CN114969880B - Road model construction method and device - Google Patents
Road model construction method and device Download PDFInfo
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- CN114969880B CN114969880B CN202110221022.0A CN202110221022A CN114969880B CN 114969880 B CN114969880 B CN 114969880B CN 202110221022 A CN202110221022 A CN 202110221022A CN 114969880 B CN114969880 B CN 114969880B
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Abstract
The invention discloses a road model construction method and device, comprising the following steps: acquiring road network data in a designated range; based on road type information and road connection relation included in road network data, identifying combinable main road and auxiliary road to obtain main and auxiliary road pairs; and merging the road elements and the road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road pair, adjusting the road topology relation of the main road based on the road topology relation change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road, and deleting the merged road data of the auxiliary road to obtain new road network data for road modeling. The main road and the auxiliary road are combined and then are constructed together to avoid the mutual capping of the road surfaces or road teeth of the main road and the auxiliary road in the road modeling process, solve the problem that the road elements of the main road and the auxiliary road are difficult to align, optimize the road model, enable the modeling effect to be better, reduce the modeling complexity and improve the modeling efficiency.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a method and an apparatus for constructing a road model.
Background
The main road and the auxiliary road are common road types forming a road network, the main road is a motor vehicle road for vehicles to go up and down in the road, and the auxiliary road is a road which is adjacent to and parallel to the main road and is isolated from the main road by an isolation belt or a green belt. In map navigation applications, in order to clearly show main and auxiliary roads to users and realize correct navigation route guidance, a road surface model or an intersection model of a road is usually required to be constructed, rendered and then shown to the users.
In the prior art, when a road surface model or an intersection model of a road is built, a main road and an auxiliary road are respectively and independently modeled for a main road scene and an auxiliary road scene, then the main road model and the auxiliary road model are combined, and then an isolation belt is built on the combined models or is filled with media, but because the main road and the auxiliary road are generally close in distance, the built road surfaces or road curbs of the main road and the auxiliary road are easy to mutually cover, so that the road modeling effect is poor, and the guidance line is easy to point to unclean. Other road elements such as zebra crossings, lane lines, directional arrow lines and the like are modeled by depending on a main road model and an auxiliary road model, and the road elements are difficult to align.
Therefore, how to better construct road modeling of main and auxiliary roads and similar scenes and improve navigation guiding effect becomes a technical problem to be solved urgently.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a road model construction method and apparatus which overcomes or at least partially solves the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a road model construction method, including:
acquiring road network data in a designated range;
identifying combinable main roads and auxiliary roads based on road type information and road connection relations included in the road network data, and obtaining main and auxiliary road pairs;
and merging the road elements and the road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road pair, adjusting the road topology relation of the main road based on the road topology relation change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road, and deleting the road data of the merged auxiliary road to obtain new road network data for road modeling.
In one embodiment, the acquiring the road network data within the specified range includes:
and taking the navigation intersection as a center, and acquiring at least one of road data of a navigation route passing through a road, road data of a road associated with an intersection node and road data of a navigation route connecting road in a specified range around the intersection.
In one embodiment, the identifying the combinable main road and auxiliary road based on the road type information and the road connection relationship included in the road network data to obtain the main and auxiliary road pair includes:
identifying an alternative main route and an alternative auxiliary route based on the road type information included in the road network data;
determining an alternative main and auxiliary road pair from the alternative main road and the alternative auxiliary road based on the road topological relation included in the road network data;
and carrying out main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair, and obtaining the main and auxiliary road pair if the calculation result accords with the main and auxiliary road pairing condition.
In one embodiment, after determining the alternative main and auxiliary road pairs, the method further comprises: searching whether main and auxiliary road pair marks of the alternative main road and the alternative auxiliary road exist in the road network data, and if yes, obtaining main and auxiliary road pairs; and if not, executing the step of carrying out main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road.
In one embodiment, performing main-auxiliary road pairing calculation on an alternative main road and an alternative auxiliary road included in an alternative main-auxiliary road pair includes:
respectively carrying out road segment series connection on an alternative main road and an alternative auxiliary road included in the alternative main road and the alternative auxiliary road to obtain an alternative main road route string set and an alternative auxiliary road route string set;
And determining that the alternative main road and the alternative auxiliary road accord with main and auxiliary road pairing conditions when the length of the parallel road sections of the alternative main road and the alternative auxiliary road is larger than a set first length threshold value and the distance between the alternative main road and the alternative auxiliary road is smaller than a set first distance threshold value according to the alternative main road route string set and the alternative auxiliary road route string set.
In one embodiment, after the identifying the alternative auxiliary road, the method further includes:
removing redundant roads associated with the alternative auxiliary road; the redundant road is a common road connected with the alternative auxiliary road and irrelevant to the navigation route.
In one embodiment, after the obtaining the main and auxiliary road pairs, the method further includes:
removing redundant roads around the main and auxiliary road pairs, and adjusting road topology relations of the main and auxiliary road pairs; the redundant road is a common road connected with the alternative auxiliary road and irrelevant to the navigation route.
In one embodiment, the merging the road element and the road attribute information of the auxiliary road into the main road, and adjusting the road topology relationship of the main road based on the road topology relationship change condition caused by merging the main road and the auxiliary road, to obtain new road data of the main road includes:
Adding identification information containing auxiliary roads into road data of a main road;
adding the road attribute information of the auxiliary road as the auxiliary road attribute information of the main road into the road data of the main road;
taking the road element of the auxiliary road as an auxiliary road element of the main road, and adding the data of the auxiliary road element into the road data of the main road based on the road element data of the auxiliary road; the road element comprises at least one of a lane, a lane line, a road edge and an isolation belt; the road element data includes road element IDs, numbers, and distribution positions;
determining a road topology relation which is required to be deleted, combined and modified and is caused by combining a main road and an auxiliary road, and deleting, combining or modifying corresponding road topology relation information in the road topology relation of the main road to obtain new road data of the main road.
In one embodiment, the obtaining new road network data includes:
the width and the edge position of the main road are redetermined according to the new road data of the main road;
carrying out uplink and downlink combination on a main path with an uplink and downlink relation;
and regenerating road crossing data in the new road network data according to the main road after the uplink and downlink combination.
In one embodiment, the redefining the width and the edge position of the main road according to the new road data of the main road includes:
taking the sum of the width of the main road, the width of the auxiliary road and the width of the isolation belt contained in the new road data of the main road as the width of the main road after being redetermined;
correspondingly, the step of carrying out uplink and downlink combination on the main path with the uplink and downlink relation comprises the following steps:
according to the road name and the road attribute information of the main road, an uplink main road and a downlink main road with uplink and downlink relations are identified;
and when judging that the length of the parallel road sections of the uplink main road and the downlink main road is larger than a set second length threshold value and the distance between the uplink main road and the downlink main road is smaller than the set second distance threshold value, carrying out uplink and downlink combination on the uplink main road and the downlink main road.
Correspondingly, the regenerating the road crossing data in the new road network data according to the main road after the uplink and downlink combination comprises the following steps:
determining the intersection point of the side lines of the two main paths intersecting each other according to the side lines of the main paths after the uplink and downlink combination;
for each boundary intersection point, shifting a set distance on the boundary generating the boundary intersection point along the intersection exit direction to obtain two buffer points, and constructing a spline curve based on the boundary intersection point and the two corresponding buffer points to serve as an arc-shaped connecting line for connecting the two intersecting boundary generating the boundary intersection point;
And determining an intersection area based on the side line of the main road and the arc connecting line after the combination of the uplink and the downlink.
In one embodiment, after the road junction data is regenerated according to the main road after the uplink and downlink merging, the method further includes: and adjusting the navigation line to the corresponding lane according to the new road network data.
In one embodiment, after deleting the road data of the merged auxiliary road, before obtaining the new road network data, the method further includes:
deleting road data of an isolated road in the road network data; and/or
And adjusting the number of lanes in the auxiliary road element data in the main road data.
In a second aspect, an embodiment of the present invention provides a road model construction apparatus including:
the acquisition module is used for acquiring road network data in a specified range;
the identification module is used for identifying combinable main roads and auxiliary roads based on the road type information and the road connection relation included in the road network data to obtain a main road pair and an auxiliary road pair;
the data processing module is used for merging road elements and road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road, adjusting the road topology relation of the main road based on the road topology relation change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road, and deleting the merged road data of the auxiliary road to obtain new road network data for road modeling.
In a third aspect, an embodiment of the present invention provides a terminal device, including: the road model construction method comprises a memory, a processor and computer instructions stored on the memory and capable of running on the processor, wherein the instructions can realize the road model construction method when being executed by the processor.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the technical scheme of the method and the device for constructing the road model, the combinable main road and auxiliary road are combined, the auxiliary road elements and attributes are used as the auxiliary road elements and attributes of the main road, the road topology relation of the main road and the auxiliary road is combined and adjusted, new road data of the main road is obtained, road network data are updated based on the new road data of the main road after the auxiliary road data are combined, road modeling is carried out based on the new road network data, the road model comprising the main road and the auxiliary road is constructed, the problem that the main road and the auxiliary road are difficult to align when being modeled respectively is effectively solved, the dependence on the uniformity degree of the shapes of the main road and the auxiliary road is reduced, the problem that the road surfaces and the road teeth are mutually covered when the main road and the auxiliary road are modeled respectively is avoided, so that the road model with clear element expression and better navigation effect can be constructed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flowchart of a road model construction method according to an embodiment of the invention;
FIG. 2 is a flowchart of a road model construction method according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a main road regenerated road junction area in a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a foreground lane and a navigation route in a road junction area according to a second embodiment of the present invention;
FIG. 5 is a flowchart of a road model construction method according to a third embodiment of the present invention;
FIG. 6 is a schematic diagram of an alternative main road and an alternative auxiliary road connected by a non-intersection road in a third embodiment of the present invention;
FIG. 7 is a schematic diagram of an alternative main road and an alternative auxiliary road connected by an intersection road in a third embodiment of the present invention;
fig. 8 is a schematic block diagram of a road model construction device according to a fourth embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
When a road surface model or an intersection model of a road is built in the prior art, a main road and an auxiliary road are respectively and independently modeled, the main road model and the auxiliary road model are combined, and then an isolation belt is built on the combined models or is filled with media, but the road surface or the road curb of the main road and the auxiliary road are respectively built because the main road and the auxiliary road are generally close in distance, so that the road modeling effect is poor, and the navigation line is easily directed to be unclear. Other road elements such as zebra crossings, lane lines, directional arrow lines and the like are modeled by depending on a main road model and an auxiliary road model, and the road elements are difficult to align. In order to solve the problems, the invention provides a road model construction method, which effectively solves the problems that the road surface or the road kerb are mutually covered, the road modeling effect is poor, the navigation line is not clearly directed and the road elements are difficult to align by combining and modeling main roads and auxiliary roads. In addition, the road model construction method reduces modeling complexity and improves modeling efficiency.
The following is a detailed description of specific embodiments.
Example 1
The first embodiment of the invention provides a road model construction method, the flow of which is shown in fig. 1, comprising the following steps:
s101, acquiring road network data in a specified range.
In this step, road network data may be obtained according to the requirement of road modeling, for example, road modeling is performed on the road in front of the intersection in the navigation process, so that when detailed information of the intersection is displayed to the user, road data of each road related to the intersection may be obtained as road network data for modeling. When the road surface is required to be modeled, road data of a specified road section of a road can be acquired as road network data for modeling.
Taking road network data for road junction modeling as an example, taking a designated navigation road junction as a center, and acquiring at least one of road data of a navigation route passing through a road, road data of a road associated with a road junction and road data of a navigation route connecting road in a designated range around the road junction.
For example, road data of a road through which a navigation route passes within a range of 2 km around a certain navigation intersection is obtained, road data of a road associated with the intersection, and road data of a road connected to the navigation route, or road network data composed of a combination of the above 3 road data are at least one, and subsequent road model construction is performed on the basis of the road network data.
The acquired road data may include attribute information of the road, road elements and attribute information thereof, connection relations between roads, and the like. For example: the attribute information of the road may include, but is not limited to, a road name, a road grade, a road type, etc., the elements of the road may include, but are not limited to, lanes, lane lines, isolation strips, road edges, etc., the attribute information of the road elements may include, but is not limited to, the number, position, distribution, etc., the lanes may be, for example, the number, position coordinates, width, distribution, etc., the isolation strips may be, for example, the width, position coordinates, left or right isolation strips, etc., of the isolation strips.
S102, identifying a combined main road and auxiliary road based on road type information and road connection relation included in road network data, and obtaining a main and auxiliary road pair.
After road network data required by road modeling is acquired, in order to realize the merging modeling of main and auxiliary roads, the main and auxiliary roads which can be merged need to be identified first, namely the main roads and the auxiliary roads which can be paired to form a main and auxiliary road pair.
Optionally, identifying an alternative main route and an alternative auxiliary route based on the road type information included in the road network data; determining an alternative main and auxiliary road pair from the alternative main road and the alternative auxiliary road based on the road topology relationship included in the road network data; and carrying out main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair, and obtaining the main and auxiliary road pair if the calculation result accords with the main and auxiliary road pairing condition.
For example, roads with road types of main roads and auxiliary roads in road network data can be identified, whether each identified main road and each identified auxiliary road are likely to form a main-auxiliary road pair or not can be judged according to road topology relations, for example, the main road and the auxiliary road which are connected through nodes or through intersection roads are likely to form a main-auxiliary road pair or not can be further determined if the main-auxiliary road pair is likely to be formed, the main-auxiliary road pair can be determined according to the existing main-auxiliary road pair identification, and the parallel road section lengths of the main road and the auxiliary road and the distance between the main road and the auxiliary road can be determined according to whether the requirements are met or not.
And S103, merging road elements and road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road pair, and adjusting the road topology relationship of the main road based on the road topology relationship change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road.
For the determined main and auxiliary road pairs, the main road and the auxiliary road can be combined into one road for modeling, and specifically, the identification information containing the auxiliary road can be added into the road data of the main road to indicate that the main road contains the auxiliary road, namely, the auxiliary road is combined.
The road attribute information of the auxiliary road is added to the road data of the main road as the auxiliary road attribute information of the main road. For example, the main road data is added to the information such as the road name, road class, road type, etc. of the main road and the auxiliary road as the attribute information of the auxiliary road.
Taking the road elements of the auxiliary road as the auxiliary road elements of the main road, and adding the data of the auxiliary road elements into the road data of the main road based on the road element data of the auxiliary road; the road element comprises at least one of a lane, a lane line, a road edge and an isolation belt; the road element data includes road element IDs, numbers, and distribution positions.
For example, when the auxiliary road has two lanes and is located on the right side of the main road, the lanes of the auxiliary road are used as the auxiliary lanes on the right side of the main road, and data such as lane IDs, the number of lanes, and distribution positions are added to the main road as the data of the auxiliary lanes on the right side.
And determining the road topology relation which is required to be deleted, combined and modified and is caused by combining the main road and the auxiliary road, and deleting, combining or modifying corresponding road topology relation information in the road topology relation of the main road to obtain new road data of the main road. After the auxiliary road is merged into the main road, the road topology relationship of the merged auxiliary road is merged into the main road, and the topology relationship changed due to road merging is adjusted, so that the topology relationship of the merged main road can contain all the topology relationships of the main road and the auxiliary road before merging.
Through the processing, the new road data of the main road after the auxiliary road is combined can be obtained.
And S104, deleting the road data of the combined auxiliary road to obtain new road network data for road modeling.
After the main road and the auxiliary road in the road network data are combined, the road data of the combined auxiliary road can be deleted, and the new road data of the combined main road is updated, so that the road network data are updated, the main road and the auxiliary road contained in the road network data are used for modeling together the new road data of the combined main road instead of modeling the main road and the auxiliary road respectively, and the new road data of the main road are used for modeling, so that the problem of road tooth capping cannot occur on the main road and the auxiliary road obtained by modeling, and road elements are easy to realize alignment due to the modeling together of the main road and the auxiliary road.
In the technical scheme of the method and the device for constructing the road model, which are provided by the embodiment of the invention, the combinable main road and auxiliary road are combined, the auxiliary road elements and attributes are used as the auxiliary road elements and attributes of the main road, the new road data of the main road is obtained, the road network data is updated based on the new road data of the main road after combining the auxiliary road data, the road model comprising the main road and the auxiliary road is constructed based on the new road network data, the main road and the auxiliary road are combined and modeled, the problem that the road elements are difficult to align when the main road and the auxiliary road are modeled respectively is effectively solved, the dependence on the shape uniformity degree of the main road and the auxiliary road is reduced, and the problem that the road surfaces and the road teeth are mutually covered when the main road and the auxiliary road are modeled respectively is avoided, so that the road model with clear element expression and better navigation effect can be constructed.
Example two
The second embodiment of the present invention provides a specific implementation flow of the road model construction method, where the flow is shown in fig. 2, and the method includes the following steps:
s201, road network data in a specified range is acquired.
See the description of step S101 in the above embodiment, which is not repeated here.
S202, identifying an alternative main route and an alternative auxiliary route based on the road type information included in the road network data.
And identifying the roads in the acquired road network data as an alternative main road set and an alternative auxiliary road set according to the road type information.
S203, removing redundant roads associated with the alternative auxiliary roads.
After identifying the alternative primary and alternative secondary routes, optionally, the elimination of redundant roads may be performed, i.e., for the identified alternative secondary routes, the redundant roads associated with the alternative secondary routes are eliminated. The redundant road is here a normal road directly associated with the alternative auxiliary road, but not with the navigation route. For example, if the alternative auxiliary road is directly associated with the alternative main road and is also connected to other normal roads and the navigation route does not pass through the alternative auxiliary road, the other normal roads connected to the alternative auxiliary road are deleted as redundant roads.
S204, determining an alternative main and auxiliary road pair from the alternative main road and the alternative auxiliary road based on the road topological relation included in the road network data.
According to the road topology, if the alternative main road and the alternative auxiliary road have a connection relationship, such as road connection through an intersection or road junction connection, a pair of main and auxiliary road pairs is possible, and the main and auxiliary road pairs are used as the alternative main and auxiliary road pairs.
S205, performing main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair, and obtaining the main and auxiliary road pair if the calculation result meets the main and auxiliary road pairing condition.
Respectively carrying out road segment series connection on the determined alternative main and auxiliary road pairs, and obtaining an alternative main road route string set and an alternative auxiliary road route string set;
and judging that the length of the parallel road sections of the alternative main road and the alternative auxiliary road is larger than a set first length threshold value according to the alternative main road route string set and the alternative auxiliary road route string set, and considering that the alternative main road and auxiliary road pair can form the main and auxiliary road pair when the distance between the alternative main road and the alternative auxiliary road is smaller than the set first distance threshold value.
For example, road segments are respectively connected in series to the alternative main road and the alternative auxiliary road to form an alternative main road route string set and an alternative auxiliary road route string set with longer lengths, if the first length threshold value is 2 km and the first distance threshold value is 10 meters, if the parallel road sections of the alternative main road and the alternative auxiliary road are determined to be longer than 2 km according to the alternative main road route string set and the alternative auxiliary road route string set, and the distance between the two is smaller than 10 meters, the main road and the auxiliary road can be considered to form a main road pair. For the alternative main and auxiliary road pairs which do not meet the above conditions, the main and auxiliary road pairs cannot be formed.
For the determined main and auxiliary road pairs, recording can be performed through an established mapping relation table, wherein the mapping relation table comprises main roads and auxiliary roads which can form the main and auxiliary road pairs and mapping relations thereof.
S206, merging the road elements and the road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road pair, and adjusting the road topology relationship of the main road based on the road topology relationship change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road.
See the description of step S103 in the first embodiment, which is not repeated here.
S207, deleting the road data of the combined auxiliary road.
See the description of step S104 in the above embodiment, which is not repeated here.
S208, the width and the edge positions of the main road are redetermined according to the new road data of the main road.
After the auxiliary road is combined, lanes or other road elements are added in the main road, and the width and the side line of the lanes or other road elements are changed, so that the width and the side line position need to be redetermined, and the sum of the width of the main road, the width of the auxiliary road and the width of the isolation belt, which are included in the new road data of the main road, can be used as the redetermined width of the main road.
That is, according to the new road data of the main road obtained in the above steps, the new width of the main road=the width of the original main road+the width of the main and auxiliary isolation zones+the width of the auxiliary road is newly determined, and the edge line position of the main road is expanded to the edge of the new road width.
S209, combining the uplink and the downlink of the main path with the uplink and the downlink.
The main path generally includes an uplink main path and a downlink main path, and in the above steps, main and auxiliary paths are generally combined with each other, so that uplink and downlink can be combined with a main path having an uplink and downlink relationship. Therefore, in the modeling process, road elements of the uplink and downlink main roads can be well aligned.
The process of combining the uplink and the downlink of the main path can comprise: according to the road name and the road attribute information of the main road, an uplink main road and a downlink main road with uplink and downlink relations are identified; and when the length of the parallel road sections of the uplink main road and the downlink main road is judged to be larger than a set second length threshold value and the distance between the uplink main road and the main road is smaller than the set second distance threshold value, carrying out uplink and downlink combination on the uplink main road and the downlink main road.
For example, the second length threshold is 2 km, the second distance threshold is 5 m, and when the length of the parallel road section of the uplink main road and the downlink main road is greater than 2 km and the distance between the two is less than 5 m, the uplink main road and the downlink main road are combined up and down.
S210, regenerating road crossing data in the new road network data according to the main road after the uplink and downlink combination.
After the main road and auxiliary road combination and the uplink and downlink combination are performed, the intersection data formed by the main road and the auxiliary road with the cross relation may need to be updated. The process of regenerating intersection data in the new road network data may include:
and determining the intersection point of the side lines of the two main paths intersecting each other according to the side lines of the main paths after the uplink and downlink are combined.
For each boundary intersection point, a set distance is shifted on the boundary generating the boundary intersection point along the intersection exit direction, two buffer points are obtained, a spline curve is constructed based on the boundary intersection point and the two corresponding buffer points, and the spline curve is used as an arc-shaped connecting line for connecting the two intersecting boundary generating the boundary intersection point.
And determining the intersection area based on the side line and the arc connecting line of the main road after the combination of the uplink and the downlink.
As shown in fig. 3, four boundary intersection points can be determined according to two main paths intersecting with each other, and a region formed by the four boundary intersection points is called a central region. An intersection point of the side lines and two corresponding buffer points can form an arc-shaped area, and the arc-shaped area refers to an area surrounded by the two side lines where the two buffer points are located and a spline curve between the two buffer points. The road area outside the central area is a buffer area. As shown in fig. 3, the central region, the four arc-shaped regions, and the four buffer regions together constitute an intersection region.
S211, adjusting the navigation line to the corresponding lane according to the new road network data.
After the final intersection area is determined, the navigation routes of the main road and the auxiliary road are adjusted according to the new road network data. When the navigation line is adjusted, the foreground lane information of the main road is firstly judged, namely the main road is taken as a departure road, the navigation line is used for knowing the lane which needs to be driven to the destination, whether the lane is the lane of the original main road or the lane of the original auxiliary road, the navigation line is moved to the center line of the new main road, and then the navigation line is adjusted by shifting according to the number of lanes and the number of auxiliary lanes in the new main road element data. If the navigation line is on the lane of the auxiliary road, searching the main road corresponding to the auxiliary road according to the mapping relation table of the main and auxiliary road pairs constructed by the steps, and moving the navigation line of the auxiliary road to the lane corresponding to the auxiliary road element of the main road.
An intersection area as shown in fig. 4, wherein two main roads are intersected, each main road comprises an uplink main road and a downlink main road, and the uplink main road and the downlink main road have four lanes respectively. When a left turn at the intersection is required, the guidance route needs to be adjusted to be positioned on the left turn lane closest to the road center.
The second embodiment of the invention provides a road model construction method, which is used for modeling after merging main roads and auxiliary roads, road elements such as lanes, zebra crossings, lane lines, directional arrow lines and the like constructed in the model are easy to align, the dependence on whether the shapes of the main roads and the auxiliary roads are regular is reduced, the isolation belt and the like can be constructed in a filling mode between the main roads and the auxiliary roads, the distance between the isolation belt and the main roads and the auxiliary roads as well as the distance between the isolation belt and the intersection can be flexibly controlled, and mutual capping between the isolation belt and the main roads and the auxiliary roads can not occur. The road model constructed by the road model construction method is clear, the direction of the navigation line is clear, and the navigation effect of the main road and the auxiliary road is improved.
Example III
The third embodiment of the present invention provides a specific implementation flow of the road model construction method, where the flow is shown in fig. 5, and the method includes the following steps:
s301, acquiring road network data in a specified range.
See the description of step S101 in the above embodiment, which is not repeated here.
S302, identifying an alternative main route and an alternative auxiliary route based on the road type information included in the road network data.
See the description of step S202 in the second embodiment, which is not repeated here.
S303, removing redundant roads associated with the alternative auxiliary roads.
See the description of step S203 in the second embodiment, which is not repeated here.
S304, judging whether the alternative main road and the alternative auxiliary road are connected through a non-intersection road;
determining that a certain alternative main road and a certain alternative auxiliary road are not connected through a non-intersection road (namely, the certain alternative main road and the certain alternative auxiliary road are connected through an intersection road) based on a road topological relation included in the road network data, and considering that the certain alternative main road and the certain alternative auxiliary road can form an alternative main and auxiliary road pair;
if the two are connected through non-intersection roads, as shown in fig. 6, the alternative main road and the alternative auxiliary road are directly connected through nodes, and step S305 is executed;
If not, as shown in fig. 7, the alternative main route and the alternative auxiliary route are connected through the intersection road, and step S306 is performed.
S305, searching whether main and auxiliary road pair marks of the alternative main road and auxiliary road included in the alternative main and auxiliary road pairs exist in the road network data;
if yes, go to step S308; if not, go to step S306.
When a certain alternative main road and a certain alternative auxiliary road are connected through a non-intersection road, for example, when road nodes are connected, if the road nodes are provided with main and auxiliary road pair marks, the main and auxiliary road pairs can be formed, and if the road nodes are not provided with main and auxiliary road pair marks, the main and auxiliary road pairs can be formed;
the steps S304 to S305 described above realize that the alternative main-auxiliary road pair is determined from the alternative main road and the alternative auxiliary road based on the road topology relationship included in the road network data.
S306, performing main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair.
And respectively carrying out road segment series connection on the alternative main road and the alternative auxiliary road included in the alternative main road and the alternative auxiliary road to obtain an alternative main road route string set and an alternative auxiliary road route string set, and calculating the lengths of parallel road sections of the alternative main road route string set and the alternative auxiliary road route string set and the distance between the two.
S307, whether the calculation result meets the main and auxiliary road pairing conditions.
According to the preset first length threshold value and the first distance threshold value and the calculation result of step S306, it is determined that if the lengths of the parallel road segments of the candidate main route string set and the candidate auxiliary route string set are greater than the first length threshold value and the distance between the candidate main route string set and the candidate auxiliary route string set is less than the first distance threshold value, the candidate main and auxiliary routes may form a main and auxiliary route pair.
If yes, go to step S308; if not, go to step S318.
S308, obtaining the main and auxiliary road pairs.
And identifying the alternative main and auxiliary routes meeting the main and auxiliary route pairing condition in the step S307 as a main and auxiliary route pair. If the condition is not satisfied, ending the modeling flow.
The steps S302-S308 are implemented to obtain the main and auxiliary road pairs.
S309, removing redundant roads around the main and auxiliary road pairs, and adjusting the road topology relation of the main and auxiliary road pairs.
After the main and auxiliary road pairs are obtained, redundant roads are removed, wherein the redundant roads are common roads which are connected with alternative auxiliary roads and are irrelevant to navigation routes. After the redundant roads are removed, the road topology relation of the main and auxiliary road pairs is also required to be adjusted.
And S310, merging road elements and road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road pair, and adjusting the road topology relationship of the main road based on the road topology relationship change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road.
See the description of step S103 in the first embodiment, which is not repeated here.
And S311, deleting the road data of the combined auxiliary road.
See the description of step S104 in the above embodiment, which is not repeated here.
S312, deleting the road data of the isolated road in the road network data.
After the redundant roads associated with the candidate auxiliary road are deleted in step S303, the redundant roads around the main and auxiliary road pairs are deleted in S309, and the combined auxiliary road is deleted in S311, the roads with only one road associated with the head node and the tail node are also left in the road network data, which are called isolated roads. In this step, these remaining isolated roads are deleted from the road network data.
S313, adjusting the number of lanes in the auxiliary road element data in the main road data.
If the number of lanes in the road element data of the auxiliary road is inconsistent, the maximum number of lanes is selected as the auxiliary road attribute of the main road and added into the road data of the main road.
For example, when the number of the auxiliary road in the paired main and auxiliary road pairs is 2 lanes and the number of the auxiliary road element data in the main road data is 1 lane, the number of the lanes is adjusted to 2. The number of lanes is adjusted for convenient modeling, and the non-existing lanes can be filled in for the following modeling for the road section of 1 lane, which indicates that the road section is not a real lane.
S314, the width and the edge position of the main road are redetermined according to the new road data of the main road.
See the description of step S208 in the second embodiment, which is not repeated here.
S315, combining the uplink and the downlink of the main path with the uplink and the downlink.
See the description of step S209 in the second embodiment, which is not repeated here.
S316, regenerating road crossing data in the new road network data according to the main road after the uplink and downlink combination.
See the description of step S210 in the second embodiment, which is not repeated here.
Steps S310-S316 are implemented to obtain new road network data.
And S317, adjusting the navigation line to the corresponding lane according to the new road network data.
See the description of step S211 in the second embodiment, which is not repeated here.
S318, ending.
By adopting the road model construction method provided by the embodiment of the invention, the road model is optimized, the constructed road model is clear, the direction of the navigation line is clear, the intersection model effect is good, the navigation effect of the main road and the auxiliary road is improved, the modeling complexity is effectively reduced only by one-time modeling, and the modeling efficiency is improved.
Example IV
Based on the same inventive concept, a fourth embodiment of the present invention provides a road model building apparatus, as shown in fig. 8, including: an acquisition module 401, an identification module 402 and a data processing module 403.
The obtaining module 401 is configured to obtain road network data in a specified range.
The identifying module 402 is configured to identify a combinable main road and auxiliary road based on the road type information and the road connection relationship included in the road network data, and obtain a main-auxiliary road pair.
The data processing module 403 is configured to combine the road element and the road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road pair, adjust the road topology relationship of the main road based on the road topology relationship change condition caused by the combination of the main road and the auxiliary road, obtain new road data of the main road, and delete the road data of the combined auxiliary road to obtain new road network data for road modeling.
Optionally, the obtaining module 401 is specifically configured to obtain, with the navigation intersection as a center, at least one of road data of a navigation route passing through a road in a specified range around the intersection, road data of a road associated with an intersection node, and road data of a navigation route connecting road.
Optionally, the identifying module 402 is specifically configured to identify an alternative main route and an alternative auxiliary route based on the road type information included in the road network data; determining an alternative main and auxiliary road pair from the alternative main road and the alternative auxiliary road based on the road topology relationship included in the road network data; and carrying out main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair, and obtaining the main and auxiliary road pair if the calculation result accords with the main and auxiliary road pairing condition.
Optionally, the identifying module 402 is further configured to, after determining the candidate main-auxiliary road pair, find whether the main-auxiliary road pair marks of the candidate main road and the candidate auxiliary road included in the candidate main-auxiliary road pair exist in the road network data, and if yes, obtain the main-auxiliary road pair; and if not, executing the step of carrying out main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair.
Optionally, the identifying module 402 is configured to perform main-auxiliary road pairing calculation on the candidate main road and the candidate auxiliary road included in the candidate main-auxiliary road pair, and specifically includes:
respectively carrying out road segment series connection on an alternative main road and an alternative auxiliary road included in the alternative main road and the alternative auxiliary road to obtain an alternative main road route string set and an alternative auxiliary road route string set;
And determining that the alternative main road and the alternative auxiliary road accord with the main and auxiliary road pairing condition when the length of the parallel road sections of the alternative main road and the alternative auxiliary road is larger than a set first length threshold value and the distance between the alternative main road and the alternative auxiliary road is smaller than a set first distance threshold value according to the alternative main road route string set and the alternative auxiliary road route string set.
Optionally, the identifying module 402 is further configured to remove a redundant road associated with the candidate auxiliary road after identifying the candidate auxiliary road; the redundant road is a common road connected with the alternative auxiliary road and irrelevant to the navigation route.
Optionally, the identifying module 402 is further configured to remove redundant roads around the main and auxiliary road pairs after the main and auxiliary road pairs are obtained, and adjust a road topology relationship of the main and auxiliary road pairs; the redundant road is a common road connected with the alternative auxiliary road and irrelevant to the navigation route.
Optionally, the data processing module 403 is specifically configured to add identification information containing an auxiliary road to the road data of the main road; adding the road attribute information of the auxiliary road as the auxiliary road attribute information of the main road into the road data of the main road; taking the road elements of the auxiliary road as the auxiliary road elements of the main road, and adding the data of the auxiliary road elements into the road data of the main road based on the road element data of the auxiliary road; the road element comprises at least one of a lane, a lane line, a road edge and an isolation belt; the road element data includes road element IDs, numbers, and distribution positions; determining a road topology relation which is required to be deleted, combined and modified and is caused by combining a main road and an auxiliary road, and deleting, combining or modifying corresponding road topology relation information in the road topology relation of the main road to obtain new road data of the main road.
Optionally, the data processing module 403 is configured to obtain new road network data, and specifically includes: the width and the edge position of the main road are redetermined according to the new road data of the main road; carrying out uplink and downlink combination on a main path with an uplink and downlink relation; and regenerating road crossing data in the new road network data according to the main road after the uplink and downlink combination.
Optionally, the data processing module 403 is specifically configured to use the sum of the width of the main road, the width of the accessory road, and the width of the isolation belt included in the new road data of the main road as the width after the main road is redetermined.
Optionally, the data processing module 403 is specifically configured to identify an uplink main road and a downlink main road with an uplink-downlink relationship according to the road name and the road attribute information of the main road; and when the length of the parallel road sections of the uplink main road and the downlink main road is judged to be larger than a set second length threshold value and the distance between the uplink main road and the downlink main road is smaller than the set second distance threshold value, carrying out uplink and downlink combination on the uplink main road and the downlink main road.
Optionally, the data processing module 403 is specifically configured to determine, according to the edge of the main path after the uplink and downlink are combined, an intersection point of the edges of the two main paths intersecting each other; for each boundary intersection point, shifting a set distance on the boundary generating the boundary intersection point along the intersection exit direction to obtain two buffer points, and constructing a spline curve based on the boundary intersection point and the two corresponding buffer points to serve as an arc-shaped connecting line for connecting the two intersecting boundary generating the boundary intersection point; and determining the intersection area based on the side line and the arc connecting line of the main road after the combination of the uplink and the downlink.
Optionally, the data processing module 403 is further configured to adjust the navigation line to the corresponding lane according to the new road network data after regenerating the road junction data according to the main road after the uplink and downlink are combined.
Optionally, the data processing module 403 is further configured to delete road data of an isolated road in the road network data after deleting the road data of the combined auxiliary road and before obtaining new road network data; and/or adjusting the number of lanes in the accessory road element data in the main road data.
The embodiment of the invention also provides a terminal device, which comprises: the road model construction method can be realized when the instructions are executed by the processor.
The road model construction device can be arranged in various terminal equipment such as a navigation terminal, a mobile terminal, a vehicle-mounted terminal and the like, can perform data interaction with a navigation server, and can acquire road network data for road modeling.
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, magnetic disk storage, 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 processor, 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.
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 (9)
1. A road model construction method comprises the following steps:
acquiring road network data in a designated range;
identifying an alternative main route and an alternative auxiliary route based on the road type information included in the road network data; determining an alternative main and auxiliary road pair from the alternative main road and the alternative auxiliary road based on the road topological relation included in the road network data; performing main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pairs, and obtaining a main and auxiliary road pair comprising a combinable main road and auxiliary road if the calculation result accords with the main and auxiliary road pairing condition;
And merging the road elements and the road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road pair, adjusting the road topology relation of the main road based on the road topology relation change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road, and deleting the road data of the merged auxiliary road to obtain new road network data for road modeling.
2. The method of claim 1, the obtaining road network data within a specified range, comprising:
and taking the navigation intersection as a center, and acquiring at least one of road data of a navigation route passing through a road, road data of a road associated with an intersection node and road data of a navigation route connecting road in a specified range around the intersection.
3. The method of claim 1, after determining the alternate primary and secondary road pairs, further comprising:
searching whether main and auxiliary road pair marks of the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pairs exist in the road network data, and if yes, obtaining the main and auxiliary road pairs; and if not, executing the step of carrying out main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pair.
4. The method of claim 1, performing a primary-secondary road pairing calculation on the candidate primary road and the candidate secondary road included in the candidate primary-secondary road pair, comprising:
Respectively carrying out road segment series connection on an alternative main road and an alternative auxiliary road included in the alternative main road and the alternative auxiliary road to obtain an alternative main road route string set and an alternative auxiliary road route string set;
and determining that the alternative main road and the alternative auxiliary road accord with main and auxiliary road pairing conditions when the length of the parallel road sections of the alternative main road and the alternative auxiliary road is larger than a set first length threshold value and the distance between the alternative main road and the alternative auxiliary road is smaller than a set first distance threshold value according to the alternative main road route string set and the alternative auxiliary road route string set.
5. The method as claimed in any one of claims 1 to 4, wherein the merging the road elements and the road attribute information of the auxiliary road into the main road, and adjusting the road topology relationship of the main road based on the road topology relationship change condition caused by merging the main road and the auxiliary road, to obtain the new road data of the main road, comprises:
adding identification information containing auxiliary roads into road data of a main road;
adding the road attribute information of the auxiliary road as the auxiliary road attribute information of the main road into the road data of the main road;
taking the road element of the auxiliary road as an auxiliary road element of the main road, and adding the data of the auxiliary road element into the road data of the main road based on the road element data of the auxiliary road; the road element comprises at least one of a lane, a lane line, a road edge and an isolation belt; the road element data includes road element IDs, numbers, and distribution positions;
Determining a road topology relation which is required to be deleted, combined and modified and is caused by combining a main road and an auxiliary road, and deleting, combining or modifying corresponding road topology relation information in the road topology relation of the main road to obtain new road data of the main road.
6. The method of any of claims 1-4, the obtaining new road network data comprising:
the width and the edge position of the main road are redetermined according to the new road data of the main road;
carrying out uplink and downlink combination on a main path with an uplink and downlink relation;
and regenerating road crossing data in the new road network data according to the main road after the uplink and downlink combination.
7. The method of claim 6, wherein the redefining the width and the edge position of the main road according to the new road data of the main road comprises: taking the sum of the width of the main road, the width of the auxiliary road and the width of the isolation belt contained in the new road data of the main road as the width of the main road after being redetermined;
correspondingly, the step of carrying out uplink and downlink combination on the main path with the uplink and downlink relation comprises the following steps:
according to the road name and the road attribute information of the main road, an uplink main road and a downlink main road with uplink and downlink relations are identified;
when judging that the length of the parallel road sections of the uplink main road and the downlink main road is larger than a set second length threshold value and the distance between the uplink main road and the downlink main road is smaller than the set second distance threshold value, carrying out uplink and downlink combination on the uplink main road and the downlink main road;
Correspondingly, the regenerating the road crossing data in the new road network data according to the main road after the uplink and downlink combination comprises the following steps:
determining the intersection point of the side lines of the two main paths intersecting each other according to the side lines of the main paths after the uplink and downlink combination;
for each boundary intersection point, shifting a set distance on the boundary generating the boundary intersection point along the intersection exit direction to obtain two buffer points, and constructing a spline curve based on the boundary intersection point and the two corresponding buffer points to serve as an arc-shaped connecting line for connecting the two intersecting boundary generating the boundary intersection point;
and determining an intersection area based on the side line of the main road and the arc connecting line after the combination of the uplink and the downlink.
8. A road model construction apparatus comprising:
the acquisition module is used for acquiring road network data in a specified range;
the identification module is used for identifying an alternative main route and an alternative auxiliary route based on the road type information included in the road network data; determining an alternative main and auxiliary road pair from the alternative main road and the alternative auxiliary road based on the road topological relation included in the road network data; performing main and auxiliary road pairing calculation on the alternative main road and the alternative auxiliary road included in the alternative main and auxiliary road pairs, and obtaining a main and auxiliary road pair comprising a combinable main road and auxiliary road if the calculation result accords with the main and auxiliary road pairing condition;
The data processing module is used for merging road elements and road attribute information of the auxiliary road into the main road according to the road data of the main road and the road data of the auxiliary road in the main road and the auxiliary road, adjusting the road topology relation of the main road based on the road topology relation change condition caused by merging of the main road and the auxiliary road to obtain new road data of the main road, and deleting the merged road data of the auxiliary road to obtain new road network data for road modeling.
9. A terminal device, comprising: memory, a processor and computer instructions stored on the memory and executable on the processor, which instructions, when executed by the processor, enable the road model construction method according to any one of claims 1-7.
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