Road data processing method, device and electronic device

Abstract

The embodiment of the present invention discloses a method, device and electronic device for processing road data. The method for processing road data includes: obtaining elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road; discretizing the two-dimensional road data to obtain discrete road data; adding the elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points; denoising the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data; and using the simplified road data to perform road fitting. Compared with the prior art, the embodiment of the present invention can adapt to road data with different expressions, reduce the difficulty of processing road data, and is conducive to realizing office automation design.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of data processing technology, and in particular to a method, device and electronic device for processing road data. Background Art

[0002] With the advancement of science and technology and the popularization of computers in all walks of life, office automation software has developed rapidly in recent years. In photovoltaic power station design and other infrastructure industries, road data is mostly presented in the form of drawings. When designing office automation for road data, it is necessary to process the road data in the drawings. Due to different drawing methods, drawing scenes and drawing habits, there are many ways to express road data in existing drawings, such as drawing roads with a single line, drawing roads with two lines, drawing roads with three lines, and overlapping or approximately overlapping road data. Therefore, there are difficulties in processing road data, which affects the realization of office automation design. Summary of the invention

[0003] The embodiments of the present invention provide a method, device and electronic device for processing road data to adapt to road data in different expressions, reduce the difficulty of processing road data, and facilitate the realization of office automation design.

[0004] In a first aspect, an embodiment of the present invention provides a method for processing road data, comprising:

[0005] Acquire elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road;

[0006] Discretizing the two-dimensional road data to obtain discrete road data; wherein the discrete road data includes discrete coordinate points of the road, and the number of the discrete coordinate points is greater than the number of the two-dimensional coordinate points;

[0007] Adding the elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points;

[0008] Performing denoising processing on the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data; wherein the simplified road data includes simplified coordinate points of the road, and the number of the simplified coordinate points is less than the number of the three-dimensional discrete coordinate points;

[0009] The simplified road data is used to perform road fitting.

[0010] Optionally, before adding the elevation data to the discrete road data, the method further includes:

[0011] The elevation data is processed with high precision to obtain accurate elevation data; wherein the accurate elevation data includes accurate contour lines, and the number of the accurate contour lines is greater than the number of the contour lines.

[0012] Optionally, the elevation data is processed with high precision, including:

[0013] A new contour line is fitted between two adjacent contour lines, and the original contour line and the fitted contour line constitute the accurate contour line.

[0014] Optionally, the elevation data is processed with high precision, including:

[0015] Gridding the area covered by the elevation data to obtain grids arranged in an array, wherein the contour lines pass through a portion of the grids;

[0016] Adding the elevation data to the grid through which the contour line passes;

[0017] According to the elevation data added to the grid, the elevation data corresponding to all the grids are calculated to obtain the precise elevation data.

[0018] Optionally, the form in which the contour line passes through a portion of the grid includes at least one of the following forms:

[0019] The extension direction of the contour line is parallel to the row direction of the grid, and the elevation data corresponding to the grid changes gradually along the column direction of the grid;

[0020] The extension direction of the contour line is parallel to the column direction of the grid, and the elevation data corresponding to the grid changes gradually along the row direction of the grid;

[0021] Furthermore, the extension direction of the contour line is rotated 135° counterclockwise with respect to the grid row direction, and the elevation data corresponding to the grid is gradually rotated 45° counterclockwise with respect to the grid row direction.

[0022] Optionally, adding the elevation data to the discrete road data includes:

[0023] If the discrete coordinate point is located on the contour line, the height of the discrete coordinate point is the elevation data corresponding to the contour line;

[0024] If the discrete coordinate point is outside the contour line, the height of the discrete coordinate point is the elevation data corresponding to the contour line closest to the discrete coordinate point; or, the elevation data corresponding to the discrete coordinate point is calculated based on the distance between the discrete coordinate point and the contour line.

[0025] Optionally, the denoising process includes:

[0026] According to the three-dimensional discrete coordinate points of each road, a single road self-denoising process is performed to remove redundant three-dimensional discrete coordinate points in each single road;

[0027] The three-dimensional discrete coordinate points of the at least two roads after the self-denoising process are used to perform road linkage denoising process to remove redundant three-dimensional discrete coordinate points in the at least two roads and merge the at least two roads.

[0028] Optionally, the single road self-denoising process includes:

[0029] Selecting one of the three-dimensional discrete coordinate points in the single road as a first target coordinate point in sequence according to a first preset order;

[0030] A first preset range is determined based on the first target coordinate point, and the three-dimensional discrete coordinate points within the first preset range are merged to obtain simplified coordinate points of the single road.

[0031] Optionally, fusing the three-dimensional discrete coordinate points within the first preset range comprises at least one of the following steps:

[0032] Selecting any point within the first preset range as the simplified coordinate point, and filtering out other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point;

[0033] Calculating a weighted average of the three-dimensional discrete coordinate points within the first preset range to obtain the simplified coordinate points;

[0034] And, calculating the mean square error of the three-dimensional discrete coordinate points within the first preset range, selecting the three-dimensional discrete coordinate point with the smallest difference from the mean square error as the simplified coordinate point, and filtering out the other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point.

[0035] Optionally, the first preset range includes a first plane range and a first elevation range;

[0036] The first plane range refers to a circle with the first target coordinate point as the center and the first preset scale as the radius or a rectangle with the first preset scale as the diagonal;

[0037] The first elevation range refers to an elevation range whose elevation difference from the first target coordinate point is within a second preset scale.

[0038] Optionally, the road linkage denoising process includes:

[0039] Selecting one of the three-dimensional discrete coordinate points on a road as a second target coordinate point in sequence according to a second preset order;

[0040] A second preset range is determined based on the second target coordinate point, and the discrete coordinate points within the second preset range are merged to obtain linkage simplified coordinate points of the at least two roads.

[0041] Optionally, using the simplified road data to perform road fitting includes:

[0042] Selecting one of the simplified coordinate points as the third target coordinate point in sequence according to a third preset order;

[0043] A fourth preset range is determined based on the third target coordinate point, the simplified coordinate point closest to the third target coordinate point in the fourth preset range is determined as a valid coordinate point, and the third target coordinate point and the valid coordinate point are connected.

[0044] In a second aspect, an embodiment of the present invention further provides a road data processing device, including:

[0045] A data acquisition module, used to acquire elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road;

[0046] A two-dimensional discretization module, used for discretizing the two-dimensional road data to obtain discrete road data; wherein the discrete road data includes discrete coordinate points of the road, and the number of the discrete coordinate points is greater than the number of the two-dimensional coordinate points;

[0047] A three-dimensional expansion module, used to add the elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points;

[0048] A denoising module, configured to perform denoising processing on the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data; wherein the simplified road data includes simplified coordinate points of the road, and the number of the simplified coordinate points is less than the number of the three-dimensional discrete coordinate points;

[0049] A fitting module is used to perform road fitting using the simplified road data.

[0050] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0051] one or more processors;

[0052] a storage device for storing one or more programs,

[0053] When the one or more programs are executed by the one or more processors, the one or more processors implement the road data processing method as described in any embodiment of the present invention.

[0054] The embodiment of the present invention discretizes the two-dimensional road data first, then adds elevation data and denoises it, and finally restores it to the road. Among them, the elevation data is added to the two-dimensional road data, which realizes the conversion of the plane road data into three-dimensional data and improves the accuracy of road data processing. Denoising the three-dimensional discrete road data and removing redundant three-dimensional discrete coordinate points is conducive to the unification of road denoising processing and is applicable to various expressions of road data. For example, for roads drawn with a single line, the coordinate points on the single line can be retained; for roads drawn with two lines or three lines, the two lines or three lines can be merged into a single line representation; for situations where road data overlaps or approximately overlaps, the roads can be merged. Therefore, the embodiment of the present invention does not need to process road data in different situations for different road data expressions, and the embodiment of the present invention is not limited by the road data expression. Similarly, the embodiment of the present invention does not need to process road data in different scenarios for different application scenarios, and the embodiment of the present invention is not limited by the application scenario and can be applied to road data processing in the infrastructure industry and road data processing in photovoltaic power station design. In summary, the embodiment of the present invention simplifies the process of road data processing, reduces the complexity of road data processing, and improves the efficiency and quality of road data processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of a process flow of a road data processing method provided by an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of elevation data and two-dimensional road data provided by an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the effect of discretization of two-dimensional road data provided by an embodiment of the present invention;

[0058] Figure 4 A schematic diagram of adding elevation data to discrete road data provided by an embodiment of the present invention;

[0059] Figure 5 A schematic diagram of the effect of fitting a new contour line between two adjacent contour lines provided by an embodiment of the present invention;

[0060] Figure 6 A schematic diagram of a process for obtaining high precision elevation data provided by an embodiment of the present invention;

[0061] Figure 7A schematic diagram of the effect of gridding elevation data provided by an embodiment of the present invention;

[0062] Figure 8 A schematic diagram of the effect of calculating elevation data corresponding to a grid provided by an embodiment of the present invention;

[0063] Fig. 9 A schematic diagram of another effect of calculating elevation data corresponding to a grid provided by an embodiment of the present invention;

[0064] Fig.10 A schematic diagram of the effect of calculating elevation data corresponding to another grid provided by an embodiment of the present invention;

[0065] Fig.11 A schematic flow chart of another method for processing road data provided by an embodiment of the present invention;

[0066] Fig.12 A schematic diagram of the effects of another road data processing method provided by an embodiment of the present invention implemented in each step;

[0067] Fig.13 A schematic flow chart of another method for processing road data provided by an embodiment of the present invention;

[0068] Figure 14-17 A schematic diagram of the effects of implementing another method for processing road data in each step provided by an embodiment of the present invention;

[0069] Fig.18 A schematic diagram of road merging provided by an embodiment of the present invention;

[0070] Fig.19 A schematic diagram of the structure of a road data processing device provided by an embodiment of the present invention;

[0071] Fig. 20 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0072] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0073] The embodiment of the present invention provides a method for processing road data, which is applicable to office automation software such as photovoltaic design software and infrastructure design software, and the office automation software can be installed in electronic devices such as computers and tablet computers. The method is executed by a road data processing device, which can be implemented by hardware and / or software.

[0074] Figure 1 A schematic diagram of a process flow of a road data processing method provided by an embodiment of the present invention. Figure 1 , the road data processing method includes the following steps:

[0075] S110, acquiring elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road.

[0076] Taking photovoltaic design software as an example, when designing a photovoltaic power station, at least part of the collector line needs to be laid along the road to obtain the best connection result. At this time, the road data needs to be processed to facilitate the route planning of the collector line.

[0077] Among them, the way to obtain elevation data and two-dimensional road data can be to import relevant data of drawings in other tools or software into photovoltaic design software. It is understandable that the elevation data and two-dimensional road data in other tools or software are separate. And due to the different drawing methods, drawing scenes and drawing habits, there are many ways to express road data. For example, a road can be represented by the coordinate points of a line; a road can also be represented by the coordinate points of two lines; and a road can also be represented by the coordinate points of three lines. In this embodiment, a line is treated as a road for processing. Figure 2 A schematic diagram of elevation data and two-dimensional road data provided by an embodiment of the present invention. Figure 2 As shown, the elevation data includes a plurality of contour lines 50. The two-dimensional road data includes a road, and the road includes a line segment 80 and a line segment 90. Each line segment is represented by two two-dimensional coordinate points, and the two-dimensional coordinate points between the two line segments coincide.

[0078] S120, discretizing the two-dimensional road data to obtain discrete road data.

[0079] The discrete road data includes discrete coordinate points of the road, and the number of the discrete coordinate points is greater than the number of the two-dimensional coordinate points, providing processable targets for denoising in subsequent steps. Figure 3 A schematic diagram of the effect of discretization of two-dimensional road data provided by an embodiment of the present invention. In the process of discretization of the road, discretization is performed with a second preset scale r2, that is, new two-dimensional coordinate points are added on each line segment with a step length of the second preset scale r2. The two-dimensional coordinate points of the endpoints of the line segment and the newly added coordinate points are collectively referred to as discrete coordinate points, and the discrete coordinate points are also two-dimensional coordinate points.

[0080] S130. Add elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points.

[0081] The two-dimensional representation of the discrete coordinate point can be a rectangular coordinate system or a polar coordinate system. Taking the rectangular coordinate system as an example, the coordinates of the discrete coordinate point can be expressed as (x, y), and the coordinates of the three-dimensional discrete coordinate point can be expressed as (x, y, z). The size of the vertical coordinate z is determined according to the elevation data. Figure 4 A schematic diagram of adding elevation data to discrete road data provided by an embodiment of the present invention. Figure 4 As shown, the heights corresponding to the contour lines from bottom to top are d0, d1, d2, d3, d4, d5 and d6. Optionally, if the discrete coordinate point is located on the contour line, the height of the discrete coordinate point is the height corresponding to the contour line. For example, the discrete coordinate point Q is located on the contour line, and its added vertical coordinate z is equal to d6.

[0082] If the discrete coordinate point is outside the contour line, there are two ways to determine the size of the vertical coordinate z. One is to determine the height of the discrete coordinate point as the height corresponding to the contour line closest to the discrete coordinate point. For example, the discrete coordinate point P is located between two contour lines, the distance between the discrete coordinate point P and the contour line below is h0, and the distance between the discrete coordinate point P and the contour line above is h1. Since h0

[0083] S140, performing denoising processing on the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data.

[0084] The simplified road data includes simplified coordinate points of the road, and the number of simplified coordinate points is less than the number of three-dimensional discrete coordinate points. In the three-dimensional discrete road data, there are a large number of redundant three-dimensional discrete coordinate points. For example, if at least two three-dimensional discrete coordinate points overlap or are too close, they can be considered to be of the same type, and only one discrete coordinate point of the same type is retained. This processing method can be called fuzzy processing or clustering processing, which can reduce the amount of data without affecting the accuracy of data processing.

[0085] S150: Use simplified road data to perform road fitting.

[0086] Among them, road fitting refers to connecting three-dimensional discrete coordinate points and restoring the three-dimensional discrete coordinate points into roads.

[0087] ​The embodiment of the present invention discretizes the two-dimensional road data first, then adds elevation data and denoises it, and finally restores it to the road. Among them, the elevation data is added to the two-dimensional road data, which realizes the conversion of the plane road data into three-dimensional data and improves the accuracy of road data processing. Denoising the three-dimensional discrete road data and removing redundant three-dimensional discrete coordinate points is conducive to the unification of road denoising processing and is applicable to various expressions of road data. For example, for roads drawn with a single line, the coordinate points on the single line can be retained; for roads drawn with two lines or three lines, the two lines or three lines can be merged into a single line representation; for situations where road data overlaps or approximately overlaps, the roads can be merged. Therefore, the embodiment of the present invention does not need to process road data in different situations for different road data expressions, and the embodiment of the present invention is not limited by the road data expression. Similarly, the embodiment of the present invention does not need to process road data in different scenarios for different application scenarios, and the embodiment of the present invention is not limited by the application scenario and can be applied to road data processing in the infrastructure industry and road data processing in photovoltaic power station design. In summary, the embodiment of the present invention simplifies the process of road data processing, reduces the complexity of road data processing, and improves the efficiency and quality of road data processing.

[0088] Based on the above embodiments, optionally, before adding elevation data to discrete road data, the method further includes: performing high-precision processing on the elevation data to obtain precise elevation data; wherein the precise elevation data includes precise contour lines, and the number of precise contour lines is greater than the number of contour lines. This arrangement further improves the accuracy of road data processing.

[0089] In the above embodiments, there are many ways to realize high-precision elevation data, and several of them are described below, but they are not intended to limit the present invention.

[0090] In one embodiment of the present invention, the elevation data is optionally refined to a higher precision, including: fitting a new contour line between two adjacent contour lines, and the original contour line and the fitted contour line constitute an accurate contour line. Figure 5 A schematic diagram of the effect of fitting a new contour line between two adjacent contour lines provided by an embodiment of the present invention. Figure 5As shown, the number of original contour lines 50 is seven, and a new contour line 14 is added between two adjacent contour lines 50, so that the number of accurate contour lines is thirteen. Before high precision, the height difference represented by adjacent contour lines is the first contour line scale c1; after high precision, the height difference represented by adjacent contour lines is the second contour line scale c2. Among them, the second contour line scale c2 can be pre-configured in the file. After the elevation data is obtained, the first contour line scale c1 and the second contour line scale c2 can be compared first. It can be understood that if c1<=c2, there is no need to perform high precision on the elevation data; if c1>c2, the elevation data is performed with high precision. Accordingly, in Figure 4 When adding elevation data to discrete road data, the height difference m between the two contour lines closest to the discrete coordinate point P is obtained. The height difference m is the smaller of c1 and c2, that is, m = Min (c1, c2).

[0091] It should be noted that, in the above embodiment, there are many ways to set a new contour line between two adjacent contour lines, which is not limited in the present invention and can be set as needed in practical applications.

[0092] Figure 6 A schematic diagram of a process for obtaining high precision of elevation data provided by an embodiment of the present invention. Figure 6 In another embodiment of the present invention, optionally, the elevation data is processed with high precision, comprising the following steps:

[0093] S151. Gridding the area covered by the elevation data to obtain grids arranged in an array, with contour lines passing through some of the grids.

[0094] The shape of the grid can be a rectangle, a square or other shapes. Figure 7 The following is a schematic diagram of the effect of gridding elevation data provided by an embodiment of the present invention. Figure 7 As shown, the grids are arranged in an array, and the contour lines 50 pass through some of the grids, and the grids passed through by the same contour line 50 represent the same height.

[0095] S152. Add elevation data to the grid through which the contour lines pass.

[0096] Adding elevation data to a grid means matching the grid with the corresponding height. Figure 7 Since the height of the contour line 50 is known, and the heights represented by the grids passed by the same contour line 50 are the same, the height of the contour line 50 can be directly added to the corresponding grid.

[0097] S153. Calculate the elevation data corresponding to all grids based on the elevation data added to the grids to obtain accurate elevation data.

[0098] Among them, for the area covered by the elevation data, only some grids have contour lines passing through them, while other grids do not have contour lines passing through them. For tables without contour lines passing through them, the height of the unknown grid can be calculated by the height of the known grid. Figure 8 A schematic diagram of the effect of calculating the elevation data corresponding to a grid provided by an embodiment of the present invention. Figure 8 , exemplarily, the heights of the three contour lines 50 are d0, d1 and d2 respectively, the height of grid 3 is d0, the height of grid 8 is d1, and the heights of grids 13 and 14 are d2. The heights of grids 1, 2, 4, 5, 6, 7, 9, 10, 11 and 12 are unknown. There are four grids between the contour line with a height of d0 and the contour line with a height of d1, which differ by 5 grids, and the grid resolution is |(d1-d0)| / 5; there are four grids between the contour line with a height of d1 and the contour line with a height of d2, which differ by 5 grids, and the grid resolution is |(d2-d1)| / 5. The heights of the grids are as follows: the height of grid 4 is d0+(d1-d0) / 5; the height of grid 5 is d0+2*(d1-d0) / 5; the height of grid 6 is d0+3*(d1-d0) / 5; the height of grid 7 is d0+4*(d1-d0) / 5; the height of grid 9 is d1+(d2-d1) / 5, the height of grid 10 is d1+2*(d2-d1) / 5; the height of grid 11 is d1+3*(d2-d1) / 5; the height of grid 12 is d1+4*(d2-d1) / 5. It can be seen that the heights of the grids between the two contour lines 50 are gradually changing. For grids 1 and 2, which are not located between the two contour lines 50, the resolutions of grids 4 to 7 can be used for calculation, and it can be obtained that the height of grid 2 is d0-(d1-d0) / 5; the height of grid 1 is d0-2*(d1-d0) / 5. The height calculation method for other grids in the area covered by the elevation data is similar and will not be repeated here.

[0099] Through S151-S153, the elevation data is made highly precise with high accuracy.

[0100] In the above embodiment, the extension direction of the contour line determines the extension direction of the height gradient grid. The embodiment of the present invention provides three basic types of contour line extension directions, and other contour line extension directions can be a combination of these three basic types.

[0101] Continue to see Figure 8In one embodiment of the present invention, optionally, the extension direction of the contour line is parallel to the row direction of the grid, and the elevation data corresponding to the grid changes gradually along the column direction of the grid. In this way, a column of grids is formed as a group, and the group of grids is perpendicular to the extension direction of the contour line. The calculation method of one group is repeated to obtain the height corresponding to the grids of other groups, so that the height corresponding to each grid calculated is more accurate.

[0102] Fig. 9 A schematic diagram of another effect of calculating the elevation data corresponding to a grid provided by an embodiment of the present invention. In one embodiment of the present invention, optionally, the extension direction of the contour line is parallel to the column direction of the grid, and the elevation data corresponding to the grid changes gradually along the row direction of the grid. For example, grids 1 to 21 are a group, and refer to Figure 8 The heights of grids 1 to 12 are calculated and will not be repeated here.

[0103] Fig.10 A schematic diagram of another effect of calculating the elevation data corresponding to a grid provided by an embodiment of the present invention. In one embodiment of the present invention, optionally, the extension direction of the contour line is rotated 135° counterclockwise with respect to the grid row direction, and the elevation data corresponding to the grid is gradually rotated 45° counterclockwise along the grid row direction. For example, grids 1 to 10 are a group, and refer to Figure 8 The heights of grids 1 to 12 are calculated and will not be repeated here.

[0104] In the above embodiments, there are many ways to implement the denoising process for the three-dimensional discrete road data, and several of them are described below, but they are not intended to limit the present invention.

[0105] Fig.11 A schematic diagram of a flow chart of another method for processing road data provided by an embodiment of the present invention, Fig.12 A schematic diagram of the effects of another road data processing method provided by an embodiment of the present invention in each step. Fig.11 and Fig.12 In one embodiment of the present invention, optionally, the method for processing road data includes the following steps:

[0106] S210, obtaining elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road.

[0107] The two-dimensional road data may include data of only one road, data of two roads, or data of multiple roads. In practical applications, the two-dimensional road data mainly includes data of multiple roads. Fig.12 By way of example, the two-dimensional road data includes two-dimensional coordinate points of three horizontal roads and three vertical roads.

[0108] S220 , discretizing the two-dimensional road data to obtain discrete road data.

[0109] Exemplarily, each road is discretized with the fifth preset scale r5. For most discrete coordinate points, the distance between adjacent discrete coordinate points is the fifth preset scale r5. For example, for the first horizontal road counted from left to right, the upper end point is used as the starting coordinate point for discretization, and one coordinate point is added every fifth preset scale r5 until the distance between the newly added coordinate point and the lower end point is less than the fifth preset scale r5. The two-dimensional coordinate points and the newly added coordinate points are collectively referred to as discrete coordinate points. Except that the distance between the last two discrete coordinate points is less than the fifth preset scale r5, the distance between other adjacent coordinate points is the fifth preset scale r5.

[0110] S230, adding elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points.

[0111] It should be noted that the specific implementation of S230 can refer to the above embodiments. In order to clearly describe the processing method of discrete coordinate points on the two-dimensional plane, Fig.12 Contour lines are not shown, but you will need to take the elevation data into account when performing subsequent steps.

[0112] S240, performing denoising processing on the three-dimensional discrete road data includes S241 and S242.

[0113] S241. Performing a single road self-denoising process according to the three-dimensional discrete coordinate points of each road to remove redundant three-dimensional discrete coordinate points in each single road.

[0114] The self-denoising of a single road means that the denoising is performed only on the 3D discrete coordinate points of each road itself without considering the 3D discrete coordinate points of other roads. Exemplarily, the self-denoising of a single road includes: firstly, a 3D discrete coordinate point is determined as the first target coordinate point for the selected single road according to a first preset order. The first preset order may be from the coordinate of one end point of the single road to the coordinate of the other end point of the single road, and then Fig.12For example, the first preset order can be from top to bottom, from bottom to top, from left to right or from right to left. The first preset order can also start from the three-dimensional discrete coordinate point between the two endpoint coordinates of a single road and end at the two endpoint coordinates of the single road. The first preset order can also be determined according to the numerical values ​​of the three-dimensional discrete coordinate points. If the three-dimensional discrete coordinate point with the largest value in a single road is selected as the starting coordinate point and the three-dimensional discrete coordinate point with the smallest value is selected as the ending coordinate point, the first preset order can also start from the starting coordinate point and end at the ending coordinate point, or start from the ending coordinate point and end at the starting coordinate point. The numerical comparison of three-dimensional discrete coordinate points can be implemented in a rectangular coordinate system or in a polar coordinate system.

[0115] In the rectangular coordinate system, the three-dimensional discrete coordinate point is represented by (x, y, z). The numerical values ​​are compared with x as the first comparison bit, y as the second comparison bit, z as the third comparison bit, or other comparison orders. For example, the three-dimensional discrete coordinate point (2,2,1) is greater than the three-dimensional discrete coordinate point (1,1,1). In the polar coordinate system, the three-dimensional discrete coordinate point is represented by (r,θ,z). The numerical values ​​are compared with r as the first comparison bit, θ as the second comparison bit, z as the third comparison bit, or other comparison orders. For example, the three-dimensional discrete coordinate point (5,60°,1) is greater than the three-dimensional discrete coordinate point (2,30°,1).

[0116] Then, the first preset range is determined based on the first target coordinate point, and the three-dimensional discrete coordinate points in the first preset range are merged to obtain the simplified coordinate points of a single road. For example, the first preset range is determined based on the three-dimensional discrete coordinate point A in the first road counted from left to right as the first target coordinate point. The first preset range can be determined using a geometric algorithm, for example, the first preset range includes a first plane range and a first elevation range; wherein the first plane range can be a circle with the first target coordinate point as the center and the first preset scale as the radius or a rectangle with the first preset scale as the diagonal. Fig.12 For example, a circle with the three-dimensional discrete coordinate point A as the center and the first preset scale r1 as the radius is used as the first plane range of the first target coordinate point. The first elevation range can be an elevation range whose elevation difference with the first target coordinate point is within the second preset scale. For example, the three-dimensional discrete coordinate points within the first plane range are first determined, and then it is determined whether these three-dimensional discrete coordinate points meet the first elevation range, and the three-dimensional discrete coordinate points that do not meet the first elevation range are removed.

[0117] The way to fuse the three-dimensional discrete coordinate points within the first preset range may be to select any point within the first preset range as a simplified coordinate point, and filter out other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point. The way to fuse the three-dimensional discrete coordinate points within the first preset range may also be to calculate the weighted average of the three-dimensional discrete coordinate points within the first preset range to obtain the simplified coordinate point. The way to fuse the three-dimensional discrete coordinate points within the first preset range may also be to calculate the mean square error of the three-dimensional discrete coordinate points within the first preset range, select the three-dimensional discrete coordinate point with the minimum difference from the mean square error as the simplified coordinate point, and filter out other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point. For example, there are three three-dimensional discrete coordinate points within the first preset range determined with coordinate point A as the center of the circle. Two of the three-dimensional discrete coordinate points are three-dimensional discrete coordinate points on the first road from left to right, so only the weighted average of these two three-dimensional discrete coordinate points is calculated to obtain three-dimensional discrete coordinate point B, and three-dimensional discrete coordinate point B is used as the simplified coordinate point. In this way, the self-denoising process of a single road can be completed, and then other single roads can be selected in turn for self-denoising process until the self-denoising process of all single roads is completed.

[0118] S242: Perform road linkage denoising processing using the three-dimensional discrete coordinate points of at least two roads after the self-denoising processing, so as to remove redundant three-dimensional discrete coordinate points in the at least two roads and merge the at least two roads.

[0119] Among them, the road linkage denoising process refers to the comprehensive consideration of the three-dimensional discrete coordinate points in different roads and the simultaneous denoising process. Exemplarily, the road linkage denoising process includes: first, for a selected road, a three-dimensional discrete coordinate point is determined as the second target coordinate point according to a second preset order. The setting method of the second preset order can refer to the setting method of the first preset order, which will not be repeated here. The setting method of the second preset order can be the same as or different from the first preset order. For example, the three-dimensional discrete coordinate point in the second road counted from left to right is selected as the second target coordinate point, and after traversing the three-dimensional discrete coordinate points in the road, the three-dimensional discrete coordinate points in other roads are selected.

[0120] Then, the second preset range is determined based on the second target coordinate point, and the three-dimensional discrete coordinate points within the second preset range are fused to obtain the linkage simplified coordinate points of at least two roads. The second preset range is used to limit the distance condition for merging at least two roads. The setting method of the second preset range can refer to the setting method of the first preset range, and the setting methods of the second preset range and the first preset range can be the same or different. The fusion method of the three-dimensional discrete coordinate points within the second preset range refers to the fusion method of the three-dimensional discrete coordinate points within the first preset range. The difference is that all three-dimensional discrete coordinate points within the second preset range participate in the fusion. For example, an endpoint coordinate point C in the second road counted from left to right is the second target coordinate point, and the second plane range is set with a circle with a third preset scale r3 as the radius. There are three three-dimensional discrete coordinate points within the second plane range, and these three-dimensional discrete coordinate points are fused to obtain the linkage simplified coordinate point D. In this way, the linkage denoising process based on one road can be completed, and then other single roads are selected in turn for linkage denoising.

[0121] S250: Use simplified road data to perform road fitting.

[0122] Among them, there are many ways to use simplified road data for road fitting. For example, first, a simplified coordinate point is selected as the third target coordinate point in sequence according to the fourth preset order. The setting method of the fourth preset order can refer to the setting method of the first preset order, and will not be repeated. The setting method of the fourth preset order and the first preset order can be the same or different. Then, the fourth preset range is determined based on the third target coordinate point, and the simplified coordinate point closest to the third target coordinate point in the fourth preset range is determined as a valid coordinate point, and the third target coordinate point and the valid coordinate point are connected. The setting method of the fourth preset range can refer to the setting method of the first preset range, and the setting method of the fourth preset range and the first preset range can be the same or different. For example, the third target coordinate point is the simplified coordinate point E, and the fourth preset range is set with a circle with a radius of the fourth preset scale r4. In addition to the simplified coordinate point E, there is also a simplified coordinate point F in the fourth preset range, and the simplified coordinate point F is a valid coordinate point, and the simplified coordinate point E and the simplified coordinate point F are connected.

[0123] The embodiment of the present invention divides the denoising process into two steps: self-denoising of a single road and road-linked denoising, which is beneficial to avoid processing errors caused by directly using road-linked denoising, thereby facilitating improving the accuracy of road data processing.

[0124] It should be noted that, when the three-dimensional road data only includes the three-dimensional road data of one road, it is only necessary to perform the step of self-denoising of the single road, and there is no need to perform the step of road linkage denoising.

[0125] Fig.13 A flowchart of another method for processing road data provided by an embodiment of the present invention is shown below. Figure 14-17 A schematic diagram of the effects of implementing another method for processing road data in each step provided by an embodiment of the present invention. Figure 13-Figure 17 In another embodiment of the present invention, optionally, the method for processing road data includes the following steps:

[0126] S310, obtaining elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road.

[0127] S320, gridding the area covered by the two-dimensional road data to obtain grids arranged in an array, such as Fig.14 shown.

[0128] Among them, the grid formed by gridding the two-dimensional road data is different from the grid formed by gridding the elevation data, and the two need to be treated separately. Fig.14 Only the grid formed by gridding the two-dimensional road data is shown in FIG. It should be noted that in practical applications, the two-dimensional road data may be gridded, or only the elevation data may be gridded, or both the two-dimensional road data and the elevation data may be gridded.

[0129] S330, discretizing the two-dimensional road data to obtain discrete road data.

[0130] like Fig.15 As shown, the discrete coordinate points are all located in the grid.

[0131] S340, adding elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points.

[0132] S350: De-noising the discrete road data.

[0133] Among them, the grid can be used to achieve discrete road denoising. Fig.15 and Fig.16 , first select a grid with three-dimensional discrete coordinate points as the first target processing grid. For example, select grid G ​​as the first target processing grid, and grid G ​​includes two three-dimensional discrete coordinate points. Then determine whether the two three-dimensional discrete coordinate points in grid G ​​meet the elevation range, and fuse the three-dimensional discrete coordinate points in grid G ​​that meet the elevation range to obtain the simplified coordinate points corresponding to the first target processing grid. The fusion method of the three-dimensional discrete coordinate points in the grid refers to the fusion method of the three-dimensional discrete coordinate points within the first preset range. For example, select the center of grid G ​​as the simplified coordinate point. The processing order of the first target processing grid can be set arbitrarily, and the present invention is not limited.

[0134] S360, using simplified road data to perform road fitting.

[0135] There are many ways to use grids to fit roads. For example, Fig.16 and Fig.17 , first select a grid with simplified coordinate points as the second target processing grid in sequence according to the third preset order. The setting method of the third preset order can refer to the setting method of the first preset order, and the setting methods of the second preset order and the first preset order can be the same or different. For example, first select the grid H with three-dimensional discrete coordinate points in the upper left corner as the second processing grid. Determine the third preset range based on the second target processing grid, determine the grid with simplified coordinate points within the third preset range as the valid grid; connect the second target processing grid and the valid grid closest to the second target processing grid. The setting method of the third preset range can refer to the setting method of the first preset range, and the setting method of the third preset range and the first preset range can be the same or different. For example, a circle with the second target processing grid as the center and the fourth preset scale r4 as the radius includes a valid grid I, and connects grid H and grid I. If there is no valid grid within the third preset range, delete the data in grid H.

[0136] It can be seen that the embodiment of the present invention implements the steps of first discretizing the road data, then gridding the data, adding elevation data, using the grid to denoise, and finally restoring the grid to the road through S310-S360. The grid-based road data processing simplifies the process of road data processing and improves the efficiency and quality of road data processing.

[0137] It should be noted that, in the above embodiments, specific values ​​of the first preset scale r1, the second preset scale r2, the third preset scale r3, the fourth preset scale r4 and the fifth preset scale r5 can be set as needed, and the present invention does not limit them.

[0138] In the above embodiments, after executing road fitting, the road intersection can be determined based on the number of connection times on the simplified coordinate points. Specifically, the endpoint coordinate points are connected only once, the middle coordinate points of the road are connected twice, and the coordinate points connected three times or more are road intersections.

[0139] Fig.18 A schematic diagram of road merging provided by an embodiment of the present invention. Fig.18On the basis of the above embodiments, optionally, after the discrete road data is denoised, it further includes: merging two parallel roads whose distance is less than a preset distance into one road. The preset distance includes a plane distance and an elevation distance. For example, the roads in the drawing include road 31, road 32, road 33, road 34 and road 35, wherein a part of the area of ​​road 34 and a part of the area of ​​road 35 are parallel and close to each other, less than the preset distance, then these two parts are merged to obtain a corrected road. At this time, the roads in the drawing include road 31, road 32, road 33, road 34, road 35 and road 36. This arrangement further simplifies the road data and improves the efficiency and quality of road data processing.

[0140] An embodiment of the present invention also provides a road data processing device. Fig.19 A schematic diagram of the structure of a road data processing device provided by an embodiment of the present invention. Fig.19 The road data processing device includes a data acquisition module 410, a two-dimensional discretization module 420, a three-dimensional expansion module 430, a denoising module 440 and a fitting module 450. The data acquisition module 410 is used to acquire elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road; the two-dimensional discretization module 420 is used to discretize the two-dimensional road data to obtain discrete road data; wherein the discrete road data includes discrete coordinate points of the road, and the number of discrete coordinate points is greater than the number of two-dimensional coordinate points; the three-dimensional expansion module 430 is used to add elevation data to the discrete road data to expand the discrete coordinate points from two dimensions to three dimensions to obtain three-dimensional discrete coordinate points; the denoising module 440 is used to perform denoising processing on the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data; wherein the simplified road data includes simplified coordinate points of the road, and the number of simplified coordinate points is less than the number of three-dimensional discrete coordinate points; the fitting module 450 is used to use the simplified road data for road fitting.

[0141] Optionally, the road data processing device also includes: an elevation data refinement module, which is used to perform high-precision on the elevation data to obtain precise elevation data; wherein the precise elevation data includes precise contour lines, and the number of precise contour lines is greater than the number of contour lines.

[0142] Optionally, the elevation data refinement module is also used to fit a new contour line between two adjacent contour lines, and the original contour line and the fitted contour line constitute an accurate contour line.

[0143] Optionally, the elevation data refinement module is also used to grid the area covered by the elevation data to obtain grids arranged in an array, with contour lines passing through some of the grids; add elevation data to the grids through which the contour lines pass; and calculate the elevation data corresponding to all the grids based on the elevation data added to the grids to obtain accurate elevation data.

[0144] Optionally, the form in which the contour line passes through a portion of the grid includes at least one of the following forms:

[0145] The extension direction of the contour line is parallel to the row direction of the grid, and the elevation data corresponding to the grid changes gradually along the column direction of the grid;

[0146] The extension direction of the contour line is parallel to the column direction of the grid, and the elevation data corresponding to the grid changes gradually along the row direction of the grid;

[0147] Also, the extension direction of the contour line is 135° counterclockwise rotated from the grid row direction, and the elevation data corresponding to the grid is gradually rotated 45° counterclockwise along the grid row direction.

[0148] The three-dimensional extension module is also used to calculate, if the discrete coordinate point is on a contour line, the height of the discrete coordinate point is the elevation data corresponding to the contour line; if the discrete coordinate point is outside the contour line, the height of the discrete coordinate point is the elevation data corresponding to the contour line closest to the discrete coordinate point; or, calculate the elevation data corresponding to the discrete coordinate point based on the distance between the discrete coordinate point and the contour line.

[0149] Optionally, the denoising module includes: a self-denoising unit and a linkage denoising unit. The self-denoising unit is used to perform self-denoising processing on a single road according to the three-dimensional discrete coordinate points of each road, so as to remove redundant three-dimensional discrete coordinate points in each single road. The linkage denoising unit is used to perform road linkage denoising processing using the three-dimensional discrete coordinate points of at least two roads after the self-denoising processing, so as to remove redundant three-dimensional discrete coordinate points in at least two roads and merge the at least two roads.

[0150] Optionally, the self-denoising unit is also used to select a three-dimensional discrete coordinate point in a single road as a first target coordinate point in sequence according to a first preset order; determine a first preset range based on the first target coordinate point, and merge the three-dimensional discrete coordinate points within the first preset range to obtain a simplified coordinate point of the single road.

[0151] Optionally, fusing the three-dimensional discrete coordinate points within the first preset range includes at least one of the following steps:

[0152] Select any point within the first preset range as a simplified coordinate point, and filter out other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point;

[0153] Calculating a weighted average of three-dimensional discrete coordinate points within a first preset range to obtain simplified coordinate points;

[0154] And, calculating the mean square error of the three-dimensional discrete coordinate points within the first preset range, selecting the three-dimensional discrete coordinate point with the minimum difference from the mean square error as the simplified coordinate point, and filtering out other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point.

[0155] Optionally, the first preset range includes a first plane range and a first elevation range;

[0156] The first plane range refers to a circle with the first target coordinate point as the center and the first preset scale as the radius or a rectangle with the first preset scale as the diagonal;

[0157] The first elevation range refers to an elevation range whose elevation difference from the first target coordinate point is within a second preset scale.

[0158] Optionally, the linkage denoising unit is also used to select a three-dimensional discrete coordinate point in a road as a second target coordinate point in sequence according to a second preset order; determine a second preset range based on the second target coordinate point, and merge the discrete coordinate points within the second preset range to obtain linkage simplified coordinate points of at least two roads.

[0159] Optionally, the fitting module is also used to select a simplified coordinate point as a third target coordinate point in sequence according to a third preset order; determine a fourth preset range based on the third target coordinate point, determine the simplified coordinate point closest to the third target coordinate point within the fourth preset range as a valid coordinate point, and connect the third target coordinate point and the valid coordinate point.

[0160] An embodiment of the present invention further provides an electronic device. Fig. 20 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Fig. 20 The server includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the server may be one or more. Figure 5 A processor 510 is taken as an example; the processor 510, the memory 520, the input device 530 and the output device 540 in the server can be connected via a bus or other means. Fig. 20 The example of connecting through bus is taken in the following.

[0161] The memory 520, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the data caching method in the embodiment of the present invention (for example, the data acquisition module 410, the two-dimensional discretization module 420, the three-dimensional expansion module 430, the denoising module 440 and the fitting module 450). The processor 510 executes various functional applications and data processing of the server by running the software programs, instructions and modules stored in the memory 520, that is, implements the above-mentioned data caching method.

[0162] The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the server, etc. In addition, the memory 520 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include a memory remotely arranged relative to the processor 510, and these remote memories may be connected to the server via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0163] The input device 530 may be used to receive input digital or character information and generate key signal input related to the function control of the server. The output device 540 may include a display device such as a display screen.

[0164] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for processing road data, characterized in that: include: Acquire elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road; wherein the elevation data and the two-dimensional road data are separate; Discretizing the two-dimensional road data to obtain discrete road data; wherein the discrete road data includes discrete coordinate points of the road, and the number of the discrete coordinate points is greater than the number of the two-dimensional coordinate points; The elevation data is added to the discrete road data to expand the discrete coordinate point from two dimensions to three dimensions to obtain a three-dimensional discrete coordinate point; wherein, the elevation data is added to the discrete road data, including: if the discrete coordinate point is located on the contour line, the height of the discrete coordinate point is the elevation data corresponding to the contour line; if the discrete coordinate point is located outside the contour line, the height of the discrete coordinate point is the elevation data corresponding to the contour line closest to the discrete coordinate point; or, the elevation data corresponding to the discrete coordinate point is calculated according to the distance between the discrete coordinate point and the contour line; Performing denoising processing on the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data; wherein the simplified road data includes simplified coordinate points of the road, and the number of the simplified coordinate points is less than the number of the three-dimensional discrete coordinate points; The simplified road data is used to perform road fitting.

2. The method for processing road data according to claim 1, characterized in that: Before adding the elevation data to the discrete road data, the method further includes: The elevation data is processed with high precision to obtain accurate elevation data; wherein the accurate elevation data includes accurate contour lines, and the number of the accurate contour lines is greater than the number of the contour lines.

3. The method for processing road data according to claim 2, characterized in that: The elevation data is processed with high precision, including: A new contour line is fitted between two adjacent contour lines, and the original contour line and the fitted contour line constitute the accurate contour line.

4. The method for processing road data according to claim 2, characterized in that: The elevation data is processed with high precision, including: Gridding the area covered by the elevation data to obtain grids arranged in an array, wherein the contour lines pass through a portion of the grids; Adding the elevation data to the grid through which the contour line passes; According to the elevation data added to the grid, the elevation data corresponding to all the grids are calculated to obtain the precise elevation data.

5. The method for processing road data according to claim 4, characterized in that: The form in which the contour line passes through a portion of the grid includes at least one of the following forms: The extension direction of the contour line is parallel to the row direction of the grid, and the elevation data corresponding to the grid changes gradually along the column direction of the grid; The extension direction of the contour line is parallel to the column direction of the grid, and the elevation data corresponding to the grid changes gradually along the row direction of the grid; Furthermore, the extension direction of the contour line is rotated 135° counterclockwise with respect to the grid row direction, and the elevation data corresponding to the grid is gradually rotated 45° counterclockwise with respect to the grid row direction.

6. The method for processing road data according to claim 1, characterized in that: The denoising process comprises: According to the three-dimensional discrete coordinate points of each road, a single road self-denoising process is performed to remove redundant three-dimensional discrete coordinate points in each single road; The three-dimensional discrete coordinate points of the at least two roads after the self-denoising process are used to perform road linkage denoising process to remove redundant three-dimensional discrete coordinate points in the at least two roads and merge the at least two roads.

7. The method for processing road data according to claim 6, characterized in that: The single road self-denoising process comprises: Selecting one of the three-dimensional discrete coordinate points in the single road as a first target coordinate point in sequence according to a first preset order; A first preset range is determined based on the first target coordinate point, and the three-dimensional discrete coordinate points within the first preset range are merged to obtain simplified coordinate points of the single road.

8. The method for processing road data according to claim 7, characterized in that: Fusing the three-dimensional discrete coordinate points within the first preset range includes at least one of the following steps: Selecting any point within the first preset range as the simplified coordinate point, and filtering out other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point; Calculating a weighted average of the three-dimensional discrete coordinate points within the first preset range to obtain the simplified coordinate points; And, calculating the mean square error of the three-dimensional discrete coordinate points within the first preset range, selecting the three-dimensional discrete coordinate point with the smallest difference from the mean square error as the simplified coordinate point, and filtering out the other three-dimensional discrete coordinate points within the first preset range except the simplified coordinate point.

9. The method for processing road data according to claim 7, characterized in that: The first preset range includes a first plane range and a first elevation range; The first plane range refers to a circle with the first target coordinate point as the center and the first preset scale as the radius or a rectangle with the first preset scale as the diagonal; The first elevation range refers to an elevation range whose elevation difference from the first target coordinate point is within a second preset scale.

10. The method for processing road data according to claim 6, characterized in that: Road linkage denoising processing includes: Selecting one of the three-dimensional discrete coordinate points on a road as a second target coordinate point in sequence according to a second preset order; A second preset range is determined based on the second target coordinate point, and the discrete coordinate points within the second preset range are merged to obtain linkage simplified coordinate points of the at least two roads.

11. The method for processing road data according to claim 1, characterized in that: The simplified road data is used to perform road fitting, including: Selecting one of the simplified coordinate points as the third target coordinate point in sequence according to a third preset order; A fourth preset range is determined based on the third target coordinate point, the simplified coordinate point closest to the third target coordinate point in the fourth preset range is determined as a valid coordinate point, and the third target coordinate point and the valid coordinate point are connected.

12. A road data processing device, characterized in that: include: A data acquisition module, used to acquire elevation data and two-dimensional road data, wherein the elevation data includes contour lines, and the two-dimensional road data includes two-dimensional coordinate points of the road; wherein the elevation data and the two-dimensional road data are separate; A two-dimensional discretization module, used for discretizing the two-dimensional road data to obtain discrete road data; wherein the discrete road data includes discrete coordinate points of the road, and the number of the discrete coordinate points is greater than the number of the two-dimensional coordinate points; A three-dimensional expansion module, used for adding the elevation data to the discrete road data to expand the discrete coordinate point from two dimensions to three dimensions to obtain a three-dimensional discrete coordinate point; wherein, adding the elevation data to the discrete road data comprises: if the discrete coordinate point is located on the contour line, then the height of the discrete coordinate point is the elevation data corresponding to the contour line; if the discrete coordinate point is located outside the contour line, then the height of the discrete coordinate point is the elevation data corresponding to the contour line closest to the discrete coordinate point; or, calculating the elevation data corresponding to the discrete coordinate point according to the distance between the discrete coordinate point and the contour line; A denoising module, configured to perform denoising processing on the three-dimensional discrete road data to remove redundant three-dimensional discrete coordinate points to obtain simplified road data; wherein the simplified road data includes simplified coordinate points of the road, and the number of the simplified coordinate points is less than the number of the three-dimensional discrete coordinate points; A fitting module is used to perform road fitting using the simplified road data.

13. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the road data processing method as described in any one of claims 1-11.

Images