A road network generation method, system, terminal device and storage medium

Abstract

The application discloses a road network generation method, system, terminal equipment and storage medium, the method comprises the following steps: obtaining a to-be-drawn base map and dividing initial obstacles and initial passable areas; expanding the boundary contour of the initial obstacles one by one; performing difference processing on the expanded obstacles and the base map to obtain to-be-processed passable areas; generating a center line between mutually parallel and overlapping projection parts of parallel lines; extending both ends of each center line to the boundary of the initial passable area and intersecting, filtering the center line under a preset center line repeated filtering condition to obtain a filtered center line; deleting a line segment with a single intersection point in the filtered center line and converting to generate road network data. The application draws the road network by the idea of generating the road network through parallel lines, so that the road network is neat and beautiful and conforms to the overall direction of the surrounding, the boundary contour of the obstacles is expanded to expand the blocking range of the obstacles, so that the generated path is not too close to the obstacles or the boundary, and the passable area can be more accurately represented.

Description

Technical Field

[0001] This invention relates to the field of route planning technology, and in particular to a road network generation method, system, terminal equipment, and storage medium. Background Technology

[0002] A road network is a computer data structure that restricts the movement trajectory of objects and manages the data of moving objects. It is of great significance in fields such as positioning and path planning. Existing road networks automatically generated based on file data have problems such as the inability to abstract passable surfaces into central axes with angular geometric meaning at corners and the difficulty in reconstructing local angles, which need to be improved. Summary of the Invention

[0003] This invention provides a road network generation method, system, terminal device, and storage medium to solve the problems of existing road network generation methods being unable to abstract passable surfaces into a central axis that conforms to angular geometric meaning and having difficulty in restoring local angles. This invention generates a road network based on parallel lines of passable areas, expands obstacle boundaries to simplify passable areas, restores local angles at corners, and generates a neat and beautiful road network that can more accurately represent passable areas.

[0004] To address the aforementioned technical problems, Embodiment 1 of the present invention provides a road network generation method. In a first implementation, the method includes the following steps:

[0005] Obtain the base map to be drawn and delineate the initial obstacles and initial passage areas on the base map;

[0006] The boundary contours of the initial obstacles are expanded one by one by a preset expansion distance to obtain expanded obstacles;

[0007] The expanded obstacle and the base map where the expanded obstacle is located are subjected to differential processing to obtain the passage area to be processed;

[0008] Several parallel line groups are generated within the passage area to be processed, and a centerline is generated between the parallel lines of each parallel line group that are parallel to each other and overlap in the projection portion.

[0009] Each of the two ends of the centerline is extended to the boundary of the initial passage area and intersects, and then filtered using a preset centerline repetition filtering condition to obtain the filtered centerline.

[0010] The line segments with a single intersection point in the filtered centerline are deleted, and the data is converted based on a preset connectivity relationship to generate road network data.

[0011] Based on the first implementation method described above, the second implementation method is improved as follows:

[0012] The boundary contour of the initial obstacle is expanded one by one with a preset expansion distance, specifically:

[0013] The boundary contour of the initial obstacle is extracted;

[0014] Along the contour track of the boundary contour, two sides of each boundary line segment of the boundary contour are provided with expansion contour lines with a preset expansion distance.

[0015] Based on the first / second implementation mode, the third implementation mode is improved as:

[0016] The expansion distance is in the range of (0.01, 5.00) m.

[0017] Based on the first implementation mode, the fourth implementation mode is improved as:

[0018] The parallel line groups are generated in the to-be-processed passing area, and a center line is generated between the parallel lines of each parallel line group which are parallel to each other and overlap.

[0019] Parallel lines are searched in the to-be-processed passing area to form a plurality of parallel line groups;

[0020] In the plurality of parallel line groups, a plurality of line segments which are parallel to each other and overlap are screened out, and a center line between the plurality of line segments is taken as the center line of the to-be-processed passing area.

[0021] Embodiment two of the application provides a road network generation system, in the first implementation mode, the system comprises:

[0022] A base map processing module is configured to obtain a to-be-drawn base map and divide an initial obstacle and an initial passing area on the to-be-drawn base map;

[0023] An edge expansion module is configured to expand the boundary contour of the initial obstacle one by one with a preset expansion distance to obtain an expanded obstacle;

[0024] A region processing module is configured to perform difference processing on the expanded obstacle and a base map where the expanded obstacle is located to obtain a to-be-processed passing area;

[0025] A center line generation module is configured to generate a plurality of parallel line groups in the to-be-processed passing area, and generate a center line between the parallel lines of each parallel line group which are parallel to each other and overlap;

[0026] A center line processing module is configured to respectively extend both ends of each center line to the boundary of the initial passing area and intersect, and perform filtering processing on the initial passing area with a preset center line repeated filtering condition to obtain a filtered center line;

[0027] A road network conversion module is configured to delete line segments with a single intersection point in the filtered center line, and convert the line segments based on a preset connectivity relationship to generate road network data.

[0028] Based on the first implementation manner of the second embodiment, the second implementation manner is improved as follows:

[0029] The edge expansion module is configured to:

[0030] extract a boundary contour of the initial obstacle;

[0031] set an expansion contour line on both sides of each boundary line segment of the boundary contour along a contour track of the boundary contour at a preset expansion distance.

[0032] Based on the first / second implementation manner of the second embodiment, the third implementation manner is improved as follows:

[0033] The expansion distance ranges from 0.01 m to 5.00 m.

[0034] Based on the first implementation manner of the second embodiment, the fourth implementation manner is improved as follows:

[0035] The center line generation module is configured to:

[0036] find parallel lines in the to-be-processed passing area to form a plurality of parallel line groups;

[0037] select a plurality of line segments that are parallel to each other and overlap from the plurality of parallel line groups, and use a center line between the plurality of line segments as a center line of the to-be-processed passing area.

[0038] The embodiment three of the present application provides a terminal device, which comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the road network generation method of the above-mentioned embodiment one when executing the computer program.

[0039] The embodiment four of the present application provides a computer readable storage medium, which comprises a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the road network generation method of the above-mentioned embodiment one when the computer program runs.

[0040] Compared with the prior art, the embodiments of the present application provide a road network generation method, system, terminal device, and storage medium, and any embodiment has the following beneficial effects:

[0041] 1) By expanding the boundary contour of the obstacle, the blocking range of the obstacle on the base map can be moderately expanded, the defect that the path of the generated road network in the prior art is too close to the obstacle or the boundary is overcome, and the passable area can be more accurately represented;

[0042] 2) The road network is drawn by the idea of generating road network through parallel lines, so that two roads on the same straight line do not need to abstract the right angle into two continuous obtuse angle corners as in the prior art, and the passable surface can be abstracted into the center axis line conforming to the local angle geometric meaning, and the road network conforms to the overall direction of the periphery, and the road network is neat and beautiful;

[0043] 3) The road network obtained by adopting the road network generation method of the present application has strong noise resistance and is less affected by the details of the outer contour, and is not affected even if the details of the input surface change, and compared with the existing road network generation method which represents the road network path through a plurality of broken lines and is not beautiful, the present application can represent the road network path through a straight line, so that the generated road network is beautiful. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a step flow chart of the road network generation method provided by the embodiment one of the present application;

[0045] Figure 2 is a schematic diagram of the base map in the road network generation method provided by the embodiment one of the present application;

[0046] Figure 3 is a schematic diagram of the polygon after being proportionally enlarged in the prior art;

[0047] Figure 4 is a schematic diagram of the obstacle contour boundary expansion in the road network generation method provided by the embodiment one of the present application;

[0048] Figure 5 is a schematic diagram of the passable area in the road network generation method provided by the embodiment one of the present application;

[0049] Figure 6 is a schematic diagram of the center line of the passable area in the road network generation method provided by the embodiment one of the present application;

[0050] Figure 7 is a schematic diagram of the parallel overlapping projection principle in the road network generation method provided by the embodiment one of the present application;

[0051] Figure 8 is a schematic diagram of the extension of the two ends of the center line to the intersection with the boundary of the base map in the road network generation method provided by the embodiment one of the present application;

[0052] Figure 9 is a schematic diagram of the single intersection point line segment deletion in the road network generation method provided by the embodiment one of the present application;

[0053] Figure 10 is a schematic diagram of the deletion of the end of the center line after filtering in the road network generation method provided by the embodiment one of the present application;

[0054] Figure 11The road network topology diagram is provided by the road network generation method in Embodiment One of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0056] The inventor of the present application found in the research on the prior art that the existing road network data automatic generation method still has many defects even if the relatively advanced Straight skeleton skeleton extraction method is used, for example:

[0057] In a large area, several centerline information can be restored into countless surfaces;

[0058] At the corner, the existing method cannot abstract the passable surface into the center axis line conforming to the local angle geometric meaning, such as a right angle being abstracted into two obtuse angle corners in succession;

[0059] The road network generated by the existing method has poor noise resistance, so that the algorithm generates a polyline to represent the road network, but cannot realize the representation by a straight line, resulting in that the road network is not beautiful enough;

[0060] The road network generated by the existing method has poor noise resistance, and slight change of the input surface details can obtain a center axis line with completely different geometric meaning.

[0061] Therefore, the present application improves the road network generation method, expands the blocking range of the obstacle on the base map by dilating the boundary contour of the obstacle, so as to avoid that the generated path is too close to the obstacle or the boundary, and can more accurately represent the passable area. In addition, the road network is drawn by the idea of generating the road network by parallel lines, so that the two roads on the same straight line do not need to be bent as in the prior art, which can make the road network conform to the overall direction of the surrounding and make the road network neat and beautiful. The specific embodiments of the present application will be specifically introduced below.

[0062] Embodiment One

[0063] Please refer to Figure 1 The road network generation method provided by the present embodiment is executed by a computer and includes the following steps.

[0064] S1, obtaining a to-be-drawn base map and dividing initial obstacles and initial passable areas on the to-be-drawn base map;

[0065] S2. Expand the boundary contour of the initial obstacle one by one by a preset expansion distance to obtain the expanded obstacle;

[0066] S3. Perform differential processing on the expanded obstacle and the base map where the expanded obstacle is located to obtain the passage area to be processed;

[0067] S4. Generate several parallel line groups in the passage area to be processed, and generate a center line between the parallel lines of each parallel line group that are parallel to each other and overlap in the projection portion.

[0068] S5. Extend both ends of each of the center lines to the boundary of the initial passage area and intersect them, and perform filtering processing with preset center line repetition filtering conditions to obtain the filtered center lines.

[0069] S6. Delete the line segments with a single intersection point in the filtered centerline, and convert them based on the preset connectivity relationship to generate road network data.

[0070] The following provides a detailed explanation of each step:

[0071] Regarding step S1 in this embodiment, obtaining the base map to be drawn and dividing the initial obstacles and initial passage areas on the base map, the drawing of the road network begins after the overall map drawing is completed, such as... Figure 2 As shown, walls, rooms, elevators, decorations, etc., in the map are treated as obstacles, and the overall outline of the map is used as the base map. Therefore, when drawing the road network, the linear topology of the remaining area (i.e., the passable area) is drawn around the obstacles in the base map.

[0072] In this embodiment, to avoid generating paths too close to obstacles or boundaries, this embodiment achieves this by expanding the boundaries of the obstacles. Therefore, after executing step S1, step S2 is executed to expand the boundary contours of the initial obstacles one by one by a preset expansion distance to obtain expanded obstacles.

[0073] It should be noted that existing technologies, such as Figure 3 As shown, by proportionally expanding the outline of the obstacle, the linearly filled area is the initial obstacle (also called the original polygon). With its geometric center as the origin, all coordinates are enlarged by a factor of n to obtain the expanded polygon. Figure 3 The white area in the example represents a polygon magnified 1.2 times. It can be seen that this magnified polygon does not completely cover the original graphic. Therefore, existing obstacle magnification methods cannot encompass all the meanings expressed by the original obstacles, directly affecting road network generation. The generated road network still suffers from paths being too close to obstacles or boundaries. The inventors of this invention, through research and innovation, have improved the obstacle magnification operation to the expansion of obstacle boundary contours, specifically:

[0074] Operation step one: extract the boundary contour of the initial obstacle;

[0075] Operation step two: along the profile trajectory of the boundary contour, set the expansion contour line on both sides of each boundary line segment of the boundary contour at a preset expansion distance (the expansion distance can be 1 meter, or other distance values can be used, and the setting of the expansion distance should be determined according to the actual application situation);

[0076] Operation step three: calculate the intersection of the parallel lines generated by adjacent contour line segments, so that Figure 4 As shown in the linear filling initial obstacle (original polygon), the white part obtained by the intersection of the parallel lines is the expansion area, and the larger outer contour is the expanded polygon, also known as the expanded obstacle;

[0077] After performing the obstacle expansion operation in step S2, a passable area needs to be generated, and the following step S3 is performed: difference processing is performed on the expanded obstacle and the base map where the expanded obstacle is located to obtain a to-be-processed passable area; as Figure 5 The white area shown is the passable area obtained by difference processing the difference base map and the expanded obstacle. In this embodiment, the PolygonClipping polygon clipping algorithm is used for difference processing, which is suitable for concave polygons, polygons with inner holes, etc. A single linear linked list data structure is used, and the relationship between the in and out points of the two polygons is found, and then the data structure is processed reasonably.

[0078] Next is the step of generating a road network by parallel lines. After performing step S3, step S4 is performed: a plurality of parallel line groups are generated in the to-be-processed passable area, and a center line is generated in the overlapping projection part between the parallel lines of each parallel line group.

[0079] In this embodiment, in order to make the two roads of the same straight line not need to turn, the road network conforms to the overall direction of the periphery, and the influence of the details of the outer contour is reduced, and the center line of the parallel line is used as the road network. The specific method includes:

[0080] Finding parallel lines in the to-be-processed passable area to form a plurality of parallel line groups;

[0081] In a plurality of parallel line groups, a plurality of line segments that meet the preset thickness parameter condition and are parallel and overlapping are screened out, and the center line between a plurality of the line segments is used as the center line of the to-be-processed passable area.

[0082] As Figure 6 When the parallel line feature is found inside the polygon, the center line of the parallel line is used as the road network, and the method is to first find the center line set of the target geometric shape as the parallel line group, and then establish the road network based on this.

[0083] In order to better understand the present scheme, the following principle of parallel overlapping projection is explained:

[0084] Suppose there are two line segments AB, define the line segment A, B meet the following conditions parallel overlapping projection, the conditions are as follows:

[0085] As shown in Figure 7 , the preset thickness parameter condition is any thickness, that is, without considering the thickness parameter, assuming that the line segment ac is parallel to the line segment dg and parallel to the line segment hj;

[0086] Because the projection of line segment ac on line segment dg is line segment df intersecting line segment dg, then line segment ac and line segment dg are parallel overlapping projection;

[0087] Because the projection of line segment ac on line segment eg on the straight line dg is line segment df intersecting line segment eg, then line segment ac and line segment eg are parallel overlapping projection; Similarly, line segment ac and line segment hj are parallel overlapping projection;

[0088] Because the projection of line segment ab on the straight line dg of eg is line segment de intersecting line segment fg, then line segment ab and line segment fg are not parallel overlapping projection; Similarly, line segment ab and line segment ij are not parallel overlapping projection;

[0089] Because the projection of line segment ac on the straight line dg of line segment eg is line segment df intersecting line segment fg but without overlapping part, then line segment ac and line segment fg are not parallel overlapping projection; Similarly, ac and ij are not parallel overlapping projection.

[0090] In the case of considering the thickness parameter, assuming that the distance be between line segment ac and line segment dg is ε, the distance eh between line segment hj and line segment dg is ε, the preset thickness parameter condition is that the thickness belongs to [1 / 2ε, 3 / 2ε], then the distance 2ε from line segment ac to line segment hj does not meet the thickness parameter condition, then the above line segment ac and line segment hj are not parallel overlapping projection.

[0091] Please continue to see Figure 7 , the principle of generating the middle line between the parallel lines of each parallel line group is that:

[0092] Take the overlapping part line segment on the two parallel overlapping projection line segments, and connect the midpoints of the vertices without connecting part to the middle line.

[0093] Suppose line segment ac is parallel to line segment hj, the overlapping part line segment of line segment ac and line segment hj is line segment bc and line segment hi, and the midpoint of the connecting part is e and f.

[0094] The line segment ef is the midline of the line segment ac and the line segment hj. In this case, the set of all edge line segments of the passable area is denoted as S, the set of midlines is denoted as M, and the partial program is as follows:

[0095] For i = 0; i < S.length; i++

[0096] For j = 0; j < S.length; j++

[0097] If S[i] and S[j] are parallel and overlapping projections and the distance meets the maximum width (for example, 10 meters) of the road to be generated:

[0098] A midline of S[i] and S[j] is generated and added to the set of midlines M

[0099] The output M is the set of all generated midlines

[0100] It should be noted that the midline is the longest parallel overlapping projection of two parallel lines with the same distance. An example is shown in FIG. 5, in which the midline ef of the line segment ac and the line segment hj is shown. Figure 7

[0101] S5, respectively, each of the two ends of the midline is extended to the boundary of the initial passable area and intersects, and a preset midline repetition filtering condition is filtered to obtain a filtered midline.

[0102] In this embodiment, in order to cover as much similar geometric meaning as possible, as shown in FIG. 6, the generated midlines are extended to simulate the potential road network. This has the advantage that the road network can be drawn relatively straight. Figure 8

[0103] In this embodiment, by filtering the midlines with the same direction, similar distance, and no obstacles in the middle, the midlines with long distance and close to the periphery are preferentially retained to construct the road network.

[0104] Considering that there are many parallel lines and potential road networks with similar geometric meanings, this embodiment only needs one representative geometric meaning of them. The logic of filtering the midline extension line is as follows:

[0105] M is a set of midline extension lines

[0106] R is the filtering result

[0107] For i = 0; i < M.length; i++

[0108] For j = 0; j < R.length; j++

[0109] If M[i] and R[j] are parallel and overlapping projections and the distance is less than the maximum width of the generated road: ​​

[0110] If R[j] length < M[i] and R[j] shortest distance to the parallel line of the perimeter > M[i] shortest distance to the parallel line of the perimeter

[0111] Break

[0112] If R[j] length < M[i] and R[j] shortest distance to the parallel line of the perimeter > M[i] shortest distance to the parallel line of the perimeter

[0113] R[j] = M[i]

[0114] Else

[0115] R.push(M[i])

[0116] Finally, R is the filtered result, as shown inThe black line shown is the filtered result. Figure 9

[0117] S6, deleting the line segment with a single intersection point in the filtered center line, and converting based on a preset connectivity relationship to generate road network data.

[0118] In this embodiment, in order to ensure the connection structure of each road and the overall road network, and obtain the overall structure of the passable area, the road with only one connection point is generally the fine branches and twigs of the road network data, and thus needs to be deleted, thereby preserving the overall road network structure, as shown inThe road network in the circle has only one end point connected to other road networks, and they can be deleted. Then, according to different road network data formats, the generated line segment set is converted into the corresponding road network format, for example, each intersection point is set as a key point, and the positions of the key points are recorded, and the lines are the connectivity relationship thereof, and the topological structure of the entire road network is recorded in the form of vertex number, as shown in Figure 10 Figure 11

[0119] Embodiment Two

[0120] This embodiment is a road network generation system adapted to the first embodiment of the road network generation method, and includes:

[0121] A base map processing module is configured to obtain a to-be-drawn base map and divide initial obstacles and initial passable areas on the to-be-drawn base map.

[0122] An edge expansion module is configured to expand the boundary contour of the initial obstacle by a preset expansion distance to obtain an expanded obstacle.

[0123] A region processing module is configured to perform difference processing on the expanded obstacle and the base map where the expanded obstacle is located to obtain a to-be-processed passable area.

[0124] ​A centerline generation module is configured to generate a plurality of parallel line groups in the to-be-processed passing area, and generate a centerline between the parallel lines of each parallel line group which are parallel to each other and overlap with each other.

[0125] A centerline processing module is configured to extend both ends of each centerline to the boundary of the initial passing area and intersect, and perform filtering processing on the centerline under a preset centerline repetition filtering condition to obtain a filtered centerline.

[0126] A road network conversion module is configured to delete a line segment having a single intersection point in the filtered centerline, and perform conversion based on a preset connectivity relationship to generate road network data.

[0127] In the embodiment, the edge expansion module is further configured to:

[0128] extract a boundary contour of the initial obstacle;

[0129] set an expansion contour line on both sides of each boundary line segment of the boundary contour along a contour track of the boundary contour at a preset expansion distance.

[0130] In the second embodiment of the present application, as a further improvement, the expansion distance is in a range of (0.01, 5.00) m.

[0131] In the second embodiment of the present application, as a further improvement, the centerline generation module is configured to:

[0132] find parallel lines in the to-be-processed passing area to form a plurality of parallel line groups;

[0133] select a plurality of line segments which are parallel to each other and overlap with each other and meet a preset thickness parameter condition from the plurality of parallel line groups, and take a centerline between the plurality of line segments as a centerline of the to-be-processed passing area.

[0134] Embodiment three

[0135] The embodiment provides a terminal device, the terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the road network generation method in the embodiment one when executing the computer program.

[0136] The road network generation terminal device can be a desktop computer, a notebook computer, a palm computer, a smart tablet, and the like. The road network generation terminal device can include, but is not limited to, a processor, a memory. Those skilled in the art can understand that the above components are only examples of the road network generation terminal device, and do not constitute a limitation on the road network generation terminal device, and can include more or fewer components than the above, or combine certain components, or different components, for example, the road network generation terminal device can also include an input / output device, a network access device, a bus, and the like.

[0137] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The processor is a control center of the terminal device, and connects various parts of the terminal device through various interfaces and lines.

[0138] The memory mainly includes a program storage area and a data storage area. The program storage area can store an operating system, at least one application required by a function, and the like. The data storage area can store related data, and the like. In addition, the memory can be a high-speed random access memory, and can also be a non-volatile memory, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like, or the memory can also be other volatile solid-state storage devices.

[0139] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the terminal device.

[0140] Embodiment Four

[0141] The embodiment provides a computer readable storage medium, the computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the road network generation method of the above-mentioned embodiment one when the computer program runs.

[0142] The modules / units of the road network generation terminal device integrated in the above-mentioned embodiment three can be stored in a computer readable storage medium if the modules / units are realized in the form of software function units and sold or used as independent products. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, the computer program can be stored in a computer readable storage medium, and the computer program can realize the steps of the above-mentioned various method embodiments when the computer program is executed by a processor. The computer program comprises computer program code, and the computer program code can be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a software distribution medium, etc. It should be noted that the computer readable medium can include or exclude contents according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include an electric carrier wave and a telecommunication signal.

[0143] The above-mentioned is the preferred embodiment of the present application, and it should be pointed out that, for ordinary skilled persons in the technical field, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A road network generation method characterized by comprising: The method comprises the following steps: obtaining a to-be-drawn base map and dividing initial obstacles and initial passable areas on the to-be-drawn base map; expanding the boundary contour of the initial obstacle by a preset expansion distance to obtain an expanded obstacle; differentially processing the expanded obstacle and the base map where the expanded obstacle is located to obtain a to-be-processed passable area; generating a plurality of parallel line groups in the to-be-processed passable area, and generating a center line between the parallel lines of each parallel line group that are parallel to each other and overlap with each other; respectively extending both ends of each center line to the boundary of the initial passable area and intersecting, and filtering the center line by a preset center line repeated filtering condition to obtain a filtered center line; deleting a line segment of the filtered center line that has a single intersection point, and converting based on a preset connectivity relationship to generate road network data; wherein the expanding the boundary contour of the initial obstacle by a preset expansion distance comprises: extracting the boundary contour of the initial obstacle; along the contour track of the boundary contour, setting an expansion contour line on both sides of each boundary line segment of the boundary contour by a preset expansion distance.

2. The road network generation method of claim 1, wherein, The expansion distance is in the range of (0.01, 5.00) m.

3. The road network generation method of claim 1, wherein, The generating a plurality of parallel line groups in the to-be-processed passable area, and generating a center line between the parallel lines of each parallel line group that are parallel to each other and overlap with each other comprises: finding parallel lines in the to-be-processed passable area to form a plurality of parallel line groups; in the plurality of parallel line groups, screening a plurality of line segments that are parallel to each other and overlap with each other that meet a preset thickness parameter condition, and taking a center line between the plurality of line segments as a center line of the to-be-processed passable area.

4. A road network generation system characterized by comprising: comprise: a base map processing module for obtaining a to-be-drawn base map and dividing initial obstacles and initial passable areas on the to-be-drawn base map; an edge expansion module for expanding the boundary contour of the initial obstacle by a preset expansion distance to obtain an expanded obstacle; a region processing module for differentially processing the expanded obstacle and the base map where the expanded obstacle is located to obtain a to-be-processed passable area; a center line generation module for generating a plurality of parallel line groups in the to-be-processed passable area, and generating a center line between the parallel lines of each parallel line group that are parallel to each other and overlap with each other; a center line processing module for respectively extending both ends of each center line to the boundary of the initial passable area and intersecting, and filtering the center line by a preset center line repeated filtering condition to obtain a filtered center line; a road network conversion module for deleting a line segment of the filtered center line that has a single intersection point, and converting based on a preset connectivity relationship to generate road network data; wherein the edge expansion module is configured to: extract the boundary contour of the initial obstacle; along the contour track of the boundary contour, set an expansion contour line on both sides of each boundary line segment of the boundary contour by a preset expansion distance.

5. The road network generation system of claim 4, wherein, The expansion distance is in the range of (0.01, 5.00) m.

6. The road network generation system of claim 4, wherein, The center line generation module is configured to: find parallel lines in the to-be-processed passable area to form a plurality of parallel line groups; in the plurality of parallel line groups, screen a plurality of line segments that are parallel to each other and overlap with each other that meet a preset thickness parameter condition, and take a center line between the plurality of line segments as a center line of the to-be-processed passable area. In the parallel line groups, some line segments which are parallel to each other and overlap and meet the preset thickness parameter condition are screened out, and a middle line between the line segments is taken as a middle line of the to-be-processed passing area.

7. A terminal device, characterized by comprising: The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device in which the computer readable storage medium is located to execute the road network generation method according to any one of claims 1 to 3 when the computer program is running.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device in which the computer readable storage medium is located to execute the road network generation method according to any one of claims 1 to 3 when the computer program is running.

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