A road network generation method and device

Abstract

The present invention relates to a road network generation method and device, firstly, a trajectory data set is obtained, then a trajectory data is selected and the trajectory is segmented, the first and last points of each segment are taken, and the data is expressed as a graph structure data Graph, wherein each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, angle; finally, the nodes in the graph structure data are connected into a road network according to the attributes of each node and output. Expressing both the trajectory and the road network as graph structure data reduces the coupling of the elements of the road network, making the generation and update simple.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision map production, and in particular to a road network generation method and device. Background Art

[0002] The road network is the core element of crowdsourced high-precision maps. In the process of high-precision map production, the generation and updating of the road network are difficult. The difficulty in updating is that the coupling of various elements of the road network is too strong. If one part of it is changed, a large number of adjustments need to be made to various elements of the road network, making the update very difficult. Summary of the invention

[0003] The present invention aims at the technical problems existing in the prior art and provides a road network generation method and device, which expresses both the trajectory and the road network as graph structure data, reduces the coupling of various elements of the road network, and makes the update simple.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] In a first aspect, the present invention provides a road network generation method, comprising:

[0006] S1, obtain trajectory data set;

[0007] S2, select a trajectory data and split the trajectory, take the first and last points of each segment, and express it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, angle;

[0008] S3, connect the nodes in the graph structure data into a road network according to the attributes of each node and output it.

[0009] Furthermore, step S2 also includes:

[0010] Determine whether there is other trajectory data in the trajectory data set;

[0011] If there is one of the trajectory data, split it, take the first and last points of each segment, and express it as graph structure data New_graph;

[0012] Match the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjust the nodes in Graph according to the matching results;

[0013] Delete the trajectory data corresponding to New_graph from the trajectory data set, and select the next trajectory data to execute the above steps until there is no other trajectory data in the trajectory data set.

[0014] Furthermore, matching the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjusting each node in Graph according to the matching result, includes:

[0015] Select node i in Graph and node j in New_graph. If the angle difference between node i and node j is less than the angle threshold, and the distance between node i and node j is less than the distance threshold, the two nodes are considered to be matched, and node j is merged into node i. According to the attributes of node j, the attributes of node i are adaptively adjusted to make the adjusted node i consistent with the previous and next nodes. If node j in New_graph does not find a matching node in Graph, node j is added to Graph and the attributes of node j in New_graph are retained.

[0016] Furthermore, the adaptive adjustment of the attribute of node i according to the attribute of node j includes:

[0017] The previous node ID of node j is added to the previous node ID of node i, and the next node ID of node j is added to the next node ID of node i. In step S3, when the road network is connected according to the attributes of each node, the non-existent node data is deleted.

[0018] In a second aspect, the present invention provides a road network generation device, comprising:

[0019] A data acquisition module, used to acquire a trajectory data set;

[0020] The graph structure expression module selects a trajectory data and divides it into segments, taking the first and last points of each segment and expressing it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, and angle;

[0021] The road network output module connects the nodes in the graph structure data into a road network according to the attributes of each node and outputs it.

[0022] Furthermore, the graph structure expression module includes:

[0023] The judgment module is used to judge whether there are other trajectory data in the trajectory data set; if there are, take one of the trajectory data and split it, take the two ending points of each segment, and express it as the graph structure data New_graph;

[0024] The matching adjustment module is used to match the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjust each node in Graph according to the matching results.

[0025] Furthermore, the matching adjustment module is specifically used to:

[0026] Select node i in Graph and node j in New_graph. If the angle difference between node i and node j is less than the angle threshold, and the distance between node i and node j is less than the distance threshold, the two nodes are considered to be matched, and node j is merged into node i. According to the attributes of node j, the attributes of node i are adaptively adjusted to make the adjusted node i consistent with the previous and next nodes. If node j in New_graph does not find a matching node in Graph, node j is added to Graph and the attributes of node j in New_graph are retained.

[0027] Furthermore, the adaptive adjustment of the attribute of node i according to the attribute of node j includes:

[0028] The previous node ID of node j is added to the previous node ID of node i, and the next node ID of node j is added to the next node ID of node i. In step S3, when the road network is connected according to the attributes of each node, the non-existent node data is deleted.

[0029] In a third aspect, the present invention provides an electronic device, comprising:

[0030] Memory for storing computer software programs;

[0031] The processor is used to read and execute the computer software program, thereby implementing a road network generation method described in the first aspect of the present invention.

[0032] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, wherein the storage medium stores a computer software program for implementing a road network generation method as described in the first aspect of the present invention.

[0033] The beneficial effects of the present invention are as follows: the present technology re-expresses the road network and the trajectory, regards them as graph structure data with the same form, and reduces coupling; regards the generation and update of the road network as the same process, and can quickly perform incremental updates on the road network to generate a new road network. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a road network generation method provided by an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the structure of a road network generating device provided by an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of an electronic device according to an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0039] Figure 1 A schematic diagram of a road network generation method provided by an embodiment of the present invention. Figure 1 As shown, the method includes:

[0040] S1, obtain trajectory data set;

[0041] S2, select a trajectory data and split the trajectory, take the first and last points of each segment, and express it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, angle;

[0042] Determine whether there is other trajectory data in the trajectory data set;

[0043] If there is one of the trajectory data, split it, take the first and last points of each segment, and express it as graph structure data New_graph;

[0044] Match the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjust the nodes in Graph according to the matching results;

[0045] Delete the trajectory data corresponding to New_graph from the trajectory data set, and select the next trajectory data to execute the above steps until there is no other trajectory data in the trajectory data set.

[0046] S3, connect the nodes in the graph structure data into a road network according to the attributes of each node and output it.

[0047] Furthermore, matching the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjusting each node in Graph according to the matching result, includes:

[0048] Select node i in Graph and node j in New_graph. If the angle difference between node i and node j is less than the angle threshold, and the distance between node i and node j is less than the distance threshold, the two nodes are considered to be matched, and node j is merged into node i. According to the attributes of node j, the attributes of node i are adaptively adjusted to make the adjusted node i consistent with the previous and next nodes. If node j in New_graph does not find a matching node in Graph, node j is added to Graph and the attributes of node j in New_graph are retained.

[0049] Adaptive adjustments are made to the attributes of node i according to the attributes of node j, including:

[0050] The previous node ID of node j is added to the previous node ID of node i, and the next node ID of node j is added to the next node ID of node i. In step S3, when the road network is connected according to the attributes of each node, the non-existent node data is deleted.

[0051] Figure 2 A schematic diagram of the structure of a road network generating device provided by an embodiment of the present invention; Figure 2 As shown, the device comprises:

[0052] A data acquisition module, used to acquire a trajectory data set;

[0053] The graph structure expression module selects a trajectory data and divides it into segments, taking the first and last points of each segment and expressing it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, and angle;

[0054] The road network output module connects the nodes in the graph structure data into a road network according to the attributes of each node and outputs it.

[0055] Furthermore, the graph structure expression module includes:

[0056] The judgment module is used to judge whether there are other trajectory data in the trajectory data set; if there are, take one of the trajectory data and split it, take the two ending points of each segment, and express it as the graph structure data New_graph;

[0057] The matching adjustment module is used to match the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjust each node in Graph according to the matching results.

[0058] Furthermore, the matching adjustment module is specifically used to:

[0059] Select node i in Graph and node j in New_graph. If the angle difference between node i and node j is less than the angle threshold, and the distance between node i and node j is less than the distance threshold, the two nodes are considered to be matched, and node j is merged into node i. According to the attributes of node j, the attributes of node i are adaptively adjusted to make the adjusted node i consistent with the previous and next nodes. If node j in New_graph does not find a matching node in Graph, node j is added to Graph and the attributes of node j in New_graph are retained.

[0060] See also Figure 3 , Figure 3 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented:

[0061] S1, obtain trajectory data set;

[0062] S2, select a trajectory data and split the trajectory, take the first and last points of each segment, and express it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, angle;

[0063] S3, connect the nodes in the graph structure data into a road network according to the attributes of each node and output it.

[0064] See also Figure 4 , Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. Figure 4 As shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented:

[0065] S1, obtain trajectory data set;

[0066] S2, select a trajectory data and split the trajectory, take the first and last points of each segment, and express it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, angle;

[0067] S3, connect the nodes in the graph structure data into a road network according to the attributes of each node and output it.

[0068] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0069] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0071] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0073] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0074] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A road network generation method, characterized in that: include: S1, obtain vehicle trajectory data set; S2, select a trajectory data and split the trajectory, take the first and last points of each segment, and express it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, angle; S3, connecting the nodes in the graph structure data into a road network according to the attributes of each node and outputting it; Step S2 also includes, Determine whether there is other trajectory data in the trajectory data set; If there is one of the trajectory data, split it, take the first and last points of each segment, and express it as graph structure data New_graph; Match the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjust the nodes in Graph according to the matching results; Delete the trajectory data corresponding to New_graph from the trajectory data set, and select the next trajectory data to execute the above steps until there is no other trajectory data in the trajectory data set; The matching of nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjusting each node in Graph according to the matching result, includes: Select node i in Graph and node j in New_graph. If the angle difference between node i and node j is less than the angle threshold, and the distance between node i and node j is less than the distance threshold, the two nodes are considered to be matched, and node j is merged into node i. The attributes of node i are adaptively adjusted according to the attributes of node j. If node j in New_graph does not find a matching node in Graph, then node j is added to Graph and the attributes of node j in New_graph are retained.

2. The method according to claim 1, characterized in that The adaptive adjustment of the attribute of node i according to the attribute of node j includes: Add the previous node ID of node j to the previous node ID of node i, and add the next node ID of node j to the next node ID of node i.

3. A road network generation device, characterized in that: include: A data acquisition module, used to acquire a trajectory data set; The graph structure expression module selects a trajectory data and divides it into segments, taking the first and last points of each segment and expressing it as a graph structure data Graph, where each node contains the following attributes: node ID, coordinates, previous node ID, next node ID, and angle; The road network output module connects the nodes in the graph structure data into a road network according to the attributes of each node and outputs it; The graph structure expression module includes: The judgment module is used to judge whether there are other trajectory data in the trajectory data set; if there are, take one of the trajectory data and split it, take the two ending points of each segment, and express it as the graph structure data New_graph; The matching and adjustment module is used to match the nodes in Graph and New_graph according to the distance between nodes and the node angle, and adjust each node in Graph according to the matching results; The matching adjustment module is specifically used for: Select node i in Graph and node j in New_graph. If the angle difference between node i and node j is less than the angle threshold, and the distance between node i and node j is less than the distance threshold, the two nodes are considered to be matched, and node j is merged into node i. The attributes of node i are adaptively adjusted according to the attributes of node j. If node j in New_graph does not find a matching node in Graph, then node j is added to Graph and the attributes of node j in New_graph are retained.

4. The device according to claim 3, characterized in that The adaptive adjustment of the attribute of node i according to the attribute of node j includes: Add the previous node ID of node j to the previous node ID of node i, and add the next node ID of node j to the next node ID of node i.

5. An electronic device, characterized in that: include: Memory for storing computer software programs; A processor is used to read and execute the computer software program, thereby implementing a road network generation method as described in any one of claims 1-2.

6. A non-transitory computer-readable storage medium, characterized in that: The storage medium stores a computer software program for implementing a road network generation method as described in any one of claims 1-2.

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