540 is configured to, when it is identified that the termination node is a bifurcation road node, obtain a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turn road; the generation unit 550 generates a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and the loading unit 560 loads the steering assignment to the electronic map.
Then, a bifurcation road root node connected with a turning road in the road network information is selected, a termination node opposite to the bifurcation road root node is searched, so that a second direction parameter of the turning road between the bifurcation road root node and the termination node is determined, a first direction parameter of a straight road connected with the bifurcation road root node is determined, turning of the turning road is determined based on the first direction parameter and the second direction parameter, so as to determine a turning assignment of the turning road, and data corresponding to the turning assignment is loaded to an electronic map; by the method, the steering assignment of the steering road is generated according to the road nodes and the roads of the road network information so as to be loaded to the electronic map, errors are avoided, and the accuracy of the guiding information of the steering road in the electronic map is improved.
An electronic device according to an embodiment of the present application is further provided, as shown in fig. 6, which shows a schematic structural diagram of the electronic device according to an embodiment of the present application, specifically:
the electronic device may include components such as a processor 601 of one or more processing cores, memory 602 of one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 6 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:
the processor 601 is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, and performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 602 and calling data stored in the memory 602, thereby performing overall monitoring of the electronic device. Alternatively, processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 601.
The memory 602 may be used to store software programs and modules, and the processor 601 executes various functional applications and data processing by operating the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 access to the memory 602.
The electronic device further comprises a power supply 603 for supplying power to the various components, and preferably, the power supply 603 is logically connected to the processor 601 through a power management system, so that functions of managing charging, discharging, power consumption, and the like are realized through the power management system. The power supply 603 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
The electronic device may further include an input unit 604, and the input unit 604 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.
Although not shown, the electronic device may further include a display unit and the like, which are not described in detail herein. Specifically, in this embodiment, the processor 601 in the electronic device may load the executable file corresponding to the process of one or more application programs into the memory 602 according to the following instructions, and the processor 601 runs the application program stored in the memory 602, so that: acquiring road network information, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise turning roads and straight roads; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
As can be seen from the above, the computer device of the embodiment of the present application may obtain road network information, where the road network information includes a plurality of pieces of road node information, a plurality of pieces of road information, and connection information of each road node connected to at least one piece of road, where the types of the roads include a turn road and a straight road; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map. Then, a bifurcation road root node connected with a turning road in the road network information is selected, a termination node opposite to the bifurcation road root node is searched, so that a second direction parameter of the turning road between the bifurcation road root node and the termination node is determined, a first direction parameter of a straight road connected with the bifurcation road root node is determined, turning of the turning road is determined based on the first direction parameter and the second direction parameter, so as to determine a turning assignment of the turning road, and data corresponding to the turning assignment is loaded to an electronic map; by the method, the steering assignment of the steering road is generated according to the road nodes and the roads of the road network information so as to be loaded to the electronic map, errors are avoided, and the accuracy of the guiding information of the steering road in the electronic map is improved.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, where the instructions can be loaded by a processor to execute the steps in any one of the processing methods of the electronic map provided in the present application. For example, the instructions may perform the steps of:
acquiring road network information, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise turning roads and straight roads; determining road nodes which have a connection relation with a turning road and a straight road as bifurcation road root nodes; searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road; when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road; and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to the electronic map.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps in any medical image segmentation method provided in the embodiment of the present application, the beneficial effects that can be achieved by any electronic map processing method provided in the embodiment of the present application can be achieved, which are detailed in the foregoing embodiments and will not be described herein again.
According to an aspect of the application, there is provided, among other things, a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations of any of the embodiments of the present application described above.
The foregoing describes in detail a processing method, an apparatus, a device, and a storage medium for an electronic map provided in an embodiment of the present application, and a specific example is applied in the present application to explain principles and embodiments of the present application, and the description of the foregoing embodiments is only used to help understand a method and a core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. A processing method of an electronic map is characterized by comprising the following steps:
acquiring road network information, wherein the road network information comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise turning roads and straight roads;
determining a road node having a connection relation with the turning road and the straight road as a bifurcation road root node;
searching a terminal node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road;
when the termination node is identified as a bifurcation road node, acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road;
and generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter, and loading the steering assignment to an electronic map.
2. The method according to claim 1, wherein determining a road node having a connection relationship with the diverted road and the straight road as a bifurcation road root node comprises:
selecting a road node which has a connection relation with a turning road from the plurality of road nodes as a first road node;
acquiring first connection information corresponding to the first road node;
if all roads connected with the first road node include the turning road and the straight road according to the first connection information, determining that the first road node is a bifurcation road root node;
and if all roads connected with the first road node do not contain the straight road according to the first connection information, executing a step of selecting a road node having a connection relation with a turning road from the road nodes as the first road node until the first road node is determined to be a bifurcation road root node.
3. The method according to claim 2, wherein the determining that the first road node is a bifurcation road root node if it is detected that all roads connected to the first road node include the diverted road and a straight road according to the first connection information comprises:
analyzing the first connection information to obtain a first connection relation between the first road node and the steering road and a straight road, wherein the straight road comprises a straight entering road section and a straight exiting road section;
when the first connection relation is detected to comprise that the first road node is used as a final node to be connected with a straight-going entering road, the first road node is used as an initial node to be connected with a straight-going exiting road, and the first road node is used as an initial node to be connected with the turning road, a road angle formed between the straight-going entering road and the straight-going exiting road is identified;
and when detecting that a road angle formed between the straight-going entering road and the straight-going exiting road meets a preset angle threshold, determining that the first road node is a bifurcation road root node.
4. The method according to claim 1, wherein the searching for the end node of the turning road corresponding to the target connection information according to the target connection information of the bifurcation road root node comprises:
acquiring target connection information of the root node of the branched road;
searching road nodes which are directly or indirectly adjacent to the bifurcation road root node on a turning road corresponding to the target connection information as second road nodes, wherein the second road nodes are road nodes except the bifurcation road root node on the turning road;
determining the connection relation between the second road node and the road according to the connection information of the second road node;
when the second connection relation is identified, the second road node is used as a terminal node to be connected with the turning road, and the turning road is used as a connection node to be connected with a second road, the second road node is determined to be a terminal node;
and when the second connection relation is identified to include that the second road node is used as a connection node to be respectively connected with two sections of turning road sections included in the turning road, determining the second road node as an adjacent connection node, and performing a step of searching a road node which is directly or indirectly adjacent to the root node of the bifurcation road on the turning road corresponding to the target connection information as the second road node until the second road node is determined as a termination node.
5. The method of claim 1, wherein generating the steering assignment for the steered road based on the first direction parameter and the second direction parameter comprises:
when the first direction parameter is detected to accord with the preset first direction parameter threshold value and the second direction parameter is detected to accord with the preset second direction parameter threshold value, generating a steering assignment of a steering road between the bifurcation road root node and the termination node as a left-turn value;
and when the first direction parameter is detected to accord with the preset third direction parameter threshold value and the second direction parameter is detected to accord with the preset fourth direction parameter threshold value, generating a steering assignment of the steering road between the target road root node and the termination node as a right-turn value.
6. The method of claim 1, wherein loading the steering assignment to an electronic map comprises:
generating the guiding information of the steering road according to the steering assignment;
and loading the guiding information of the turning road to an electronic map.
7. The method of claim 6, wherein generating the guidance information for the steered road according to the steering assignment comprises:
extracting a turning road sequence corresponding to a turning road between the bifurcation road root node and the termination node, wherein the turning road sequence comprises at least one section of turning road section;
marking the turning road sections contained in the turning road sequence according to the turning assignment to obtain turning mark data of the turning road sequence;
and generating the guide information of the turning road according to the turning mark data of the turning road sequence.
8. An electronic map processing apparatus, comprising:
the road information acquisition system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring road network information which comprises a plurality of pieces of road node information, a plurality of pieces of road information and connection information of each road node connected with at least one piece of road, and the types of the roads comprise turning roads and straight roads;
a determination unit configured to determine a road node having a connection relationship with the turning road and the straight road as a bifurcation road root node;
the searching unit is used for searching a termination node of a turning road corresponding to the target connection information according to the target connection information of the root node of the bifurcation road;
the second acquisition unit is used for acquiring a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a corresponding turning road when the termination node is identified as a bifurcation road node;
the generating unit is used for generating a steering assignment of the steering road according to the first direction parameter and the second direction parameter;
and the loading unit is used for loading the steering assignment to the electronic map.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of processing an electronic map according to any one of claims 1-7 are implemented when the program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, realizes the steps of the processing method of an electronic map according to any one of claims 1 to 7.
CN202110315820.XA 2021-03-24 2021-03-24 Electronic map processing method, device, equipment and storage medium Pending CN115129797A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110315820.XA CN115129797A (en) 2021-03-24 2021-03-24 Electronic map processing method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110315820.XA CN115129797A (en) 2021-03-24 2021-03-24 Electronic map processing method, device, equipment and storage medium

Publications (1)

Publication Number Publication Date
CN115129797A true CN115129797A (en) 2022-09-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110315820.XA Pending CN115129797A (en) 2021-03-24 2021-03-24 Electronic map processing method, device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN115129797A (en)

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