CN116608846A - Road network generation method, system, electronic equipment and storage medium - Google Patents
Road network generation method, system, electronic equipment and storage medium Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
Abstract
The invention provides a road network generation method, a system, electronic equipment and a storage medium, wherein historical driving track data is constructed into track vectors, the track vectors are divided into track vector sets of a plurality of grids based on world coordinate grids, a single-pixel road network topological structure is constructed by using a core line extraction technology, and nodes and links in the single-pixel road network topological structure are obtained to complete construction of road network data, so that map translation for automatically processing and manufacturing the driving track data into map network data is realized, a map compiling function of a map road network without manual intervention is realized, the map compiling speed is greatly improved, and the timeliness of the road network is improved.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a road network generation method, system, electronic device, and storage medium.
Background
Road network refers to a road system which is formed by connecting various roads mutually and interweaving the roads into a net-shaped distribution in a certain area. The network topology is represented by using nodes and links in the map. link refers to a section of road, which is a basic unit of a road model in a navigation system, and node is an endpoint of link or an intersection point between links.
In the automatic driving field of high-precision map service, extremely high requirements are made on real-time accuracy of maps, the high-precision maps must reach the updating of grading and even second level in the future, and professional mapping teams are difficult to meet the new requirements, and map data are collected through a large number of automatic driving vehicles running on the road, and the mode of getting in the vehicle and using in the vehicle becomes the industry-accepted future. The data collection mode is low in cost, high in precision and large in quantity, so that how to realize automatic processing and extraction of the map road network is a technical problem to be solved.
Disclosure of Invention
The invention provides a road network generation method, a system, electronic equipment and a storage medium, aiming at the technical problems in the prior art, and aims to solve the problem of how to realize automatic processing and extraction of a map road network.
According to a first aspect of the present invention, there is provided a road network generation method, comprising:
constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids;
based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm;
extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set;
extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set;
summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid;
and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates to the single-pixel road network topological structure to generate road network data.
On the basis of the technical scheme, the invention can also make the following improvements.
Preferably, each track vector in the track vector set is composed of a start point coordinate, an end point coordinate, a ray angle from the start point coordinate to the end point coordinate, and a distance from the start point coordinate to the end point coordinate of each track data in the historical driving track data.
Preferably, the step of extracting the pixel coordinates of each Node in the single-pixel road network topology structure to obtain a Node pixel coordinate set includes:
setting a grid corresponding to the single-pixel road network topology structure as a grid diagram;
acquiring the number of adjacent points of each pixel point in the grid diagram in the single-pixel road network topological structure;
when the number is equal to 1 or more than 2, setting the corresponding pixel point as Node and obtaining the pixel coordinate of the Node;
and summarizing the pixel coordinates of the nodes in the single-pixel road network topological structure to obtain a Node pixel coordinate set.
Preferably, when the number is equal to 1 or greater than 2, the step of setting the corresponding pixel point as Node and obtaining the pixel coordinates of the Node includes:
when the number is equal to 1, setting the corresponding pixel point as a road endpoint Node, and acquiring the pixel coordinate of the road endpoint Node;
and when the number is more than 2, setting the corresponding pixel points as road intersection points Node, and acquiring pixel coordinates of the road intersection points Node.
Preferably, the step of extracting the coordinates of the pixels of the Link-shaped point strings of all roads in the corresponding grid based on the Node pixel coordinate set to obtain the Link pixel coordinate set includes:
setting a grid corresponding to the single-pixel road network topology structure as a grid diagram;
in the single-pixel road network topological structure, sequentially acquiring adjacent points of each pixel point of each topological branch;
when the adjacent points are in the Node pixel coordinate set, setting the adjacent points as the shape points of the corresponding topological branches;
summarizing the shape points of all topological branches in the single-pixel road network topological structure to obtain Link shape point strings of all roads and corresponding Link pixel point coordinate sets.
Preferably, after the step of summarizing the Link pixel point coordinate set to obtain the Link-shaped point string set in the preset world coordinate grid, the step includes:
and optimizing the Link-shaped point string set based on a Targelas-Pocke algorithm.
Preferably, after the step of summarizing the Link pixel point coordinate set to obtain the Link-shaped point string set in the preset world coordinate grid, the step includes:
storing the Link-shaped point strings in the Link-shaped point string set to the grid where the corresponding first Node is located, and storing the corresponding number in the corresponding non-first Node when the Link-shaped point strings span a plurality of grids.
According to a second aspect of the present invention, there is provided a road network generation system comprising:
the track mapping module is used for constructing a track vector set based on historical driving track data, and the track vector set is corresponding to a preset world coordinate grid to obtain track vector sets of a plurality of grids;
the topology construction module is used for obtaining a single-pixel road network topology structure corresponding to each grid by using a central line extraction algorithm based on the track vector set of each grid;
the Node extraction module is used for extracting the pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set;
the Link extraction module is used for extracting the pixel point coordinates of the Link-shaped point strings of all roads in the corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set;
the coordinate summarizing module is used for summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid;
and the road network construction module is used for calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set in the preset world coordinate network, and storing the longitude and latitude coordinates to the single-pixel road network topological structure to generate road network data.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of any of the road network generation methods of the first aspect described above when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management class program which, when executed by a processor, implements the steps of any one of the road network generation methods of the first aspect described above.
The invention provides a road network generation method, a system, electronic equipment and a storage medium, wherein the method comprises the following steps: constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids; based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm; extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set; extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set; summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid; and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates into the single-pixel road network topological structure to generate road network data. According to the invention, the historical driving track data is constructed into the track vector and is divided into the track vector sets of a plurality of grids based on the world coordinate grids, the single-pixel road network topology structure is constructed by using the center line extraction technology, and the nodes and links in the single-pixel road network topology structure are obtained to complete the construction of the road network data, so that the automatic processing of the driving track data into map translation of map network data is realized, the map compiling function of the map road network without manual intervention is realized, the map compiling speed is greatly improved, and the timeliness of the road network is improved.
Drawings
FIG. 1 is a flow chart of a road network generation method provided by the invention;
FIG. 2 is a schematic diagram illustrating calculation of Link angles connected to nodes according to the present invention;
FIG. 3 is a schematic diagram of a method for extracting road end points and intersections on a raster pattern according to the present invention;
FIG. 4 is a schematic diagram of a cross-grid Link-shaped point string provided by the present invention;
FIG. 5 is a schematic diagram of Link-shaped point string boundary point position adjustment provided by the present invention;
FIG. 6 is a schematic diagram of a road network generating system according to the present invention;
fig. 7 is a schematic hardware structure of a possible electronic device according to the present invention;
fig. 8 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a road network generating method provided by the present invention, where, as shown in fig. 1, the method includes:
step S100: constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids;
it should be noted that, the execution body of the method of this embodiment may be a computer terminal device having functions of data processing, network communication, and program running, for example: computers, tablet computers, etc.; the present embodiment is not limited to this, and may be a server device having the same similar function, or may be a cloud server having a similar function. For ease of understanding, this embodiment and the following embodiments will be described by taking a server device as an example.
It will be appreciated that the historical track data used herein does not include track data of vehicles on overhead, tunnels and ramps in order to further improve accuracy of the final road network data.
It should be understood that the above processing of the historical track data into a set of track vectors, where each track vector is composed of two coordinates, the first coordinate of the vector being the start position and the second being the end position. The direction of the vector is expressed in terms of the angle of the ray from the first coordinate to the second coordinate. The length of the vector is the distance of the two coordinates.
In a specific implementation, M degrees are taken as grid widths, and the whole world (longitude from-180 degrees to +180 degrees and latitude from-90 degrees to +90 degrees) is uniformly divided into (360/M) x (180/M) grids. And distributing the track vectors into corresponding grids according to the grid range, dividing the vectors crossing the grids into two vectors by taking crossing the grid points as dividing points, and finally forming track vector sets belonging to different grids. The M degree may be set according to specific requirements, which is not limited in this embodiment.
Step S200: based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm;
in a specific implementation, all grids are traversed in parallel, and a grid graph is created for each grid (wherein the longitude and latitude value occupied by a single pixel point is R). And the trajectory vector is plotted in a grid graph (the image coordinates are equal to the trajectory vector coordinates minus the grid bottom left corner coordinates divided by R). The wide roads drawn on the raster pattern are then converged into a road network topology having a width of only 1 pixel using a centerline extraction algorithm.
Step S300: extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set;
in a specific implementation, the grid patterns of all grids are traversed in parallel, and pixel coordinates of nodes are extracted. The pixel coordinates of Node are multiplied by R and the longitude and latitude coordinates of the lower left point of the grid are added to obtain the longitude and latitude coordinates of the Node. And then numbering (numbering in the grid) from top to bottom and from left to right according to the coordinate position of the Node in the grid. The number of each Node (the number is unique in the map) consists of the Node's grid number and its intra-grid number.
Step S400: extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set;
in a specific implementation, the grid graph of all grids is traversed in parallel, and the pixel coordinates of the Link points are extracted. And multiplying the pixel coordinates of the Link points by R and adding the longitude and latitude coordinates of the lower left point of the grid to obtain the longitude and latitude coordinates of the Link points. Taking Node as a center L as a radius to make a circle, intersecting a Link connected with the Node at a point W, and calculating the angle (Link angle) of a vector from the Node point to the W point; the Link angle numbers of all links connected with the Node are obtained according to the ascending sequence numbers of the Link angles from small to large, and the specific effect can be seen in fig. 2. The number of each Link (the number is unique in the map) consists of the number of the first Node of the Link and the angle number of the Link at the first Node.
Step S500: summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid;
in the specific implementation, all grids are traversed in parallel, all shape point strings of all Link in the road network are summarized, and then the shape point compression and smoothing are carried out by adopting the Tagella-Prak algorithm to obtain the optimized shape point string. Finally, storing the shape point string of the Link into the grid where the first Node is located; for Link crossing multiple grids, the number of the Link is stored in the grid where the non-initial Node is located.
Step S600: and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates to the single-pixel road network topological structure to generate road network data.
It can be appreciated that, based on the defects in the background technology, the embodiment of the invention provides a road network generation method. The method comprises the following steps: constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids; based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm; extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set; extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set; summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid; and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates into the single-pixel road network topological structure to generate road network data. According to the invention, the historical driving track data is constructed into the track vector and is divided into the track vector sets of a plurality of grids based on the world coordinate grids, the single-pixel road network topology structure is constructed by using the center line extraction technology, and the nodes and links in the single-pixel road network topology structure are obtained to complete the construction of the road network data, so that the automatic processing of the driving track data into map translation of map network data is realized, the map compiling function of the map road network without manual intervention is realized, the map compiling speed is greatly improved, and the timeliness of the road network is improved.
In a possible embodiment, the step of extracting Node pixel coordinates in the single-pixel road network topology further includes:
step S301: setting a grid corresponding to the single-pixel road network topology structure as a grid diagram;
step S302: acquiring the number of adjacent points of each pixel point in the grid diagram in the single-pixel road network topological structure;
step S303: when the number is equal to 1 or more than 2, setting the corresponding pixel point as Node and obtaining the pixel coordinate of the Node;
further, when the number is equal to 1, setting the corresponding pixel point as a road endpoint Node, and acquiring the pixel coordinate of the road endpoint Node; and when the number is more than 2, setting the corresponding pixel points as road intersection points Node, and acquiring pixel coordinates of the road intersection points Node.
Step S304: and summarizing the pixel coordinates of the nodes in the single-pixel road network topological structure to obtain a Node pixel coordinate set.
Referring to fig. 3, fig. 3 is a schematic diagram of a method for extracting road end points and intersections on a raster pattern according to the present invention; the specific method for extracting the road end points and the intersection points can be that in the raster drawing of the road network, the width of the raster drawing is set as W, and the height of the raster drawing is set as H; in the grid diagram, the road network is black, and the road network is white.
In order to further improve the accuracy of Node extraction, it is also necessary to process the boundary points in the raster image, sequentially take out each pixel point in the single-pixel road network topology structure, initialize the coordinates (X, Y) of the pixel point to be (0, 0), initialize the pixel coordinate list a, and obtain eight adjacent points of the pixel point, where if the pixel point is the boundary point of the raster image, then the eight adjacent points are as follows:
when the pixel point is the upper boundary point in the grid graph, if Y is greater than 0, putting (X, Y-1) into a list A;
when the pixel point is the top right boundary vertex in the grid graph, if X is greater than 0, putting (X-1, Y-1) into a list A;
when the pixel point is the top left boundary vertex in the grid graph, if X is smaller than W-1, putting (X+1, Y-1) into a list A;
when the pixel point is the right boundary point in the grid graph, if X is greater than 0, (X-1, Y) is put into a list A;
when the pixel point is the left boundary point in the grid graph, if X is smaller than W-1, putting (X+1, Y) into a list A;
when the pixel point is the lower boundary point in the grid graph, if Y is smaller than H-1, putting (X, Y+1) into a list A;
when the pixel point is the top point of the right lower boundary in the grid graph, if X is greater than 0, putting (X-1, Y+1) into a list A;
when the pixel point is the left lower boundary vertex in the grid graph, if X is smaller than W-1, (X+1, Y+1) is put into list A.
After the boundary point processing, counting the number and N of black pixels in the list A, wherein the number and N are adjacent points corresponding to the pixel coordinates (X, Y); if N is equal to 1, then the (X, Y) point is the road end Node, and if N >2, then the (X, Y) point is the intersection Node. And sequentially taking out each pixel point in the single-pixel road network topological structure until all pixel points are judged to be finished.
In the embodiment, the Node in the travelling path is automatically extracted by extracting the cross points and the end points in the topological structure of the single-pixel road network in the grid chart, so that the compiling speed of the map is greatly improved, and the timeliness of the road network is improved.
In a possible embodiment, the step of extracting the coordinates of the pixels of the Link-shaped point strings of all the roads in the corresponding grid based on the Node pixel coordinate set to obtain the Link pixel coordinate set includes:
step S401: setting a grid corresponding to the single-pixel road network topology structure as a grid diagram;
step S401: in the single-pixel road network topological structure, sequentially acquiring adjacent points of each pixel point of each topological branch;
step S401: when the adjacent points are in the Node pixel coordinate set, setting the adjacent points as the shape points of the corresponding topological branches;
step S401: summarizing the shape points of all topological branches in the single-pixel road network topological structure to obtain Link shape point strings of all roads and corresponding Link pixel point coordinate sets.
In a specific implementation, in a grid diagram drawn with a road network, setting the width of the grid diagram as W and the height as H; the grid graph has black road network, white road network and T Node pixel coordinate set.
Initializing a result set F, an intermediate list S and a pixel coordinate list A, taking out a pixel point P from the set T, inserting P into the tail part of the list S, and initializing the coordinates (X, Y) of the pixel point P to be (0, 0) to obtain eight adjacent points of the pixel point P, wherein if the pixel point is a boundary point of the grid graph, the eight adjacent points are subjected to the following steps:
when the pixel point is the upper boundary point in the grid graph, if Y is greater than 0, putting (X, Y-1) into a list A;
when the pixel point is the top right boundary vertex in the grid graph, if X is greater than 0, putting (X-1, Y-1) into a list A;
when the pixel point is the top left boundary vertex in the grid graph, if X is smaller than W-1, putting (X+1, Y-1) into a list A;
when the pixel point is the right boundary point in the grid graph, if X is greater than 0, (X-1, Y) is put into a list A;
when the pixel point is the left boundary point in the grid graph, if X is smaller than W-1, putting (X+1, Y) into a list A;
when the pixel point is the lower boundary point in the grid graph, if Y is smaller than H-1, putting (X, Y+1) into a list A;
when the pixel point is the top point of the right lower boundary in the grid graph, if X is greater than 0, putting (X-1, Y+1) into a list A;
when the pixel point is the left lower boundary vertex in the grid graph, if X is smaller than W-1, (X+1, Y+1) is put into list A.
After the boundary point processing, searching a coordinate B with black color of another pixel in the list A, if the coordinate B is in the set T, inserting the coordinate B to the end of the list S, replacing the coordinate of the pixel P with the coordinate of B, setting the coordinate of the pixel P to be white, continuing to traverse the set T until all the pixels in the set T are traversed, and inserting the coordinate B into the set F to obtain a Link-shaped point string set of all the roads in the raster image.
In the embodiment, the Link-shaped point strings in the single-pixel road network topological structure are extracted from the grid chart, so that the Link-shaped point strings in the driving tracks are automatically extracted, the map compiling speed is greatly improved, and the timeliness of the road network is improved.
In a possible embodiment, the step of summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid further includes:
acquiring a Link shape point string of an endpoint in the corresponding grid boundary in the Link pixel point coordinate set;
calculating Link-shaped point strings with adjacent endpoints based on longitude and latitude values R of single pixel points, and setting the Link-shaped point strings as Link-shaped point strings in a preset world coordinate grid;
in a specific implementation, referring to fig. 4, fig. 4 is a schematic diagram of a Link-shaped point string crossing a grid provided by the present invention; and when the longitude and latitude value occupied by a single pixel point is R, adding R to the endpoint coordinates of the endpoint in the Link line point string A when the endpoint is on the grid boundary, thereby calculating a Link line point string B with adjacent endpoints, and setting the Link line point string B and the Link line point string A as a Link-shaped point string in a preset world coordinate grid.
And carrying out endpoint correction on the Link-shaped point string without adjacent endpoints based on the longitude and latitude value R of the single pixel point.
In a specific implementation, referring to fig. 5, fig. 5 is a schematic diagram of Link-shaped point string boundary point position adjustment provided by the present invention, in which a circle represents a Link first point, a square represents an intermediate point, a pentagon represents a Link last point, and a triangle represents a boundary Node; the step of correcting the end point may be that when the end point P (head point and tail point) of the Link is determined to be on the grid boundary, the longitude and latitude value R of the single pixel point is obtained, if the X coordinate of the boundary point P is on the left edge of the grid, x=x+r; if the X coordinate of the boundary point P is on the right edge of the grid, x=x-R; if the Y coordinate of the boundary point P is on the lower edge of the mesh, y=y+r; if the Y coordinate of the boundary point P is on the lower edge of the grid, y=y-R.
In the embodiment, the Link-shaped point strings are searched in the grid road network map, so that the Link-shaped point strings are automatically summarized, the map compiling speed is greatly improved, and the timeliness of the road network is improved.
Referring to fig. 6, fig. 6 is a schematic diagram of a road network generating system according to an embodiment of the present invention, and as shown in fig. 6, the road network generating system includes a track mapping module 100, a topology construction module 200, a Node extraction module 300, a Link extraction module 400, a coordinate summarizing module 500, and a road network construction module 600, where:
the track mapping module 100 is configured to construct a track vector set based on historical driving track data, and correspond the track vector set to a preset world coordinate grid to obtain track vector sets of multiple grids;
the topology construction module 200 is configured to obtain a single-pixel road network topology structure corresponding to each grid by using a centerline extraction algorithm based on the track vector set of each grid;
the Node extraction module 300 is configured to extract a pixel coordinate of each Node in the single-pixel road network topology structure to obtain a Node pixel coordinate set;
link extraction module 400, configured to extract, based on the Node pixel coordinate set, pixel point coordinates of Link-shaped point strings of all roads in the corresponding grid, to obtain a Link pixel point coordinate set;
the coordinate summarizing module 500 is configured to summarize the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid;
the road network construction module 600 is configured to calculate longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set in the preset world coordinate network, and store the longitude and latitude coordinates to the single-pixel road network topology structure to generate road network data.
It can be understood that the road network generating system provided by the present invention corresponds to the road network generating method provided by the foregoing embodiments, and the relevant technical features of the road network generating system may refer to the relevant technical features of the road network generating method, which are not described herein.
Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 7, an embodiment of the present invention provides an electronic device including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320, the processor 1320 implementing the following steps when executing the computer program 1311:
constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids; based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm; extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set; extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set; summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid; and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates into the single-pixel road network topological structure to generate road network data.
Referring to fig. 8, fig. 8 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 8, the present embodiment provides a computer-readable storage medium 1400 on which is stored a computer program 1411, which computer program 1411, when executed by a processor, implements the steps of:
constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids; based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm; extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set; extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set; summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid; and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates into the single-pixel road network topological structure to generate road network data.
The invention provides a road network generation method, a system, electronic equipment and a storage medium, wherein the method comprises the following steps: constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids; based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm; extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set; extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set; summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid; and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates into the single-pixel road network topological structure to generate road network data. According to the invention, the historical driving track data is constructed into the track vector and is divided into the track vector sets of a plurality of grids based on the world coordinate grids, the single-pixel road network topology structure is constructed by using the center line extraction technology, and the nodes and links in the single-pixel road network topology structure are obtained to complete the construction of the road network data, so that the automatic processing of the driving track data into map translation of map network data is realized, the map compiling function of the map road network without manual intervention is realized, the map compiling speed is greatly improved, and the timeliness of the road network is improved.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method of road network generation, the method comprising:
constructing a track vector set based on historical driving track data, and corresponding the track vector set to a preset world coordinate grid to obtain track vector sets of a plurality of grids;
based on the track vector set of each grid, obtaining a single-pixel road network topological structure corresponding to each grid by using a central line extraction algorithm;
extracting pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set;
extracting pixel point coordinates of Link-shaped point strings of all roads in a corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set;
summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid;
and in the preset world coordinate network, calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set, and storing the longitude and latitude coordinates to the single-pixel road network topological structure to generate road network data.
2. The road network generation method according to claim 1, wherein each track vector in the track vector set is composed of a start point coordinate, an end point coordinate, a ray angle from the start point coordinate to the end point coordinate, and a distance from the start point coordinate to the end point coordinate of each track data in the history track data.
3. The road network generating method according to claim 1, wherein the step of extracting pixel coordinates of each Node in the single-pixel road network topology structure to obtain a Node pixel coordinate set comprises:
setting a grid corresponding to the single-pixel road network topology structure as a grid diagram;
acquiring the number of adjacent points of each pixel point in the grid diagram in the single-pixel road network topological structure;
when the number is equal to 1 or more than 2, setting the corresponding pixel point as Node and obtaining the pixel coordinate of the Node;
and summarizing the pixel coordinates of the nodes in the single-pixel road network topological structure to obtain a Node pixel coordinate set.
4. The road network generation method according to claim 3, wherein the step of setting the corresponding pixel point as Node and acquiring the pixel coordinates of the Node when the number is equal to 1 or greater than 2 comprises:
when the number is equal to 1, setting the corresponding pixel point as a road endpoint Node, and acquiring the pixel coordinate of the road endpoint Node;
and when the number is more than 2, setting the corresponding pixel points as road intersection points Node, and acquiring pixel coordinates of the road intersection points Node.
5. The method for generating a road network according to claim 1, wherein the step of extracting the pixel coordinates of the Link-shaped point strings of all roads in the corresponding grid based on the Node pixel coordinate set to obtain the Link pixel coordinate set comprises the steps of:
setting a grid corresponding to the single-pixel road network topology structure as a grid diagram;
in the single-pixel road network topological structure, sequentially acquiring adjacent points of each pixel point of each topological branch;
when the adjacent points are in the Node pixel coordinate set, setting the adjacent points as the shape points of the corresponding topological branches;
summarizing the shape points of all topological branches in the single-pixel road network topological structure to obtain Link shape point strings of all roads and corresponding Link pixel point coordinate sets.
6. The road network generation method according to claim 1, wherein after the step of summarizing the Link pixel point coordinate set to obtain the Link-shaped point string set in the preset world coordinate grid, the method comprises:
and optimizing the Link-shaped point string set based on a Targelas-Pocke algorithm.
7. The road network generation method according to claim 1, wherein after the step of summarizing the Link pixel point coordinate set to obtain the Link-shaped point string set in the preset world coordinate grid, the method comprises:
storing the Link-shaped point strings in the Link-shaped point string set to the grid where the corresponding first Node is located, and storing the corresponding number in the corresponding non-first Node when the Link-shaped point strings span a plurality of grids.
8. A road network generation system, comprising:
the track mapping module is used for constructing a track vector set based on historical driving track data, and the track vector set is corresponding to a preset world coordinate grid to obtain track vector sets of a plurality of grids;
the topology construction module is used for obtaining a single-pixel road network topology structure corresponding to each grid by using a central line extraction algorithm based on the track vector set of each grid;
the Node extraction module is used for extracting the pixel coordinates of each Node in the single-pixel road network topological structure to obtain a Node pixel coordinate set;
the Link extraction module is used for extracting the pixel point coordinates of the Link-shaped point strings of all roads in the corresponding grid based on the Node pixel coordinate set to obtain a Link pixel point coordinate set;
the coordinate summarizing module is used for summarizing the Link pixel point coordinate set to obtain a Link-shaped point string set in the preset world coordinate grid;
and the road network construction module is used for calculating longitude and latitude coordinates of the Node pixel coordinate set and the Link-shaped point string set in the preset world coordinate network, and storing the longitude and latitude coordinates to the single-pixel road network topological structure to generate road network data.
9. An electronic device comprising a memory, a processor for implementing the steps of the road network generation method according to any one of claims 1-7 when executing a computer management class program stored in the memory.
10. A computer-readable storage medium, characterized in that a computer management class program is stored thereon, which when executed by a processor, implements the steps of the road network generation method according to any of claims 1-7.
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