Three-dimensional road network construction method and device, electronic equipment and storage medium

Abstract

The application provides a three-dimensional road network construction method and device, electronic equipment and storage medium, the method comprises the following steps: acquiring a two-dimensional road network, in all nodes of a path, for the nodes overlapping with the current path and / or other paths, setting the corresponding relative elevation; reducing the relative elevation of the target node with the largest relative elevation in the path, and increasing the relative elevation of other nodes in the path; determining the center line of the path, and determining the relative elevation of the nodes constituting the center line according to the relative elevation of the nodes of the path, and setting the width of the path; according to the width of the path and the relative elevation of the nodes of the center line, constructing the corresponding three-dimensional road of the path, thereby obtaining a three-dimensional road network. The three-dimensional road network constructed based on the information provided by the original two-dimensional road network does not need to use expensive surveying equipment, nor does it need to carry out a large amount of tedious manual field surveying, and the accuracy and intuitiveness of the topological relationship of the road in the height space are guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of computer technology, and in particular relates to a method, apparatus, electronic device and storage medium for constructing a three-dimensional road network. Background Technology

[0002] Maps composed of road networks are essential for navigation software. Since roads in the real world are a spatial data structure with surface-shaped, three-dimensional interchange relationships and complex spatial topological relationships, navigation software urgently needs to upgrade the currently used two-dimensional line-type road network to a three-dimensional road network with high spatial representation.

[0003] Currently, the establishment of three-dimensional road networks can mainly adopt surveying and mapping technologies such as laser point cloud and high-precision real-time kinematic (RTK). Specifically, surveyors can carry surveying tools to the actual scene to conduct surveying and mapping, and use the high-precision data obtained from the surveying to construct the three-dimensional road network.

[0004] However, the inventors discovered during the research process that the current solution requires a large amount of manual labor, and the cost of surveying equipment and data processing is high, resulting in a high overall cost. Summary of the Invention

[0005] Based on this, the present invention provides a three-dimensional road network construction scheme to solve the problems mentioned in the background art.

[0006] The present invention also provides a three-dimensional road network construction device to ensure the implementation and application of the above method in practice.

[0007] This invention provides a method for constructing a three-dimensional road network, the method comprising:

[0008] A two-dimensional road network is obtained, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes;

[0009] In all nodes of the path, for nodes that overlap with the current path and / or other paths, a corresponding relative elevation is set, which is used to characterize the height of the path from the reference plane;

[0010] The relative elevation of the target node with the highest relative elevation in the path is reduced, and the relative elevation of other nodes in the path is increased; wherein, the increase in relative elevation is greater for other nodes that are closer to the target node.

[0011] Determine the centerline of the path, and based on the relative elevations of the path's nodes, determine the relative elevations of the nodes constituting the centerline, and set the width of the path.

[0012] Based on the width of the path and the relative elevation of the nodes of the centerline, a three-dimensional road network is constructed corresponding to the path.

[0013] This invention also provides a three-dimensional road network construction device, which includes:

[0014] An acquisition module is used to acquire a two-dimensional road network, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes;

[0015] The setting module is used to set the corresponding relative elevation for nodes that overlap with the current path and / or other paths in all nodes of the path, wherein the relative elevation is used to characterize the height of the path from the reference plane;

[0016] The first smoothing module is used to reduce the relative elevation of the target node with the highest relative elevation in the path and increase the relative elevation of other nodes in the path; wherein, the closer the other nodes are to the target node, the greater the increase in relative elevation.

[0017] The centerline module is used to determine the centerline of the path, and to determine the relative elevation of the nodes constituting the centerline based on the relative elevation of the nodes of the path, and to set the width of the path.

[0018] A construction module is used to construct a three-dimensional road corresponding to the path based on the width of the path and the relative elevation of the nodes of the centerline, thereby obtaining a three-dimensional road network.

[0019] This invention also provides an electronic device, including a memory and one or more programs, wherein one or more programs are stored in the memory and configured to be executed by one or more processors. The one or more programs include instructions for performing the following operations:

[0020] A two-dimensional road network is obtained, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes;

[0021] In all nodes of the path, for nodes that overlap with the current path and / or other paths, a corresponding relative elevation is set, which is used to characterize the height of the path from the reference plane;

[0022] The relative elevation of the target node with the highest relative elevation in the path is reduced, and the relative elevation of other nodes in the path is increased; wherein, the increase in relative elevation is greater for other nodes that are closer to the target node.

[0023] Determine the centerline of the path, and based on the relative elevations of the path's nodes, determine the relative elevations of the nodes constituting the centerline, and set the width of the path.

[0024] Based on the width of the path and the relative elevation of the nodes of the centerline, a three-dimensional road network is constructed corresponding to the path.

[0025] This invention also provides a computer-readable medium storing instructions that, when executed by one or more processors, cause a device to perform one or more of the aforementioned three-dimensional road network construction methods.

[0026] In this embodiment of the invention, based on the mapping of the width of the path and the relative elevation of the nodes along the path's centerline, a three-dimensional road corresponding to the path can be further constructed after rendering a road with width characteristics. This three-dimensional road accurately expresses the intersection and overlapping relationships between different levels of roads in an interchange system, and also expresses the slope changes of roads in height space. This improves the accuracy of the map's representation of road topology relationships, enabling map users and viewers to accurately display and guide road traffic relationships within the interchange system. This embodiment of the invention constructs a three-dimensional road network based on information provided by the original two-dimensional road network, eliminating the need for expensive surveying equipment and extensive, tedious manual field surveying, while ensuring the accuracy and intuitiveness of the road topology relationships in height space. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart illustrating the steps of a three-dimensional road network construction method provided in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of a two-dimensional road network provided in an embodiment of the present invention;

[0030] Figure 3 This is a structural schematic diagram of a three-dimensional interchange system provided in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of a three-dimensional road network provided in an embodiment of the present invention;

[0032] Figure 5 This is a flowchart illustrating the specific steps of a three-dimensional road network construction method provided in an embodiment of the present invention;

[0033] Figure 6 This is a block diagram of a three-dimensional road network construction device provided in an embodiment of the present invention;

[0034] Figure 7 This is a block diagram of an electronic device 800 for constructing a three-dimensional road network according to an exemplary embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the server structure in an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] This invention can be used in a wide variety of general-purpose or special-purpose computing environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor devices, distributed computing environments including any of the above devices, etc.

[0038] This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0039] Figure 1 This is a flowchart illustrating the steps of a three-dimensional road network construction method provided in an embodiment of the present invention, applied to a client, such as... Figure 1 As shown, the method may include:

[0040] Step 101: Obtain a two-dimensional road network, which contains at least one path, and the path is formed by connecting multiple nodes.

[0041] In this embodiment of the invention, reference is made to Figure 2 It shows a schematic diagram of a two-dimensional road network provided by an embodiment of the present invention, wherein the two-dimensional road network includes multiple paths. Figure 2The image shows the labels of some paths, namely a ground-level Second Ring Road path 12 and an elevated Guang'anmen Bridge path 11, as well as multiple nodes 13 contained within the paths. A path can represent a road, and paths can intersect, overlap, etc. A node 13 can be composed of the coordinates of its location. Since the two-dimensional road network only shows the topological relationship of each path in a two-dimensional plane and does not express the path relationship in height space, it is too abstract for map users and viewers, especially for roads with height changes such as interchanges. The two-dimensional road network cannot accurately show and guide road traffic relationships. The embodiments of this invention aim to construct a three-dimensional road network based on the original two-dimensional road network data, so that the three-dimensional road network has a clear and accurate expression of path relationships in height space, thereby solving the above problems.

[0042] It should be noted that the two-dimensional road network can be obtained from actual surveying, downloaded from relevant map databases, or directly exported from map software. This embodiment of the invention does not limit this.

[0043] Step 102: For all nodes in the path, set the corresponding relative elevation for nodes that overlap with the current path and / or other paths. The relative elevation is used to characterize the height of the path from the reference plane.

[0044] In this embodiment of the invention, to construct a three-dimensional road network, it is first necessary to obtain the height values ​​of each node included in the path that requires height spatial representation. This allows the path to be represented in height space. Specifically, in most cases, the paths requiring height spatial representation can be the various paths in an interchange system. These paths are at a certain height above the ground, intersect and overlap with each other, and each has a certain longitudinal slope. The core of this embodiment of the invention is to construct the three-dimensional path in such an interchange system so that map users and viewers can accurately display and guide the road traffic relationships in the interchange system.

[0045] Furthermore, since road construction must strictly adhere to road design specifications, specifically the minimum relative elevation and maximum longitudinal slope for each grade of interchange, the relative elevation characterizes the height of the path from a reference surface (e.g., ground level), while the relative floor elevation characterizes the height difference between adjacent floors at overlapping points in the interchange system. Road design specifications impose corresponding limitations on the minimum relative floor elevation at overlapping points. Therefore, the initial relative elevation of overlapping nodes in the path of this invention can be set to a preset value that satisfies the minimum relative floor elevation specified in the road design specifications. Longitudinal slope refers to the ratio of the elevation difference between two points on the same slope segment on the longitudinal profile of the route to its horizontal distance, expressed as a percentage. The maximum longitudinal slope limits the upper limit of the longitudinal slope of the path.

[0046] Reference Figure 3 The diagram illustrates a three-dimensional interchange system provided by an embodiment of the present invention. In this embodiment, at the location where the upper path 14 and the lower path 15 overlap, the relative elevation of the upper path 14 is H1, the relative elevation of the lower path 15 is H2, and the relative floor elevation between them is H3 = H1 - H2.

[0047] In this step, since a path may overlap with itself or other paths, the relative elevation of the nodes of the path above can be set for the nodes that overlap with the current path and / or other paths, in accordance with the minimum relative elevation requirement of the road design specification. This ensures that the relative elevation of the overlapping nodes is greater than or equal to the minimum relative elevation requirement of the road design specification.

[0048] Step 103: Reduce the relative elevation of the target node with the highest relative elevation in the path, and increase the relative elevation of other nodes in the path.

[0049] Among them, the closer other nodes are to the target node, the greater the increase in relative elevation.

[0050] Since the relative elevation of overlapping nodes in the path is set in step 102 (the initial relative elevation of other non-overlapping nodes is set to 0), in this specific step, the target node with the largest relative elevation in the path can be found first, and the relative elevation of the target node in the path can be passed to other nodes on both sides in a smooth descent manner. That is, the relative elevation of the target node is reduced, and the relative elevation of other nodes is increased, so that the relative elevation of other nodes that are closer to the target node is increased by a larger amount.

[0051] In this embodiment of the invention, the roads in the interchange system all have a certain longitudinal slope. Based on the consideration of driving safety, the slope of the road is gradually rising or falling. Rapidly rising or falling slopes are more likely to cause traffic safety accidents. In the three-dimensional road display, the three-dimensional road also needs to be displayed in a smooth slope manner to improve the realism of the three-dimensional road display. Therefore, the relative elevation of each node in the path also needs to smoothly decrease from the target node with the largest relative elevation to other nodes on both sides, so as to meet the requirements of the relative floor elevation between the upper and lower road layers while satisfying the requirement of a gentle road slope.

[0052] For example, a path is formed by connecting node 1 (relative elevation 0), node 2 (relative elevation 0), node 3 (relative elevation 50), node 4 (relative elevation 0), and node 5 (relative elevation 0) in sequence. In order to meet the requirements of its gentle slope and relative elevation with other paths, the relative elevation of node 3, which has the largest relative elevation, can be transferred to both sides in a smooth descending manner. The path after the transfer is: node 1 (relative elevation 5), node 2 (relative elevation 10), node 3 (relative elevation 20), node 4 (relative elevation 10), and node 5 (relative elevation 5).

[0053] Step 104: Determine the centerline of the path, and based on the relative elevations of the path nodes, determine the relative elevations of the nodes constituting the centerline, and set the width of the path.

[0054] In this embodiment of the invention, since all actual roads have a centerline, and the centerline is a line extending along the center of the road, the width of the road can be further set based on the centerline of the road, and the relative elevation of the nodes of the centerline can be set as the relative elevation of the nodes corresponding to the nodes of the centerline among all nodes of the path. This allows the three-dimensional road to be drawn based on the centerline of the path, the relative elevation of the nodes of the centerline, and the width of the path during the subsequent construction of the three-dimensional path.

[0055] Step 105: Based on the width of the path and the relative elevation of the nodes of the centerline, construct the three-dimensional road corresponding to the path to obtain the three-dimensional road network.

[0056] In this step, based on the width of the path and the relative elevation of the nodes on the path's centerline, the road's height space is accurately expressed by further using the relative elevation of the centerline nodes, thus constructing the 3D road corresponding to the path. Since nodes at different positions on the road's centerline may have different relative elevations, the centerline elevation is used as the basis for rendering the height space. Therefore, the intersection and overlapping relationships between different levels of roads in the interchange system can be accurately expressed. At the same time, the slope changes of roads in the height space are also expressed, improving the accuracy of the map's expression of road topology relationships. This allows map users and viewers to accurately display and guide the road traffic relationships in the interchange system.

[0057] Furthermore, the embodiments of the present invention construct a three-dimensional road network based on the information provided by the original two-dimensional road network. It does not require expensive surveying equipment or a large amount of tedious manual on-site surveying, and ensures the accuracy and intuitiveness of the topological relationship of roads in height space, thereby providing a low-cost solution for displaying the three-dimensional topological relationship of roads.

[0058] For example, refer to Figure 4 It shows a schematic diagram of a three-dimensional road network provided by an embodiment of the present invention, wherein, Figure 4 The three-dimensional road network is composed of Figure 2 The two-dimensional road network is obtained by conversion, since the three-dimensional road network is based on Figure 2 The width of the path and the relative elevation of the nodes along the centerline of the path in the two-dimensional road network are rendered. As can be seen, Figure 4 The topological relationship between the ground-level Second Ring Road Path 12 and the elevated Guang'anmen Bridge Path 11 is expressed in the height space. By rendering the height difference of the Guang'anmen Bridge Path 11 with shadows, users can intuitively see the actual situation of the Guang'anmen Bridge Path 11 being elevated above the ground.

[0059] In summary, the three-dimensional road network construction method provided by this invention, by mapping the width of the path and the relative elevation of the nodes along the path's centerline, can further construct a three-dimensional road corresponding to the path based on rendering roads with width characteristics. This three-dimensional road accurately expresses the intersection and overlapping relationships between different levels of roads in an interchange system, and also represents the slope changes of roads in height space. This improves the accuracy of the map's representation of road topology relationships, enabling map users and viewers to accurately display and guide road traffic relationships within the interchange system. The three-dimensional road network constructed based on information from the original two-dimensional road network does not require expensive surveying equipment or extensive, tedious manual field surveying, while ensuring the accuracy and intuitiveness of the road topology relationships in height space.

[0060] Figure 5 This is a flowchart illustrating the specific steps of a three-dimensional road network construction method provided in an embodiment of the present invention, as follows: Figure 5 As shown, the method may include:

[0061] Step 201: Obtain a two-dimensional road network, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes.

[0062] For details of this step, please refer to step 101 above, which will not be repeated here.

[0063] Step 202: Among all nodes of the path, for nodes that overlap with the current path and / or other paths, set the corresponding relative elevation, which is used to characterize the height of the path from the reference plane.

[0064] For details of this step, please refer to step 102 above, which will not be repeated here.

[0065] Step 203: Reduce the relative elevation of the target node with the highest relative elevation in the path, and increase the relative elevation of other nodes in the path.

[0066] Among them, the closer other nodes are to the target node, the greater the increase in relative elevation.

[0067] For details of this step, please refer to step 103 above, which will not be repeated here.

[0068] Optionally, the path is set with a corresponding maximum longitudinal slope. After reducing the relative elevation of the target node with the highest relative elevation in the path and increasing the relative elevation of other nodes in the path, the longitudinal slope of the path is less than or equal to the maximum longitudinal slope.

[0069] In this embodiment of the invention, road construction needs to refer to the specifications in the road design code for parameters such as the maximum longitudinal slope of interchanges of various grades, so that the actual longitudinal slope of the road is less than the corresponding maximum longitudinal slope, thereby ensuring the safety of vehicles going up and down slopes. Therefore, after the relative elevation of the target node with the largest relative elevation in the path is transferred to other nodes on both sides in a smooth descent manner, it is necessary to check whether the longitudinal slope of the transferred path is less than or equal to the maximum longitudinal slope. If the longitudinal slope of the path is less than or equal to the maximum longitudinal slope, it is considered to meet the relevant requirements of the road design code for road longitudinal slope. If the longitudinal slope of the path is greater than the maximum longitudinal slope, it is considered that the slope is too steep, and it is necessary to further readjust the magnitude of the smooth descent of the relative elevation of the target node to other nodes, so as to ultimately ensure that the longitudinal slope of the path is less than or equal to the maximum longitudinal slope.

[0070] Step 204: Merge two paths belonging to the uplink and downlink path categories into one path.

[0071] Optionally, step 204 may specifically include:

[0072] Sub-step 2041: Obtain the road name, road grade, point sequence direction, and geometric shape of the path.

[0073] Sub-step 2042: If the two paths have the same road name and road level, opposite point order directions, and parallel geometric shapes, determine that the two paths belong to the up and down path categories.

[0074] Sub-step 2043: Merge the two paths into one path.

[0075] In practical applications, there exists a type of road called an up-and-down road, which typically consists of two paths traveling in opposite directions, such as the up-and-down path of a highway. The centerline of these two paths overlaps with the sides where they intersect. The centerline is often marked with green belts, double solid lines, guardrails, etc., allowing the up-and-down road to be split into two paths traveling in opposite directions. The only difference between these two paths is their direction of travel; all other attributes are the same. In this embodiment of the invention, they can be merged into a single path, which facilitates the direct construction of a 3D path using the merged path, thus reducing the computational load when constructing a 3D path.

[0076] In this embodiment of the invention, for two paths belonging to the up and down path categories that can be merged into one path, they often have the characteristics of the same road name and road level, opposite point order direction, and parallel geometry. Therefore, by obtaining the road name, road level, point order direction, and geometry of each path, and determining the two paths belonging to the up and down path categories with the same road name and road level, opposite point order direction, and parallel geometry, the two paths can be merged into one path for subsequent 3D path construction.

[0077] Step 205: Determine the centerline of the path, and based on the relative elevations of the path nodes, determine the relative elevations of the nodes constituting the centerline, and set the width of the path.

[0078] For details of this step, please refer to step 104 above, which will not be repeated here.

[0079] Optionally, step 205 may specifically include:

[0080] Sub-step 2051: If the path is an unmerged path, set the relative elevation of the nodes of the centerline to the relative elevation of the nodes in the path that correspond to the nodes of the centerline.

[0081] In this embodiment of the invention, based on the width of the path and the relative elevation of the nodes on the centerline of the path, the height space of the road can be accurately expressed by the relative elevation of the nodes on the centerline after rendering the road with width characteristics, thereby constructing a three-dimensional road corresponding to the path. Therefore, when constructing a three-dimensional road, the relative elevation of the nodes on the centerline can be used as the elevation reference of the three-dimensional road in the height space. Specifically, when the path is an unmerged path, such as a path that is not merged from two paths belonging to the up and down path categories, the relative elevation of the nodes on the centerline can be directly set as the relative elevation of the nodes in the path that correspond to the nodes on the centerline. For example, if the relative elevation of the node at the 500-meter position of the path is 60, then the relative elevation of the node at the 500-meter position of the centerline of the path can also be mapped to 60.

[0082] Sub-step 2052: If the path is a merged path, set the relative elevation of the nodes of the centerline to the larger relative elevation of the two nodes corresponding to the nodes of the centerline in the two paths before merging.

[0083] Specifically, in the case of a merged path, such as a path formed by merging two paths belonging to the up and down path categories, the relative elevation of the centerline node can be set to the larger relative elevation of the two nodes corresponding to the centerline node in the two paths before the merge. For example, if the relative elevations of the nodes at 500 meters in the two paths before the merge are 60 and 80 respectively, then the relative elevation of the node at 500 meters in the centerline of this path can be mapped to the larger value of 80.

[0084] Optionally, step 205 may specifically include:

[0085] Sub-step 2053: Obtain the number of lanes on the path.

[0086] Sub-step 2054: Multiply the number of lanes in the path by the preset single-lane width, and use the width of the path as the width of the path.

[0087] Specifically, the width of the path can be designed according to the road design specifications. These specifications specifically limit the width of a single lane. That is, given the number of lanes in the current path, the product of the number of lanes and the preset single lane width can be used as the width of the path.

[0088] It should be noted that at certain special nodes on the road, specific widths can be set. This means that, according to road design specifications, corresponding road widths can be set at certain special nodes along the centerline of the path. For example, turning nodes can correspond to a width that meets the specifications, and nodes in functional road areas (such as temporary auxiliary roads) can correspond to a width that meets the specifications. Furthermore, when the road width changes, the change in width will be smoothed out at the location of the change to meet the requirements of the specifications.

[0089] Step 206: Based on the width of the path and the relative elevation of the nodes of the centerline, construct the three-dimensional road corresponding to the path to obtain a three-dimensional road network.

[0090] For details of this step, please refer to step 105 above, which will not be repeated here.

[0091] Optionally, the method may further include:

[0092] Step 207: Determine the endpoint nodes in the path used for connecting with other paths.

[0093] In this embodiment of the invention, in order to form a road network, the paths need to be interconnected. Therefore, it is necessary to identify the endpoint nodes in the path that are used to connect with other paths. The endpoint nodes can be the end nodes in the path (except for the end nodes of dead-end roads).

[0094] Step 208: If the relative elevation of the endpoint node is less than the relative elevation of the endpoint nodes of the other paths to be connected, then the relative elevation of the endpoint node of the path is set to the relative elevation of the endpoint nodes of the other paths to be connected.

[0095] Specifically, when connecting the endpoints of one path to the endpoints of another path, their relative elevations must be set to be the same to avoid connection failures due to elevation differences. If the relative elevation of an endpoint node is lower than the relative elevation of the endpoints of the other path to be connected, the relative elevation of the endpoint node can be set to the higher relative elevation of the endpoints of the other path. For example, if endpoint A (relative elevation 20) of one path needs to be connected to endpoint B (relative elevation 40) of another path, the relative elevation of endpoint A should be changed from 20 to 40 to ensure they are the same before connecting.

[0096] Step 209: If the relative elevation of the endpoint node is greater than the relative elevation of the endpoint nodes of the other paths to be connected, then the relative elevation of the endpoint nodes of the other paths to be connected is set as the relative elevation of the endpoint nodes of the path.

[0097] In this step, if the relative elevation of an endpoint node is greater than the relative elevation of the endpoint nodes of other paths to be connected, the relative elevation of the endpoint nodes of the other paths to be connected can be set to the relative elevation of the endpoint nodes of the stated path. For example, if an endpoint node A (relative elevation 30) of a path needs to be connected to an endpoint node B (relative elevation 10) of another path, the relative elevation of endpoint node B will be changed from 10 to 30, and the connection will be made after the relative elevations of the two nodes are consistent.

[0098] Optionally, after step 203, the following may also be included:

[0099] Step 210: If the relative elevation of a node that overlaps with the current path and / or other paths in the path is less than a preset minimum relative elevation, then the relative elevation of the node located on the upper layer at the overlapping position is added to the minimum relative elevation.

[0100] The relative layer height elevation is used to characterize the difference in height between two adjacent layer paths and the reference plane.

[0101] In this embodiment of the invention, the relative layer height elevation is used to characterize the height difference between two adjacent layers of paths in the interchange system at the overlapping position. The road design specifications limit the minimum relative layer height elevation at the overlapping position. By referring to the minimum relative layer height elevation value of the road design specifications, the generated three-dimensional road network view can relatively accurately reflect the actual road distribution in reality.

[0102] After reducing the relative elevation of the target node with the highest relative elevation in the path and increasing the relative elevation of other nodes in the path, so that the relative elevation of the target node in the path is smoothly transmitted to other nodes on both sides, it is necessary to further determine whether the relative layer elevation of the nodes that overlap with the current path and / or other paths is less than the preset minimum relative layer elevation. If it is less than the minimum relative layer elevation, it means that the height space between the upper and lower layers of roads at the overlapping node position of the current path is insufficient. It may be difficult to distinguish the stacking relationship between the upper and lower layers of roads in the 3D display. At this time, the relative elevation of the node located on the upper layer at the overlapping position can be added to the minimum relative layer elevation to make it as clear as possible to distinguish the stacking relationship between the upper and lower layers of roads in the 3D display.

[0103] In this embodiment of the invention, since steps 208, 209, and 210 all occur after step 203, the relative elevation of the node with the largest relative elevation in the path may change due to the actions performed in steps 208, 209, and 210 after step 203, which smoothly transfers the relative elevation of the node with the largest relative elevation in the path to both sides. If the relative elevation of the node in the path changes after step 208, 209, or 210, the slope smoothness of the path will change, resulting in failure to meet the requirements of the road design specifications. In this case, step 203 can be re-entered to repeatedly execute the action of smoothly transferring the relative elevation of the node with the largest relative elevation in the path to both sides to ensure the slope smoothness requirements of the path.

[0104] Optionally, after step 205, the following may also be included:

[0105] Step 211: Reduce the relative elevation of the node with the highest relative elevation in the centerline, and increase the relative elevation of other nodes in the centerline; wherein, the closer the other nodes are to the node with the highest relative elevation in the centerline, the greater the increase in relative elevation.

[0106] The path is set with a corresponding maximum longitudinal slope. After reducing the relative elevation of the node with the largest relative elevation in the centerline and increasing the relative elevation of other nodes in the centerline, the longitudinal slope of the centerline is less than or equal to the maximum longitudinal slope.

[0107] In this embodiment of the invention, since the height space of the road is accurately expressed based on the nodes of the centerline, thereby constructing the three-dimensional road corresponding to the path, this embodiment of the invention can also transfer the relative elevation of the node with the largest elevation in the centerline to other nodes on both sides in a smooth downward manner, that is, reduce the relative elevation of the node with the largest relative elevation in the centerline and increase the relative elevation of other nodes in the centerline.

[0108] Since roads in an interchange system have a certain longitudinal slope, for driving safety considerations, the slope of the road is to rise or fall gently. Rapid rises or falls are more likely to cause traffic accidents. Therefore, the relative elevation of each node in the centerline of the path also needs to smoothly decrease from the node with the largest relative elevation to other nodes on both sides. This satisfies the requirement of a gentle road slope and further meets the relative elevation requirements between the upper and lower road levels.

[0109] Optionally, after step 206, the following may also be included:

[0110] Step 212: Obtain the topological connectivity between the paths and the traffic marking attributes of the nodes of the paths.

[0111] In this embodiment of the invention, the two-dimensional road network includes the topological connectivity between paths and the traffic marking attributes of the nodes of the paths. The topological connectivity between paths is used to characterize the connectivity between paths, while the traffic marking attributes are used to characterize the traffic markings at the current location to provide traffic safety instructions.

[0112] Step 213: Connect the three-dimensional roads according to the topological connectivity relationship.

[0113] In this step, based on the topological connectivity between paths, the constructed 3D roads can be interconnected to form an initial 3D road network.

[0114] Step 214: Based on the traffic marking attributes of the nodes of the path, set traffic markings at the corresponding positions in the three-dimensional road.

[0115] In this step, traffic markings are set at corresponding locations in the three-dimensional road based on the traffic marking attributes of the nodes of the path. Traffic safety signs can be indicated at corresponding locations in the three-dimensional road network to enhance the richness of useful information in the three-dimensional road network.

[0116] In summary, the three-dimensional road network construction method provided by this invention, by mapping the width of the path and the relative elevation of the nodes along the path's centerline, can further construct a three-dimensional road corresponding to the path based on rendering roads with width characteristics. This three-dimensional road accurately expresses the intersection and overlapping relationships between different levels of roads in an interchange system, and also represents the slope changes of roads in height space. This improves the accuracy of the map's representation of road topology relationships, enabling map users and viewers to accurately display and guide road traffic relationships within the interchange system. The three-dimensional road network constructed based on information from the original two-dimensional road network does not require expensive surveying equipment or extensive, tedious manual field surveying, while ensuring the accuracy and intuitiveness of the road topology relationships in height space.

[0117] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0118] Corresponding to the method provided in the above embodiments of the three-dimensional road network construction method of the present invention, see [link to relevant documentation]. Figure 6The present invention also provides an embodiment of a three-dimensional road network construction device. In this embodiment, the device may include:

[0119] The acquisition module 301 is used to acquire a two-dimensional road network, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes;

[0120] Setting module 302 is used to set a corresponding relative elevation for nodes that overlap with the current path and / or other paths among all nodes of the path, wherein the relative elevation is used to characterize the height of the path from the reference plane;

[0121] The first smoothing module 303 is used to reduce the relative elevation of the target node with the largest relative elevation in the path and increase the relative elevation of other nodes in the path; wherein, the closer the other nodes are to the target node, the greater the increase in relative elevation.

[0122] Centerline module 304 is used to determine the centerline of the path, and to determine the relative elevation of the nodes constituting the centerline based on the relative elevation of the nodes of the path, and to set the width of the path.

[0123] The construction module 305 is used to construct a three-dimensional road corresponding to the path based on the width of the path and the relative elevation of the nodes of the centerline, thereby obtaining a three-dimensional road network.

[0124] The path is set with a corresponding maximum longitudinal slope. After reducing the relative elevation of the target node with the largest relative elevation in the path and increasing the relative elevation of other nodes in the path, the longitudinal slope of the path is less than or equal to the maximum longitudinal slope.

[0125] The device further includes:

[0126] Endpoint module, used to determine the endpoint nodes in the path used for connecting with other paths;

[0127] The first adjustment module is used to set the relative elevation of the endpoint node of the path to the relative elevation of the endpoint node of the other path to be connected when the relative elevation of the endpoint node is less than the relative elevation of the endpoint node of the other path to be connected.

[0128] The second adjustment module is used to set the relative elevation of the endpoint nodes of the other paths to be connected to the relative elevation of the endpoint nodes of the path if the relative elevation of the endpoint node is greater than the relative elevation of the endpoint nodes of the other paths to be connected.

[0129] The device further includes:

[0130] The third adjustment module is used to add the relative elevation of the node at the upper layer of the overlapping position to the minimum relative elevation if the relative elevation of the node overlapping with the current path and / or other paths is less than the preset minimum relative elevation. The relative elevation is used to characterize the difference between the heights of two adjacent paths from the reference plane.

[0131] Prior to determining the centerline of the path, the device further includes:

[0132] The merge module is used to merge two paths that belong to the uplink and downlink path categories into one path.

[0133] The merging module includes:

[0134] The acquisition submodule is used to acquire the road name, road level, point sequence direction, and geometric shape of the path.

[0135] The determination submodule is used to determine whether the two paths belong to the up or down path category when they have the same road name and road level, opposite point order directions, and parallel geometric shapes.

[0136] The merge submodule is used to merge the two paths into one path.

[0137] The centerline module includes:

[0138] The first adjustment submodule is used to set the relative elevation of the nodes of the centerline to the relative elevation of the nodes in the path that correspond to the nodes of the centerline when the path is an unmerged path.

[0139] The second adjustment submodule is used to set the relative elevation of the nodes of the centerline to the larger relative elevation of the two nodes corresponding to the nodes of the centerline in the two paths before merging, when the path is a merged path.

[0140] The device further includes:

[0141] The second smoothing module is used to reduce the relative elevation of the node with the highest relative elevation in the centerline and increase the relative elevation of other nodes in the centerline; wherein, the closer the other nodes are to the node with the highest relative elevation in the centerline, the greater the increase in relative elevation.

[0142] The path is set with a corresponding maximum longitudinal slope. After reducing the relative elevation of the node with the largest relative elevation in the centerline and increasing the relative elevation of other nodes in the centerline, the longitudinal slope of the centerline is less than or equal to the maximum longitudinal slope.

[0143] The centerline module includes:

[0144] The quantity submodule is used to obtain the number of lanes in the path;

[0145] The product module is used to multiply the number of lanes in the path by a preset single-lane width, and use this product as the width of the path.

[0146] The device further includes:

[0147] The attribute module is used to obtain the topological connectivity between the paths and the traffic marking attributes of the nodes of the paths;

[0148] A connectivity module is used to connect the three-dimensional roads according to the topological connectivity relationship;

[0149] The road marking module is used to set traffic markings at corresponding positions in the three-dimensional road based on the traffic marking attributes of the nodes of the path.

[0150] In summary, the three-dimensional road network construction device provided by this invention, by mapping the width of the path and the relative elevation of the nodes along the path's centerline, can further construct a three-dimensional road corresponding to the path based on rendering a road with width characteristics. This three-dimensional road accurately expresses the intersection and overlapping relationships between different levels of roads in an interchange system, and also represents the slope changes of roads in height space. This improves the accuracy of the map's representation of road topology relationships, enabling map users and viewers to accurately display and guide road traffic relationships within the interchange system. The three-dimensional road network constructed by this invention based on information provided by the original two-dimensional road network does not require expensive surveying equipment or extensive, tedious manual field surveying, and ensures the accuracy and intuitiveness of the road topology relationships in height space.

[0151] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0152] Figure 7 This is a block diagram illustrating an electronic device 800 according to an exemplary embodiment. For example, the electronic device 800 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0153] Reference Figure 7The electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0154] Processing component 802 typically controls the overall operation of electronic device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0155] Memory 804 is configured to store various types of data to support the operation of device 800. Examples of this data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0156] Power supply component 806 provides power to various components of electronic device 800. Power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800.

[0157] Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0158] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when electronic device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0159] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0160] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of electronic device 800. For example, sensor assembly 814 may detect the on / off state of device 800, the relative positioning of components such as the display and keypad of electronic device 800, changes in position of electronic device 800 or a component of electronic device 800, the presence or absence of user contact with electronic device 800, orientation or acceleration / deceleration of electronic device 800, and temperature changes of electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0161] Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0162] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0163] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of an electronic device 800 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0164] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform a three-dimensional road network construction method, the method comprising:

[0165] A two-dimensional road network is obtained, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes;

[0166] In all nodes of the path, for nodes that overlap with the current path and / or other paths, a corresponding relative elevation is set, which is used to characterize the height of the path from the reference plane;

[0167] The relative elevation of the target node with the highest relative elevation in the path is reduced, and the relative elevation of other nodes in the path is increased; wherein, the increase in relative elevation is greater for other nodes that are closer to the target node.

[0168] Determine the centerline of the path, and based on the relative elevations of the path's nodes, determine the relative elevations of the nodes constituting the centerline, and set the width of the path.

[0169] Based on the width of the path and the relative elevation of the nodes of the centerline, a three-dimensional road network is constructed corresponding to the path.

[0170] The path is set with a corresponding maximum longitudinal slope. After reducing the relative elevation of the target node with the largest relative elevation in the path and increasing the relative elevation of other nodes in the path, the longitudinal slope of the path is less than or equal to the maximum longitudinal slope.

[0171] The method further includes:

[0172] Identify the endpoint nodes in the path used for connecting to other paths;

[0173] If the relative elevation of the endpoint node is less than the relative elevation of the endpoint nodes of the other paths to be connected, then the relative elevation of the endpoint node of the path is set to the relative elevation of the endpoint nodes of the other paths to be connected.

[0174] If the relative elevation of the endpoint node is greater than the relative elevation of the endpoint nodes of the other paths to be connected, then the relative elevation of the endpoint nodes of the other paths to be connected is set as the relative elevation of the endpoint nodes of the path.

[0175] The method further includes, after reducing the relative elevation of the target node with the highest relative elevation in the path and increasing the relative elevation of other nodes in the path:

[0176] If the relative elevation of a node that overlaps with the current path and / or other paths in the path is less than a preset minimum relative elevation, then the relative elevation of the node located on the upper layer at the overlapping position is added to the minimum relative elevation. The relative elevation is used to characterize the difference in height between two adjacent paths from the reference plane.

[0177] Prior to determining the centerline of the path, the method further includes:

[0178] Merge any two paths that belong to the uplink or downlink path category into one path.

[0179] The step of merging two paths belonging to the uplink and downlink path categories into one path includes:

[0180] Obtain the road name, road class, point sequence direction, and geometric shape of the path;

[0181] If two paths have the same road name and road grade, opposite point order directions, and parallel geometric shapes, then the two paths are determined to belong to the up and down path categories.

[0182] The two paths are merged into one path.

[0183] The step of determining the relative elevation of the nodes constituting the centerline based on the relative elevation of the path nodes includes:

[0184] If the path is an unmerged path, the relative elevation of the nodes of the centerline is set to the relative elevation of the nodes in the path that correspond to the nodes of the centerline.

[0185] When the path is a merged path, the relative elevation of the nodes of the centerline is set to the larger relative elevation of the two nodes corresponding to the nodes of the centerline in the two paths before merging.

[0186] After determining the relative elevations of the nodes constituting the centerline based on the relative elevations of the path nodes, the method further includes:

[0187] The relative elevation of the node with the highest relative elevation in the centerline is reduced, and the relative elevation of other nodes in the centerline is increased; wherein, the increase in relative elevation of other nodes that are closer to the node with the highest relative elevation in the centerline is greater.

[0188] The path is set with a corresponding maximum longitudinal slope. After reducing the relative elevation of the node with the largest relative elevation in the centerline and increasing the relative elevation of other nodes in the centerline, the longitudinal slope of the centerline is less than or equal to the maximum longitudinal slope.

[0189] The setting of the path width includes:

[0190] Obtain the number of lanes on the path;

[0191] The width of the path is the product of the number of lanes in the path and the preset width of a single lane.

[0192] The method further includes, after constructing the three-dimensional road network corresponding to the path based on the width of the path and the relative elevation of the nodes of the centerline:

[0193] Obtain the topological connectivity between the paths, and the traffic marking attributes of the nodes of the paths;

[0194] Based on the topological connectivity, the three-dimensional roads are connected.

[0195] Traffic markings are set at corresponding positions in the three-dimensional road based on the traffic marking attributes of the nodes of the path.

[0196] Figure 8 This is a schematic diagram of the server structure in an embodiment of the present invention. The server 1900 can vary significantly due to different configurations or performance, and may include one or more central processing units (CPUs) 1922 (e.g., one or more processors) and memory 1932, and one or more storage media 1930 (e.g., one or more mass storage devices) for storing application programs 1942 or data 1944. The memory 1932 and storage media 1930 can be temporary or persistent storage. The program stored in the storage media 1930 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the server. Furthermore, the CPU 1922 may be configured to communicate with the storage media 1930 and execute the series of instruction operations in the storage media 1930 on the server 1900.

[0197] Server 1900 may also include one or more power supplies 1926, one or more wired or wireless network interfaces 1950, one or more input / output interfaces 1958, one or more keyboards 1956, and / or one or more operating systems 1941, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0198] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0199] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0200] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for constructing a three-dimensional road network, characterized in that, The method includes: A two-dimensional road network is obtained, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes; In all nodes of the path, for nodes that overlap with the current path and / or other paths, a corresponding relative elevation is set. The relative layer elevation of the overlapping nodes is set to be greater than or equal to the minimum relative layer elevation. The relative elevation of other nodes that do not overlap is set to 0. The relative elevation is used to characterize the height of the path from the reference plane, and the relative layer elevation is used to characterize the height difference between two adjacent paths at the overlapping position. The relative elevation of the target node with the highest relative elevation in the path is reduced. At the same time, the relative elevations of other overlapping points besides the target node are adjusted, and the relative elevations of non-overlapping points on both sides of the path are increased. This is to smoothly transfer the relative elevation of the target node to other nodes on both sides until the longitudinal slope of the path is less than or equal to the maximum longitudinal slope. The closer a non-overlapping point on the path is to the target node, the greater the increase in relative elevation. Obtain the road name, road class, point sequence direction, and geometric shape of the path; if two paths have the same road name and road class, opposite point sequence directions, and parallel geometric shapes, determine that the two paths belong to the up / down path category; merge the two paths into one path; Determine the centerline of the path; if the path is an unmerged path, set the relative elevation of the nodes of the centerline to the relative elevation of the nodes in the path corresponding to the nodes of the centerline; if the path is a merged path, set the relative elevation of the nodes of the centerline to the larger relative elevation of the two nodes corresponding to the nodes of the centerline in the two paths before merging. The relative elevation of the node with the highest relative elevation in the centerline is reduced, while the relative elevation of other nodes in the centerline is increased. This process smoothly transfers the relative elevation of the node with the highest elevation in the centerline to other nodes on both sides until the longitudinal slope of the centerline is less than or equal to the maximum longitudinal slope of the path. The closer other nodes are to the node with the highest relative elevation in the centerline, the greater the increase in relative elevation. The path width is also set. Based on the width of the path and the relative elevation of the nodes of the centerline, a three-dimensional road network is constructed corresponding to the path.

2. The method according to claim 1, characterized in that, The method further includes: Identify the endpoint nodes in the path used for connecting to other paths; If the relative elevation of the endpoint node is less than the relative elevation of the endpoint nodes of the other paths to be connected, then the relative elevation of the endpoint node of the path is set to the relative elevation of the endpoint nodes of the other paths to be connected. If the relative elevation of the endpoint node is greater than the relative elevation of the endpoint nodes of the other paths to be connected, then the relative elevation of the endpoint nodes of the other paths to be connected is set as the relative elevation of the endpoint nodes of the path.

3. The method according to claim 1, characterized in that, After reducing the relative elevation of the target node with the highest relative elevation in the path, adjusting the relative elevations of other overlapping points besides the target node, and increasing the relative elevations of points on both sides of the path that do not overlap, the method further includes: If the relative elevation of a node that overlaps with the current path and / or other paths is less than the preset minimum relative elevation, then the relative elevation of the node at the upper layer at the overlapping location is added to the minimum relative elevation.

4. The method according to claim 1, characterized in that, The width of the set path also includes: Obtain the number of lanes on the path; The width of the path is the product of the number of lanes in the path and the preset width of a single lane.

5. The method according to claim 1, characterized in that, After constructing the three-dimensional road network corresponding to the path based on the width of the path and the relative elevation of the nodes of the centerline, the method further includes: Obtain the topological connectivity between the paths, and the traffic marking attributes of the nodes of the paths; Based on the topological connectivity, the three-dimensional roads are connected. Traffic markings are set at corresponding positions in the three-dimensional road based on the traffic marking attributes of the nodes of the path.

6. A three-dimensional road network construction device, characterized in that, The device includes: An acquisition module is used to acquire a two-dimensional road network, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes; The setting module is used to set the corresponding relative elevation for nodes that overlap with the current path and / or other paths among all nodes of the path. The relative layer elevation of the overlapping nodes is set to be greater than or equal to the minimum relative layer elevation, and the relative elevation of other non-overlapping nodes is set to 0. The relative elevation is used to characterize the height of the path from the reference plane, and the relative layer elevation is used to characterize the height difference between two adjacent paths at the overlapping position. The first smoothing module is used to reduce the relative elevation of the target node with the largest relative elevation in the path. At the same time, it adjusts the relative elevation of other overlapping points besides the target node and increases the relative elevation of points on both sides of the path that do not overlap. This is to smoothly transfer the relative elevation of the target node to other nodes on both sides until the longitudinal slope of the path is less than or equal to the maximum longitudinal slope. The closer the non-overlapping points on the path are to the target node, the greater the increase in relative elevation. The merging module is used to obtain the road name, road level, point sequence direction, and geometric shape of the path; if two paths have the same road name and road level, opposite point sequence directions, and parallel geometric shapes, determine that the two paths belong to the up / down path category; and merge the two paths into one path. Centerline module, used to determine the centerline of the path; The centerline module includes a first adjustment submodule and a second adjustment submodule; The first adjustment submodule is used to set the relative elevation of the nodes of the center line to the relative elevation of the nodes in the path that correspond to the nodes of the center line if the path is an unmerged path. The second adjustment submodule is used to set the relative elevation of the nodes of the center line of the path to the larger relative elevation of the two nodes corresponding to the nodes of the center line in the two paths before merging, if the path is a merged path. The second smoothing module is used to reduce the relative elevation of the node with the highest relative elevation in the centerline and increase the relative elevation of other nodes in the centerline, so as to smoothly transfer the relative elevation of the node with the highest elevation in the centerline to other nodes on both sides until the longitudinal slope of the centerline is less than or equal to the maximum longitudinal slope of the path; wherein, the closer the other nodes are to the node with the highest relative elevation in the centerline, the greater the increase in relative elevation; and, setting the width of the path; A construction module is used to construct a three-dimensional road network corresponding to the path based on the width of the path and the relative elevation of the nodes of the centerline.

7. An electronic device, characterized in that, It includes memory and one or more programs, wherein one or more programs are stored in memory and configured to be executed by one or more processors. The one or more programs contain instructions for performing the following operations: A two-dimensional road network is obtained, wherein the two-dimensional road network contains at least one path, and the path is formed by connecting multiple nodes; In all nodes of the path, for nodes that overlap with the current path and / or other paths, a corresponding relative elevation is set. The relative layer elevation of the overlapping nodes is set to be greater than or equal to the minimum relative layer elevation. The relative elevation of other nodes that do not overlap is set to 0. The relative elevation is used to characterize the height of the path from the reference plane, and the relative layer elevation is used to characterize the height difference between two adjacent paths at the overlapping position. The relative elevation of the target node with the highest relative elevation in the path is reduced. At the same time, the relative elevations of other overlapping points besides the target node are adjusted, and the relative elevations of non-overlapping points on both sides of the path are increased. This is to smoothly transfer the relative elevation of the target node to other nodes on both sides until the longitudinal slope of the path is less than or equal to the maximum longitudinal slope. The closer a non-overlapping point on the path is to the target node, the greater the increase in relative elevation. Obtain the road name, road class, point sequence direction, and geometric shape of the path; if two paths have the same road name and road class, opposite point sequence directions, and parallel geometric shapes, determine that the two paths belong to the up / down path category; merge the two paths into one path; Determine the centerline of the path; if the path is an unmerged path, set the relative elevation of the nodes of the centerline to the relative elevation of the nodes in the path corresponding to the nodes of the centerline; if the path is a merged path, set the relative elevation of the nodes of the centerline to the larger relative elevation of the two nodes corresponding to the nodes of the centerline in the two paths before merging. The relative elevation of the node with the highest relative elevation in the centerline is reduced, while the relative elevation of other nodes in the centerline is increased. This process smoothly transfers the relative elevation of the node with the highest elevation in the centerline to other nodes on both sides until the longitudinal slope of the centerline is less than or equal to the maximum longitudinal slope of the path. The closer other nodes are to the node with the highest relative elevation in the centerline, the greater the increase in relative elevation. The path width is also set. Based on the width of the path and the relative elevation of the nodes of the centerline, a three-dimensional road network is constructed corresponding to the path.

8. A computer-readable medium having instructions stored thereon that, when executed by one or more processors, cause a device to perform the three-dimensional road network construction method as described in one or more of claims 1 to 5.

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