CN102194312A - Road merging method and road merging device - Google Patents
Road merging method and road merging device Download PDFInfo
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- CN102194312A CN102194312A CN201010118505XA CN201010118505A CN102194312A CN 102194312 A CN102194312 A CN 102194312A CN 201010118505X A CN201010118505X A CN 201010118505XA CN 201010118505 A CN201010118505 A CN 201010118505A CN 102194312 A CN102194312 A CN 102194312A
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Abstract
The invention discloses a road merging method and a road merging device, which are used for preprocessing a real-time traffic rendered road. The method comprises the following steps: reading a road message; searching for crossing linkage information which contains the road message from a preset crossing linkage information set; acquiring a to-be-merged road of the road corresponding to the road message according to the crossing linkage information; and merging the road and the to-be-merged road into a whole road. The invention also discloses a road merging device for realizing the method. By using the road merging method and the road merging device provided by the invention, the smooth connection of shifted roads can be ensured.
Description
Technical field
The present invention relates to the intelligent transport technology field, relate in particular to a kind of road merging method and road and merge device.
Background technology
Along with expanding economy, the road network traffic capacity is difficult to satisfy the transport need that day by day increases, and traffic hazard, traffic congestion, environmental pollution and energy shortage become the difficult problem of puzzlement field of traffic.Under this background, how from the angle of system, people, car, road and environment comprehensive are considered, reduce economic loss, improve traffic operation efficient and safety, the thought of using various new and high technologies to solve traffic problems is arisen at the historic moment, and advanced technologies such as communication meanwhile, control and infotech provide strong technical support for the realization of above-mentioned thought, everything makes that (IntelligentTransport Systems ITS) produces intelligent transportation system naturally.
ITS is based on the hyundai electronics infotech, and towards the service system of communications and transportation, it is by collection, processing, issue, exchange and analysis to transport information, and for traveler provides multiple service, wherein a critical services is the real-time traffic service.
The real-time traffic service is by being presented in the real-time traffic states of road states such as () road are crowded, unimpeded and slow on the electronic chart, the prompting traveler is avoided crowded section of highway, the traffic route of making rational planning for, thereby alleviated traffic congestion effectively, reduced traffic hazard, for traveler has been built a comfortable safe environment.
In the process that the inventor studies and puts into practice existing real-time traffic service, find that existing real-time traffic service is when representing the real-time traffic states of road both direction, need to adopt the lane departure algorithm that road is offset, obtain two skew roads of road, on two skew roads, represent the traffic behavior of road both direction then respectively.Because the existing road migration algorithm carries out starting point and the terminal point that vertical shift obtains being offset road by starting point and terminal point to every road, before the feasible skew between the skew road (road A ' B ' and C ' D ' as shown in Figure 1) in the two road (road AB and CD as shown in Figure 1) of smooth connection breach appears, thereby cause between skew road A ' B ' and C ' D ', can't representing real-time traffic states, make the real-time traffic states and the actual conditions of finally presenting to traveler not be inconsistent, make traveler misunderstand.
For solving the problem that there is breach in the skew road, needing badly provides a kind of road treatment technology, adopts the existing road migration algorithm that the road that obtains by this treatment technology is offset, and can realize being offset the smooth connection of back road.
Summary of the invention
The technical matters that the embodiment of the invention will solve provides a kind of road merging method and road merges device, before being used for being offset road is merged processing and obtain merging road, adopt the existing road migration algorithm that described merging road is offset, can realize being offset the smooth connection of back road.
For solving the problems of the technologies described above, the objective of the invention is to be achieved through the following technical solutions:
The invention provides a kind of road merging method, comprising:
Read a road information;
Concentrate in the point of crossing link information that presets, search the point of crossing link information that comprises described road information;
According to described point of crossing link information, obtain the road to be combined of the corresponding road of described road information;
Road and road to be combined thereof are merged into a road.
The present invention also provides a kind of road to merge device, comprising:
The road information reading unit is used to read a road information;
The point of crossing link information is searched the unit, is used for concentrating in the point of crossing link information that presets, and searches the point of crossing link information that comprises described road information;
Road acquiring unit to be combined is used for according to described point of crossing link information, obtains the road to be combined of the corresponding road of described road information;
The road merge cells is used for road and road to be combined thereof and merges into a road.
Technique scheme has following beneficial effect:
The invention provides a kind of road folding scheme, the road of smooth connection was merged into a road before this scheme will be offset, and made the end points of road become the intermediate point that merges road.Because the existing road migration algorithm only carries out vertical shift to the starting point and the terminal point of road, and the road intermediate point is not adopted vertical shift, therefore, be combined road and be offset the road smooth connection still after skew that has guaranteed smooth connection before the skew.Further, the road of smooth connection represents real-time traffic states after skew, can not occur real-time traffic states again and represent discontinuous problem, guarantees that the real-time traffic states of finally presenting to traveler conforms to fully with actual conditions.
Description of drawings
Fig. 1 is the lane departure principle schematic;
Fig. 2 is that road provided by the invention merges method flow diagram;
Fig. 3 merges method flow diagram for the road that the embodiment of the invention one provides;
Fig. 4 the invention provides the real-time traffic states that technical scheme obtains and represents design sketch for adopting;
Fig. 5 is a point of crossing provided by the invention link information acquisition methods process flow diagram;
Fig. 6 is that road provided by the invention merges device composition synoptic diagram;
Fig. 7 is a point of crossing provided by the invention link information deriving means.
Embodiment
For the purpose that makes the embodiment of the invention, technical scheme, and advantage clearer, below the technical scheme that the embodiment of the invention provides is elaborated with reference to accompanying drawing.
See also Fig. 2, for road provided by the invention merges method flow diagram, this method comprises:
Step 101: read a road information, described road information comprises road markings and at least one endpoint type of a road; (supposing that the road markings that step 101 reads is that X and endpoint type are starting point)
It should be noted that, before carrying out road merging method provided by the invention, need to determine according to the actual direction of traffic of road in advance the starting point and the terminal point of road, that is to say that the endpoint type that described road information carries is the beginning or end of determining according to the actual direction of traffic of road.
Step 102: concentrate in the point of crossing link information that presets, search the point of crossing link information that comprises described road information;
Wherein, the point of crossing is meant the place that road intersects in the electronic chart, a point of crossing has connected two road at least, point of crossing link information collection is the set of many point of crossing link informations, article one, the point of crossing link information has write down the information of all roads of a point of crossing connection, specifically comprise: road markings, road endpoint type (beginning or end) and road travel permit number (that is road markings number).
Such as, a point of crossing has directly connected the terminal point of road 1, the terminal point of the starting point of road 2 and road 3, and then the point of crossing link information of this point of crossing correspondence comprises: road markings: 1, endpoint type: terminal point; Road markings: 2, endpoint type: starting point; Road markings: 3, endpoint type: terminal point; Road travel permit number (road markings number): 3.
Step 103:, obtain the road Y to be combined of road X according to the point of crossing link information that step 102 finds;
For guaranteeing that the road Y to be combined that step 103 is obtained is offset road preceding and road X smooth connection, described road Y to be combined need meet the following conditions simultaneously:
The first, travel and can not collide, be i.e. the actual direction of traffic unanimity in above-mentioned two road at described road Y to be combined and the vehicle that travels on described road X;
Because before carrying out road merging method provided by the invention, determine the starting point and the terminal point of road in advance according to the actual direction of traffic of road, therefore, if the endpoint type that step 101 is carried is a starting point, then when obtaining road to be combined, need from the point of crossing link information that step 102 finds, obtain the road that endpoint type is a terminal point, if the endpoint type that step 101 is carried is a terminal point, then when obtaining road to be combined, need from the point of crossing link information that step 102 finds, obtain the road that endpoint type is a starting point, to guarantee that the road Y to be combined that step 103 is obtained is the road of not colliding with road X.
The second, described road Y to be combined is the not merging road that did not merge with other any roads;
In the method provided by the invention, the road that merged will be marked as and merge road, therefore, merge mark by judging whether road has when obtaining road to be combined, then can obtain as yet not the not merging traffic road that merged with other roads;
Three, maximum and 90 °≤angle≤180 of the angle of described road Y to be combined and described road X ° are if the angle of road to be combined and road X is then used the angle of the supplementary angle of this angle as described tape merge road Y and described road X less than zero.
Repeating step 102 to step 103 is obtained the road J to be combined of described road Y to be combined, in like manner described road J to be combined is handled, up to getting access to all roads to be combined that begin to merge in proper order from described road Y to be combined;
Step 104: road X and road to be combined thereof are merged into a road;
Step 105: judge whether that road information does not read in addition,, then return step 101,, then finish this flow process if do not have if having.
More than be road merging method provided by the invention, the road of smooth connection was merged into a road before this method will be offset, and made the end points of road become the intermediate point that merges road.Because migration algorithm only carries out vertical shift to the starting point and the terminal point of road, the road intermediate point is not adopted vertical shift, therefore, employing be the invention provides the merging road that method obtains be offset, road smooth connection still after skew of smooth connection before can realizing being offset.Further, the road of smooth connection represents real-time traffic states after skew, can not occur real-time traffic states again and represent discontinuous problem, has guaranteed that the real-time traffic states of finally presenting to traveler conforms to fully with actual conditions.
With road shown in Figure 1 is example, road AB and road CD are two road originally, after adopting method provided by the invention, road AB and road CD will be merged into a road AD, this just makes original road terminal B and road end points C become the intermediate point of road AD, because migration algorithm only adopts vertical shift to the road end points, and adopt the mode of appending side-play amount to be offset, particularly: suppose that skew forward terminal B coordinate is (x to the road intermediate point
B, y
B), corresponding skew recoil be designated as (x '
B, y '
B), x '
B=x
B+ Δ x, y '
B=y
B+ Δ y* μ has guaranteed the smooth connection after road AB and CD are offset.Wherein, the coordinate offset amount that Δ x and Δ y preset for the technician, μ is the coordinate scale-up factor that presets, and the μ value can rule of thumb be set by the technician, and the present invention recommends the latitude cosine value of μ value by way of the region, road.
Further, exist the point of crossing link information only to write down the situation of two road information in the actual process, in this case in order to improve the processing speed that the invention provides road merging method, after step 102 finds the point of crossing link information, can first execution in step 103 ' judge that described point of crossing link information has not only write down two road information, judge promptly whether the road travel permit number that writes down in the link information of point of crossing is 2, if, then execution in step 104 is merged into a road with the two road of writing down in this point of crossing link information, if not, execution in step 103 again.
Further, write down in the point of crossing link information that step 102 is obtained under the information state of three above roads, satisfied the described condition of preamble for guaranteeing the road Y to be combined that step 103 is obtained, step 103 specifically comprises in actual applications:
From the point of crossing link information that step 102 is obtained, obtain road with the actual direction of traffic of road X identical (not colliding);
From the road identical with the actual direction of traffic of road X, obtain and do not merge the road road of mark (endlessly merge), described not merge road may be 0, more than 1 or 2, if 0, then finish this flow process; If 1, judge then whether this angle that does not merge road and road X satisfies the condition of 90 °≤angle≤180 °, if satisfy, then this is not merged the to be combined road of road as road X, if do not satisfy, then finishes this flow process; If more than 2, then calculate road X and these do not merge the angle of road, that selects therefrom that angle maximum and angle satisfy 90 °≤angle≤180 ° does not merge the to be combined road of road as road X.Need to prove, actual should be in usefulness, the technician can be according to data characteristic, the road of not colliding is obtained in decision, obtains and does not merge road, and it is maximum and satisfy the road of 90 °≤angle≤180 ° to obtain angle, the execution sequence of these three steps can't influence realization of the present invention.
In actual applications, can be according to cosine formula
, calculate the road angle,
Be the vector of the end points of road X to road X intermediate point, described end points is determined by the endpoint type that writes down in the link information of point of crossing;
Be that step 102 is obtained the vector that writes down other road end points and this road intermediate point in the link information of point of crossing, described end points is determined by the endpoint type that writes down in the link information of point of crossing.
It should be noted that a road comprises: road end points and several road intermediate points, for improving the angle degree of accuracy, when compute vector, recommend to select the road intermediate point adjacent with the road end points.Such as, the endpoint type that writes down in the road information of point of crossing is a starting point, then selects the road intermediate point adjacent with starting point, if the endpoint type that writes down in the road information of point of crossing is a terminal point, then selects the road intermediate point adjacent with terminal point.
Such as, the road information that step 101 reads comprises: road markings 114, terminal point; The point of crossing link information that step 102 finds comprises: road 114, terminal point; Road markings 120, starting point; Road markings 110, terminal point; Road markings 119, starting point; Road markings 122, starting point, so, the road of not colliding with road 114 comprises: road 120, and road 119 and road 122 merge road if road 120 is marked as, then need to calculate respectively the angle of road 114 and road 119 and road 122, if angle is respectively 89 °, 123 °, then the road to be combined that obtains of step 103 is a road 122.
More than be road merging method provided by the invention, the road merging method that the embodiment of the invention provides described in detail below in conjunction with instantiation.
Road merging method provided by the invention has following several embodiment:
See also Fig. 3, the road that provides for the embodiment of the invention one merges method flow diagram, and this method comprises:
Step 1011, read a road information, suppose that this road information comprises road markings X and starting point thereof;
Step 1021, concentrated in the point of crossing link information that presets is searched the point of crossing link information that comprises road markings X and starting point thereof;
Step 103 ' 1, judge whether the road travel permit number that writes down in the link information of described point of crossing is 2, if not, then enters step 1031, if then enter step 1041;
Step 1031, according to described point of crossing link information, obtain the road Y to be combined of road X;
Step 1041, road X and road Y are merged into a road Z;
If the endpoint type of the road Y to be combined that writes down in the point of crossing link information that step 1021 finds is a terminal point, then after step 1041, return step 1021 and search the point of crossing link information that comprises road markings Y and starting point thereof, execution in step 103 ' 1 to 1041 is obtained the road J to be combined that links to each other with road Y terminal point then, and road J to be combined and road Z are merged into road Z
1, in like manner treat merging road J and handle again, up to finding all roads to be combined that begin to merge into a road from road X starting point, finally merged road Z
i
Returning step 1021 concentrates in the point of crossing link information that presets, search the point of crossing link information that comprises road markings X and terminal point thereof, again according to the method for preamble described processing road markings X and starting point thereof, search all roads to be combined that begin to merge from road X starting point, and finally merged road N
j, last, with road Z
iWith road N
jMerge into a road;
Step 1051: judge whether that road information does not read in addition,, then return step 1011 and read next bar road information that handle according to the described flow process of preamble, details see also the preamble relevant portion, repeat no more for saving space again herein if having; If no, then finish this flow process.
More than the road merging method that provides for the embodiment of the invention one, said method it should be noted that when realizing that all roads that merged need add and has merged mark.
The embodiment of the invention two also provides a kind of road merging method, this method and embodiment one provide the difference of method only to be: road information includes only road markings, so, concentrate in the point of crossing link information that presets, then can find two point of crossing link informations, article one, described road markings and starting point thereof have been write down, article one, described road markings and terminal point thereof have been write down, then, the lane departure flow process that two point of crossing link informations that find are provided according to the embodiment of the invention one is respectively handled and is finally merged road.For saving space, embodiment two no longer describes in detail, and related content sees also the embodiment of the invention one.
In addition, embodiment one and embodiment two can merge the road to be combined that gets access to according to the described mode of preamble, also can search all roads to be combined that begin to merge from the road beginning or end earlier, again these roads are once merged into a road at last, can't be influenced realization of the present invention.
More than introduced the road merging method that the embodiment of the invention provides, seen also Fig. 4, be adopt the invention provides the skew road that road merging method obtains after, on described skew road, represent the design sketch of real-time traffic states.Road merging method provided by the invention has as shown in Figure 4 guaranteed the smooth connection of skew back road, has guaranteed the continuity that real-time traffic states represents on this basis.
In addition, the present invention also provides a kind of point of crossing link information acquisition methods, sees also Fig. 5, and this method comprises:
Step 201: an end points coordinate that reads road A;
Step 202: the end points coordinate of described end points coordinate and other roads is compared, obtain having other roads of same endpoints coordinate with road A;
Step 203: road markings, road endpoint type and the road markings number of road A and described other roads are kept in the point of crossing link information, return the other end point coordinate that step 201 reads road A, repeat above-mentioned steps and obtain another point of crossing link information;
Step 204: judged whether that road is untreated,, then returned step 201,, then finished above-mentioned flow process if do not have if having.
The point of crossing link information that obtains by said method has constituted point of crossing link information collection.
Further,, occur for fear of redundant point of crossing link information for point of crossing provided by the invention link information acquisition methods, an end points coordinate (being assumed to be starting point coordinate) that reads road A in step 201 afterwards, said method may further include:
In the existing record of point of crossing link information collection, search the point of crossing link information that comprises road markings A and starting point, if do not find, then enter step 202, if find, then read the terminal point coordinate of road A, repeat above-mentioned steps.
More than introduced road merging method provided by the invention, below in conjunction with accompanying drawing road provided by the invention has been merged device and describe in detail.
See also Fig. 6, the road that provides for the embodiment of the invention merges device composition synoptic diagram, and this device comprises:
Road information reading unit 301 is used to read a road information;
The point of crossing link information is searched unit 302, is used for concentrating in the point of crossing link information that presets, and searches the point of crossing link information that comprises described road information;
Road merge cells 304 is used for road and road to be combined thereof and is a road.
For guaranteeing that the road to be combined that road acquiring unit 303 to be combined obtains is the road of the corresponding road smooth connection of the preceding and described road information of skew, in actual applications, described road acquiring unit 303 to be combined specifically comprises:
The road acquiring unit of not colliding is used for obtaining the road of not colliding with the corresponding road of described road information from described point of crossing link information;
Do not merge the road acquiring unit, be used for the road of not colliding, obtain not the not merging road that merged with other roads from described;
Road acquiring unit to be combined does not merge the road from described, obtains the to be combined road of the road of maximum and 90 °≤angle≤180 of angle ° as the corresponding road of described road information.
For improving the processing speed that above-mentioned road merges device, said apparatus further comprises:
The road travel permit is counted judging unit, be used to judge that described point of crossing link information searches whether the road travel permit number of the point of crossing link information record of searching the unit is 2, if then trigger described road merge cells, if not, then trigger described road acquiring unit to be combined.
The present invention also provides a kind of point of crossing link information deriving means, sees also Fig. 7, and this device comprises:
Road end points reading unit 401 is used to read an end points coordinate of road;
With end points road acquiring unit 402, be used for described end points coordinate and other road end points coordinates are compared, obtain having other roads of same endpoints coordinate with described road;
Point of crossing link information acquiring unit 403, the information that is used for having described end points coordinate road deposits a point of crossing link information in.
In order to improve the processing speed of said apparatus, said apparatus further comprises: existing point of crossing link information is searched the unit;
Described road end points reading unit 401 after reading an end points coordinate of road, triggers described existing point of crossing link information and searches the unit;
Described point of crossing link information is searched the unit, be used for concentrating in the point of crossing link information, search the road markings that comprises described road and the point of crossing link information of described end points coordinate, if do not find, then trigger described with end points road acquiring unit, if find, then trigger another end points coordinate that described road end points reading unit reads road.
In actual applications, road merges device and point of crossing link information deriving means can comprise mutually, also can be separate.
More than a kind of road merging method provided by the present invention and road merged device be described in detail, for one of ordinary skill in the art, thought according to the embodiment of the invention, part in specific embodiments and applications all can change, in sum, this description should not be construed as limitation of the present invention.
Claims (11)
1. a road merging method is characterized in that, comprising:
Read a road information;
Concentrate in the point of crossing link information that presets, search the point of crossing link information that comprises described road information;
According to described point of crossing link information, obtain the road to be combined of the corresponding road of described road information;
Road and road to be combined thereof are merged into a road.
2. the method for claim 1 is characterized in that, described method further comprises:
Whether the road travel permit number of judging described point of crossing link information record is 2, if, then a road is merged in the two road of writing down in the link information of described point of crossing, if not, execution in step then:, obtain the road to be combined of the corresponding road of described road information according to described point of crossing link information.
3. method as claimed in claim 1 or 2 is characterized in that, and is described according to described point of crossing link information, and the road to be combined that obtains the corresponding road of described road information specifically comprises:
From the link information of described point of crossing, obtain and the identical road of the actual direction of traffic of the corresponding road of described road information;
From the identical road of actual direction of traffic, do not obtain not the not merging road that merged with other roads;
Do not merge the road from described, obtain the to be combined road of the road of maximum and 90 °≤angle≤180 of angle ° as the corresponding road of described road information.
4. method as claimed in claim 3 is characterized in that, the road that obtains maximum and 90 °≤angle≤180 of angle ° specifically comprises as the road to be combined of the corresponding road of described road information:
Calculate corresponding road of described road information and the described angle that does not merge road, if described angle is less than zero, the supplementary angle of then calculating described angle, with described supplementary angle as the road angle;
According to the described angle that calculates, that obtains maximum and 90 °≤angle≤180 of angle ° does not merge the to be combined road of road as the corresponding road of described road information.
5. method as claimed in claim 1 or 2 is characterized in that, described read a road information before, described method further comprises:
Read an end points coordinate of road;
Described end points coordinate and other road end points coordinates are compared, obtain having other roads of same endpoints coordinate with described road;
The information that will have described end points coordinate road deposits a point of crossing link information in.
6. method as claimed in claim 5 is characterized in that, after a described end points coordinate that reads road, described method further comprises:
Concentrate in the point of crossing link information, search the road markings that comprises described road and the point of crossing link information of described end points, if do not find, then carry out the described step that end points coordinate and other path coordinates are compared, if find, then carry out the described step that reads another end points coordinate of road.
7. a road merges device, it is characterized in that, comprising:
The road information reading unit is used to read a road information;
The point of crossing link information is searched the unit, is used for concentrating in the point of crossing link information that presets, and searches the point of crossing link information that comprises described road information;
Road acquiring unit to be combined is used for according to described point of crossing link information, obtains the road to be combined of the corresponding road of described road information;
The road merge cells is used for road and road to be combined thereof and merges into a road.
8. device as claimed in claim 7 is characterized in that, described device further comprises:
The road travel permit is counted judging unit, be used to judge that described point of crossing link information searches whether the road travel permit number of the point of crossing link information record of searching the unit is 2, if then trigger described road merge cells, if not, then trigger described road acquiring unit to be combined.
9. as claim 7 or 8 described devices, it is characterized in that described road acquiring unit to be combined specifically comprises:
The road acquiring unit of not colliding is used for obtaining the road of not colliding with the corresponding road of described road information from described point of crossing link information;
Do not merge the road acquiring unit, be used for the road of not colliding, obtain not the not merging road that merged with other roads from described;
Road acquiring unit to be combined does not merge the road from described, obtains the to be combined road of the road of maximum and 90 °≤angle≤180 of angle ° as the corresponding road of described road information.
10. as claim 7 or 8 described devices, it is characterized in that described device further comprises:
Road end points reading unit is used to read an end points coordinate of road;
With end points road acquiring unit, be used for described end points coordinate and other road end points coordinates are compared, obtain having other roads of same endpoints coordinate with described road;
Point of crossing link information acquiring unit, the information that is used for having described end points coordinate road deposits a point of crossing link information in.
11. device as claimed in claim 10 is characterized in that, described device further comprises: existing point of crossing link information is searched the unit;
Described road end points reading unit after reading an end points coordinate of road, triggers described existing point of crossing link information and searches the unit;
Described point of crossing link information is searched the unit, be used for concentrating in the point of crossing link information, search the road markings that comprises described road and the point of crossing link information of described end points, if do not find, then trigger described with end points road acquiring unit, if find, then trigger another end points coordinate that described road end points reading unit reads road.
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| CN201010118505.XA CN102194312B (en) | 2010-03-05 | 2010-03-05 | Road merging method and road merging device |
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| CN102567492A (en) * | 2011-12-22 | 2012-07-11 | 哈尔滨工程大学 | Method for sea-land vector map data integration and fusion |
| CN104077326A (en) * | 2013-03-29 | 2014-10-01 | 北京图盟科技有限公司 | Road data processing method and device |
| CN106156245A (en) * | 2015-04-28 | 2016-11-23 | 高德软件有限公司 | Line feature in a kind of electronic chart merges method and device |
| CN106776900A (en) * | 2016-11-30 | 2017-05-31 | 百度在线网络技术（北京）有限公司 | Traveling method and device |
| CN107704531A (en) * | 2017-09-21 | 2018-02-16 | 东南大学 | The automatic merging method of road network intersection node in a kind of OSM map datums |
| CN110019603A (en) * | 2017-10-31 | 2019-07-16 | 高德软件有限公司 | A kind of road data method for amalgamation processing and device |
| CN111737379A (en) * | 2020-04-13 | 2020-10-02 | 腾讯科技（深圳）有限公司 | Generation of road collection task, device, electronic equipment and readable storage medium |
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