Map data processing method, system and cloud platform

Abstract

The application discloses a kind of map data processing method, system, cloud platform, storage medium and equipment, belong to navigation positioning, GPS survey line technical field.The method mainly includes the survey line matched with at least one road is matched rough correction;At least one existing road is obtained from the road matched with survey line, and the node of at least one existing road is obtained;According to the distance between node and survey line point on survey line, and the direction of passage of at least one existing road, the survey line point pair corresponding to the two nodes of each existing road is obtained;The corresponding position relationship between road and matched survey line in map is updated using the survey line point pair corresponding to node, and the matching order between road and survey line.The survey line network matching correction based on matching order in the application reduces the degree of artificial intervention modification in survey line network matching, improves work efficiency, and accurately matches survey line and road.

Description

Technical Field

[0001] This invention relates to the fields of navigation and positioning, GPS surveying, and particularly to a map data processing method, system, and cloud platform. Background Technology

[0002] In the process of creating navigation maps, there are often scenarios where an original data collection line matches a series of road segments. However, the data cannot provide the order of the various road segments in this series of road segments, nor can it determine the precise starting position of each road segment on the original data collection line.

[0003] Existing technologies employ manual methods or programs that use a matching road path sequence method to match the original data acquisition lines with road segments. Manual methods suffer from high computational complexity and low efficiency. Programs using the matching road path sequence method, when matching multiple paths, require shape matching based on the road string to match the survey lines with road segments. If some matching roads are missing, this cannot be processed. Furthermore, matching errors can lead to inaccurate matching of the survey line's position and order. Summary of the Invention

[0004] To address the problems of existing technologies that cannot accurately match the location of survey lines and roads and cannot provide the matching order of survey lines and roads, this invention mainly provides a map data processing method, system, and cloud platform.

[0005] To achieve the above objectives, one technical solution adopted by the present invention is as follows: performing coarse matching correction on survey lines that match at least one road; obtaining at least one existing road from the roads that match the survey lines, and obtaining the nodes of each existing road in the at least one existing road; obtaining survey line point pairs corresponding to two nodes of each existing road based on the distance between the nodes and the survey line points on the survey lines, and the travel direction of the at least one existing road; and updating the corresponding positional relationship between roads and matching survey lines in the map, as well as the matching order between roads and survey lines, using the survey line point pairs corresponding to the nodes.

[0006] Another technical solution adopted by the present invention is to provide a map data processing system, which includes: a module for coarsely correcting the matching of survey lines that match at least one road; a module for obtaining at least one existing road from the roads that match the survey lines, and obtaining the nodes of each existing road in the at least one existing road; a module for obtaining a pair of survey line points corresponding to two nodes of each existing road based on the distance between the nodes and the survey line points on the survey lines, and the travel direction of the at least one existing road; and a module for updating the corresponding positional relationship between roads and matching survey lines in the map, and the matching order between roads and survey lines, using the survey line point pairs corresponding to the nodes.

[0007] Another technical solution adopted by this invention is: providing a map data cloud platform, including a field data collection and processing module, a field data real-time transmission module, a big data collection module, a field data preprocessing module, a data entry module, a data output module, and a map data processing system, wherein: the field data collection and processing module is used to collect survey lines; the field data real-time transmission module is used to transmit the survey lines collected by the field data collection and processing module to the big data collection module; the big data collection module is used to receive the survey lines sent by the field data real-time transmission module; the field data preprocessing module is used to process the survey lines in the big data collection module; the data entry module is used to transmit the survey line point pairs matched with roads to the internal processing module; and the data output module is used to call the data from the data entry module to provide users with updated map data and services.

[0008] The beneficial effects achievable by the technical solution of this invention are as follows: This invention designs a map data processing method, system, and cloud platform. This method reduces the degree of manual intervention in the mapping of survey lines and improves work efficiency through mapping line network matching correction based on matching order, while accurately matching survey lines and roads. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods and embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a specific embodiment of a map data processing method according to the present invention;

[0011] Figure 2 This is a schematic diagram of another specific embodiment of a map data processing system according to the present invention;

[0012] Figure 3 This is a schematic diagram of the online map production process of a map data processing method according to the present invention;

[0013] Figure 4 This is a schematic diagram illustrating the specific process of the preprocessing steps in a map data processing method according to the present invention.

[0014] Figure 5 This is a schematic diagram of a specific embodiment of a map data processing method according to the present invention;

[0015] Figure 6 This is a schematic diagram of another specific embodiment of a map data processing method of the present invention;

[0016] Figure 7 This is a schematic diagram of another specific embodiment of a map data processing method of the present invention.

[0017] The accompanying drawings have illustrated specific embodiments and examples of the present invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0019] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0020] The map data processing method provided by this invention is applicable to scenarios such as: updated geographical areas, online map production areas, map production processes, and map production preprocessing areas.

[0021] The following explanations of some terms used in this invention are provided to facilitate understanding by those skilled in the art:

[0022] 1. Survey Line: The field data collection results corresponding to a designated road within a conventional road network constitute a survey line. A survey line is an ordered set of points describing the latest shape of a conventional road.

[0023] 2. Survey points: The ordered points used to describe the survey line are survey points.

[0024] 3. Track: A continuous record of the location of the data collection vehicle during a single data collection session.

[0025] 4. Node: A point on a road that reflects the starting and ending information of the road.

[0026] 5. Existing roads: Roads whose traffic conditions have changed due to not being segmented or deleted from the database.

[0027] 6. Matching Correction: Corrects the matching results between roads and survey lines based on the matching order.

[0028] The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0029] Figure 1 This illustration shows a specific embodiment of a map data processing method according to the present invention.

[0030] exist Figure 1 In the specific implementation shown, the map data processing method includes step S101, performing coarse matching correction on the survey lines that match at least one road;

[0031] Step S102: Obtain at least one existing road from the roads that match the survey line, and obtain the nodes of each existing road in the at least one existing road;

[0032] Step S103: Based on the distance between the node and the survey point on the survey line, and the traffic direction of at least one existing road, obtain the survey point pair corresponding to the two nodes of each existing road. This specific embodiment reduces the degree of manual intervention in survey line network matching and improves work efficiency through survey line network matching correction based on matching order, while accurately matching survey lines and roads.

[0033] Step S104: Using the survey line point pairs corresponding to the nodes, update the corresponding positional relationship between roads and matching survey lines in the map, as well as the matching order between roads and survey lines.

[0034] Specifically, road trajectories and survey lines are acquired using data acquisition equipment or vehicles, or road survey line data is obtained from other sources. The acquired survey lines are then processed by removing duplicate survey points and adding missing ones, followed by noise reduction, summarization, sorting, equidistant interpolation, and cleaning to obtain the final survey lines that match the road.

[0035] By utilizing the location of the road and the location of the survey line, survey line points are added to road trajectory segments that do not match the survey line, matching is cleared on road trajectory segments with incorrect matching, and matching is cleared for survey line points that do not exist on road trajectory segments, etc., to obtain the preliminary matching coarse correction result, that is, to obtain the road that initially matches the survey line.

[0036] In the initial matching of roads, the system analyzes whether the matched roads have already been segmented in the database or deleted, filtering out roads whose status has changed to obtain existing roads. Based on the start and end points of the existing roads, the corresponding nodes are obtained, and the matching survey points are numbered according to the collection order. Survey points on survey lines within a certain threshold range related to the nodes are selected; these are then grouped according to their sequential numbers to form node-related survey point groups. Within these groups, the survey point closest to its corresponding node is selected as a pre-selected survey point. Based on the road's travel direction and the pre-selected survey points of the two nodes, pre-selected survey point pairs matching the road's travel direction are obtained. Based on the distance between two pre-selected survey points in the pre-selected survey point pair, the actual length of the existing road, the traffic conditions of the existing road, the connection between existing roads, and the cross-transformation of the matching results of continuous survey points, the survey points matched by the existing road are obtained. Using the survey point pairs corresponding to the nodes, the precise correspondence between the roads and the matching survey lines in the map is updated, and the matching order between the roads and the survey lines is obtained, thus completing the detailed correction of the matching based on the matching order.

[0037] The matching results based on the matching order are further corrected by considering factors such as driving conventions, on-site lane information, traffic restrictions, and path shape to determine the rationality of the "matching order-based detailed correction" and obtain more accurate matching results. Finally, a road map is generated using the accurate matching results between the road and the survey lines.

[0038] In this specific embodiment, the map data processing method mainly includes step S101, which involves performing coarse matching correction on the survey lines that match at least one road.

[0039] In one specific embodiment of the present invention, such as Figure 3 Traditional online map production methods involve processing data collected in the field and / or from other sources through preprocessing (S303), manual processing (S304), office processing (S305), and output processing (S306), such as... Figure 4 The present invention performs coarse matching correction S404, detailed matching correction based on matching order S405, and subsequent detailed correction S406 in the preprocessing step to make the matching results more accurate.

[0040] In one specific embodiment of the present invention, the preprocessing module first performs data supplementation, noise reduction, summarization, sorting, equidistant interpolation, and cleaning on the trajectories and survey lines collected in the field or from other sources; and determines whether there is a matching relationship between the processed survey lines and trajectories, i.e. Figure 4In step S402, the trajectory and survey line obtained from the field have a matching relationship, while the trajectory and survey line obtained from other sources do not have a matching relationship; the trajectory and survey line obtained from other sources are matched, that is, the processing in S403 is performed; the matching results of the preprocessing steps are obtained by performing coarse correction, detailed correction based on the matching order, and subsequent detailed correction on the trajectories and survey lines that already have a matching relationship.

[0041] This specific embodiment reduces the amount of computation in the subsequent matching process by filtering data, and increases the scenarios in which map data processing methods can be used by retrieving data from other sources and field collection methods.

[0042] In one specific embodiment of this application, step S101 includes supplementing and clearing the matching results based on the location of the road and the location of the survey line, to obtain a coarse correction result of the survey line that matches at least one road.

[0043] In one specific embodiment of the present invention, coarse matching correction involves roughly correcting the matching results between the survey line and the road. Coarse matching correction includes adding roads that do not match, clearing incorrectly matched roads, and clearing roads that do not match. Coarse matching correction does not involve correcting the matching relationships at specific matching locations.

[0044] In one specific embodiment of the present invention, the prior art involves manual processing or program processing. However, manual processing is inefficient, and existing program processing methods cannot handle matching when some roads are missing.

[0045] For example, in Figure 5 The meanings of each sign are as follows: black lines represent matching roads; dots on black lines represent nodes of matching roads; uppercase letters represent matching road identifiers; dots represent survey line points that have been collected, and the survey lines corresponding to these survey line points are collected by driving from dark to light according to the gradient color; among them, D1 and D2 represent matching roads where the matching road D no longer exists and has been split into two matching roads, D1 and D2.

[0046] Among the matching road segments A, B, C, D, E, F, and G, we only know that the survey lines we collected match these roads, but we do not know the matching order of these roads and survey lines, nor the specific location of the survey line points on the corresponding roads.

[0047] Figure 5 In the middle (a), the scenario where the matching roads for the collected trajectory all exist is represented. Figure 5 Figure (b) shows a scenario where the matching road portion of the collected trajectory does not exist, and assumes that B, C, D, and E are bidirectional matching roads; A, F, and G are unidirectional matching roads; when collecting data, the B, C, D, and E loops are not considered and the case of multiple turns is not taken into account.

[0048] In the original procedure processing method, for Figure 5 The possible combinations in (a) are: Case 1: A, B, F, G and E, D, C; A, B, F, G and C, D, E; Case 2: A, B, C, D, E, B, F, G; Case 3: A, E, D, C, B, E, D, C, F, G;

[0049] In the original procedure processing method, for Figure 5 (b) The possible combinations are: Case 1: A, B, F, G and E and C; Case 2: A, E and B, C and F, G; A, E and C, B and F, G; Case 3: A, E and B, F, G and C; Case 4: A, E and B and C, F, G; Case 5: A, B and E and C, F, G; Case 6: A and C and E, B, F, G; among which, for Figure 5 (b) Cases five and six in the string matching are both multi-string matching road strings, which cannot be calculated.

[0050] The original program processing method is for Figure 5 (a) The computational load of the processing method is relatively large; it cannot solve the problem. Figure 5 (b) Matching when road D is disconnected.

[0051] This specific embodiment improves the efficiency of online map production by changing the preprocessing steps.

[0052] exist Figure 1 In the specific implementation shown, the map data processing method further includes step S102, which involves obtaining at least one existing road from the roads that match the survey line, and obtaining the nodes of each existing road in the at least one existing road.

[0053] In one specific embodiment of the present invention, when the road map used for field data collection changes during the data collection process, the changed road is called a non-existent road; while when the road map used for field data collection and its corresponding office road map are the same, it is called an existing road. The obtained existing roads are then processed, and non-existent matching roads are considered invalid matches, which are then supplemented by subsequent detailed correction.

[0054] For example, such as Figure 5 As shown in (b), the matching road D was broken into D1 and D2 during the data collection process, so the matching road D is a non-existent road. The other roads ABCEFG are existing roads. Figure 5 The existence of each road is shown in Table 1 below.

[0055] Table 1

[0056]

[0057] This specific embodiment lays the foundation for improving matching accuracy by filtering out non-existent matching paths.

[0058] In one specific embodiment of the present invention, the node information corresponding to the matching road is obtained using the starting point and ending point recorded on the road. Furthermore, when two different matching roads are connected, the nodes of these two different matching roads are the same.

[0059] For example, Figure 5 The nodes corresponding to each matched road and the connection between each matched road are shown in Table 2.

[0060] Table 2

[0061]

[0062] This specific embodiment utilizes the connection properties of road nodes to lay the foundation for accurately determining the order and location of road configurations.

[0063] exist Figure 1 In the specific implementation shown, the map data processing method further includes step S103, which involves obtaining a pair of survey points corresponding to two nodes of each existing road based on the distance between the node and the survey point on the survey line, and the travel direction of at least one existing road.

[0064] In a specific embodiment of the present invention, at a road node, node-related survey points within a distance threshold range from the node are acquired, and the node-related survey points at each node are grouped according to the survey point acquisition order to obtain node-related survey point groups; the survey point closest to the road node is obtained in each node-related survey point group; the node-related survey points closest to the two road nodes are formed into preliminary survey point pairs; the preliminary survey point pairs are compared with the travel direction of the matching road to obtain pre-selected survey point pairs that are consistent with the travel direction of the matching road; the pre-selected survey point pairs are filtered out to obtain survey point pairs corresponding to the two nodes of each existing road.

[0065] In this specific embodiment, matching road nodes is used to obtain the line point pairs corresponding to the matching road nodes, and the matching results are further optimized to make the matching results more accurate and correct.

[0066] In a specific embodiment of the present invention, step S103 further includes: taking each of the two nodes as the center, determining the survey points within a predetermined distance threshold range as node-related survey points; grouping the node-related survey points according to the continuity of the survey point labels of the node-related survey points to obtain a node-related survey point group; and obtaining a pre-selected survey point pair corresponding to the node according to the node-related survey point group and the traffic direction of at least one existing road.

[0067] In a specific embodiment of the present invention, with Figure 5 For example, Figure 5 The survey points in the data collection were grouped and numbered according to the collection order to obtain... Figure 6 .exist Figure 6 In the diagram, the dashed circle centered on the node is obtained by taking the node as the center and using a distance threshold as the radius. Figure 6 In this process, with each road node as the center, the survey points within a 50-meter radius of the node are identified as node-related survey points. These node-related survey points are then grouped according to their continuity to obtain node-related survey point groups. Based on these groupings and the traffic direction of the matching roads corresponding to each group, pre-selected survey point pairs corresponding to the nodes are obtained.

[0068] In a specific embodiment of the present invention, the algorithm provided by the map data cloud platform is used to search for survey points within a 50-meter radius of each node, such as... Figure 6 The survey points within the dashed circle at the road junction. The survey points enclosed by the dashed circle are grouped according to the continuity of their survey point numbers. Figure 6 The nodes RN of the three matching roads A, B, and E in the diagram. ABE For example, if five survey points N6, N7, N8, N27, and N28 are found within 50 meters, where N6, N7, and N8 are consecutive, and N27 and N28 are consecutive, then node RN... ABE They were divided into two groups. Figure 6 The grouping of node-related survey points for each node is shown in Table 3.

[0069] Table 3

[0070]

[0071] This specific embodiment reduces the workload of screening pre-selected survey line point pairs by screening at road nodes.

[0072] In a specific embodiment of the present invention, step S103 further includes obtaining the nearest node-related survey point in each group of node-related survey points; and using the nearest node-related survey point to obtain a pre-selected survey point pair corresponding to the node based on at least one existing road traffic direction.

[0073] In a specific embodiment of the present invention, the distance between the survey point and the node is determined using the following formula. Find the survey point closest to the node.

[0074] exist Figure 6 In the example, nodes RN represent three matching roads: A, B, and E. ABE For example, node RN ABE The nodal-related survey points within 50 meters were divided into two groups. The first group included survey points N6, N7, and N8, and the second group included survey points N27 and N28. The distance between these survey points and RN was determined within each group. ABE The nearest survey points to the node are N7 and N27. Figure 6 Table 4 shows the survey points closest to each node in the relevant survey point group.

[0075] Table 4

[0076]

[0077] In a specific embodiment of the present invention, with Figure 6 Taking road A as an example, since the node RN of road A... A The closest measurement point is N1, and the node is RN. ABE The closest survey points are N7 and N27, so the initial survey point pairs for road A are four groups: N1 to N7, N7 to N1, N27 to N1, and N1 to N27. Since the survey point acquisition order is N1 first, then N7, meaning the acquisition direction is from N1 to N7, then when the recorded travel direction for road A is from RN... A To RN ABE , then RN A RN is the starting point for traffic on road A. ABE If road A is the endpoint, then the data collection directions from N1 to N7 and N1 to N27 are consistent with the road's travel direction; however, the data collection directions from N7 to N1 and N27 to N1 are inconsistent with the road's travel direction. Preliminary survey point pairs that are inconsistent with the road's travel direction are filtered out, along with the pre-selected survey point pairs corresponding to the nodes. Figure 6 The pre-selected survey points for each matching road and the traffic direction of the matching road are shown in Table 5, where →→ indicates one-way traffic; ←→ indicates two-way traffic.

[0078] Table 5

[0079]

[0080] In this specific embodiment, by screening the survey points at road junctions, pre-selected survey point pairs are selected, and the matching results are further optimized.

[0081] In a specific embodiment of the present invention, step S103 further includes filtering out the pre-selected survey line point pairs based on the distance between the pre-selected survey line point pairs, the road attributes of the existing roads, and the intersection of the survey line point matching results, to obtain survey line point pairs corresponding to the two nodes of each existing road.

[0082] Specifically, based on the distance between the node and the survey line points on the survey line, and the traffic direction of at least one existing road, a pair of pre-selected survey line points corresponding to the node is obtained. Based on the distance between the pre-selected survey line point pairs in the traffic direction of the corresponding at least one existing road, the connection between at least one adjacent existing road in the at least one existing road corresponding to the pre-selected survey line point pairs, the traffic situation between at least one adjacent existing road in the at least one existing road corresponding to the pre-selected survey line point pairs, and the intersection of the survey line corresponding to the pre-selected survey line point with other survey lines during the matching process, at least one of the four factors is used to filter out the pre-selected survey line point pairs, resulting in a pair of survey line points corresponding to the two nodes of each existing road.

[0083] In a specific embodiment of the present invention, the distance corresponding to the pre-selected survey line point pair is calculated based on the pre-selected survey line point pair, and the pre-selected survey line point pair is screened out based on the length of the matching road.

[0084] In a specific embodiment of the present invention, the pre-selected survey point pairs are screened out based on the connection between the matched road and its adjacent matched road.

[0085] In a specific embodiment of the present invention, the preselected survey point pairs are filtered out based on the traffic conditions between the matching roads corresponding to the preselected survey point pairs and the adjacent matching roads.

[0086] In a specific embodiment of the present invention, the pairs of pre-selected survey points are screened out based on the intersection of the survey line corresponding to the pre-selected survey point with other survey lines during the matching process.

[0087] In this specific embodiment, based on the actual situation and utilizing the characteristics of the matching results, different methods are used to further screen out the pre-selected test line point pairs, making the matching results more accurate.

[0088] In one specific embodiment of the present invention, step S103 further includes filtering out pre-selected survey point pairs when the ratio of the distance in the travel direction of at least one existing road corresponding to the pre-selected survey point pair to the actual length of the at least one existing road corresponding to the pre-selected survey point pair exceeds a predetermined threshold range, until survey point pairs corresponding to two nodes of each existing road are obtained. This specific example can accurately calculate the survey line length and avoid calculating incorrect survey line lengths due to road curvature or other reasons.

[0089] In a specific embodiment of the present invention, the length of the survey line is calculated using the survey line points according to the survey line acquisition direction. Ideally, the length of the survey line should be equal to the length of the matching road corresponding to the survey line. In practice, the ratio of the recorded matching road length to the length of the matching survey line should be around 1:1. A ratio that is too large or too small is unreasonable and should be filtered out.

[0090] For example, setting the length threshold to a ratio of 4:5 to 5:4 (80% to 120%) between the length of the matched road and the length of the matched survey line is reasonable. Figure 6 Taking the matching road A as an example, the ratio of the measured line length calculated by the pre-selected survey point pair "N1 and N7" to the matching road A is 7:6, which is between 80% and 120%. Therefore, the pre-selected survey point pair "N1 and N7" is reasonable and should be retained. The ratio of the measured line length calculated by the pre-selected survey point pair "N1 and N27" to the matching road A is 7:26, which is outside the range of 80% to 120% and is therefore unreasonable and should be removed. Figure 6 The ratio of the lengths of each matched road and its corresponding pre-selected survey point pair and the selection results are shown in Table 6.

[0091] Table 6

[0092]

[0093] In this specific embodiment, the matching results are optimized by comparing the length between the survey line and the road and filtering out the matching results.

[0094] In a specific embodiment of the present invention, step S103 further includes, under the condition that one existing road in at least one existing road corresponding to the pre-selected survey point pair is not connected to at least one other adjacent existing road, screening out the corresponding survey point pair of an existing road until a survey point pair corresponding to two nodes of each existing road is obtained.

[0095] In a specific embodiment of the present invention, step S103 further includes, under the condition that one of the existing roads corresponding to the pre-selected survey point pair is not passable to at least one other adjacent existing road, screening out the survey point pair corresponding to an existing road until a survey point pair corresponding to two nodes of each existing road is obtained.

[0096] In a specific embodiment of the present invention, when the roads matched by the adjacent survey points of the pre-selected survey point pair are not the same, the survey line corresponding to the pre-selected survey point and its adjacent survey points are connected as a passable matching road. The survey point pairs connected by the matching road are retained, and the unconnected survey point pairs are filtered out.

[0097] For example, such as Figure 7 The survey lines shown in the diagram were collected in the order of roads A, B, C, D, E, and F. However, during the matching process, it is impossible to know the actual collected path as A to B, B to C, C to D, D to E, and E to F. Therefore, it is necessary to filter out matching results based on the connection and traffic conditions of the roads before and after the survey lines.

[0098] Figure 7 The matching results obtained by matching the survey points and roads are as follows: Survey points N1~N4 are matched with road A; Survey points N5~N6 are matched with road G; Survey points N7~N9 are matched with road H; N 10 ~N 12 Matching survey points to road C; N 13 ~N 16 Matching survey points to road D; N 17 ~N 20 Matching survey points to road K; N 21 ~N 23 Matching survey points to road L; N 24 ~N 25 Match the survey points to road F.

[0099] The above matching results have two problems. The first problem is that the N9 measurement point and N... 10 The survey points are matched to H and C respectively, but H and C are not linked together. Therefore, it is determined that the 7th to 12th survey points matched to road H and road C are incorrectly matched. The matching results of road H and road C are filtered out, and further judgment and supplementary matching are performed in the subsequent detailed matching correction steps. The second problem is N. 20 Survey points and N 21 The survey points are matched with roads K and L respectively. Although roads K and L are connected, they are not passable due to traffic restrictions. Therefore, N 17 ~N 23 The matching of the survey points is incorrect; N should be changed. 17 ~N 23 The matching results of the survey points are filtered out, and the matching is judged and supplemented in the subsequent detailed matching correction steps.

[0100] In a specific embodiment of the present invention, Figure 6 The matching results of each matching road are filtered according to the connection and traffic conditions of the roads matched by the survey line. The filtering results of the pre-selected survey line point pairs are shown in Table 7.

[0101] Table 7

[0102]

[0103] In this specific embodiment, the matching between the survey point and the road is filtered out by using the road traffic conditions and connection status, so as to make the matching results more accurate.

[0104] In a specific embodiment of the present invention, step S103 further includes: if the survey line corresponding to the pre-selected survey line point pair intersects with other survey lines during the matching process, the pre-selected survey line point pair is screened out until a survey line point pair corresponding to the two nodes of each existing road is obtained.

[0105] In a specific embodiment of the present invention, if the matching result of the survey point is that the matching roads matched by the survey point on the same survey line intersect, the matching result matched by this survey line is filtered out; otherwise, the matching result is retained.

[0106] In a specific embodiment of the present invention, with Figure 7 For example, Figure 7 The matching results between survey points and roads may also present the following situations: Survey points N6 to N9 may be matched with road H (N6 matches road H), road B (N7 matches road B), road H (N8 matches road H), and road B (N9 matches road B). When matching survey points with similar road alignments, different matching roads may appear simultaneously, meaning a pair of similarly matched survey points may be repeated. This is called "intersecting matching roads." This phenomenon occurs when there are main and auxiliary roads. Matching results that jump between main and auxiliary roads and intersect are judged as incorrect and filtered out. Subsequent matching correction steps will continue to judge and supplement the matching.

[0107] This specific embodiment further optimizes the matching results by filtering out pairs of intersecting survey lines, making the matching results more accurate.

[0108] exist Figure 1 In a specific implementation, the map data processing method mainly includes step S104, which uses the survey line point pairs corresponding to the nodes to update the corresponding positional relationship between roads and matching survey lines in the map, as well as the matching order between roads and survey lines.

[0109] In one specific embodiment of the present invention, the precise starting position between the road and the survey line and the matching order between the survey line and the road are obtained according to the selected survey line point pairs. The matching result is output, and the subsequent steps of the preprocessing step automatically retrieve the matching result for processing.

[0110] In a specific embodiment of the present invention, with Figure 6Taking survey line (a) as an example, the matching result after filtering is that the survey line includes 44 survey line points. Among them, the first to seventh survey line points match road A and the matching order is from 1 to 7. The seventh to thirteenth points match road B and the matching order is from 7 to 13. The seventh survey line point is the node where road A and road B are connected. Figure 6 The specific matching results are shown in Table 8.

[0111] Table 8

[0112]

[0113] In one specific embodiment of the present invention, the map data processing method further includes performing subsequent detailed correction on the survey point pairs corresponding to the two nodes of each existing road according to the road traffic restrictions and driving restrictions; and generating the road map using the matching results of the subsequent detailed correction.

[0114] In a specific embodiment of this invention, subsequent detailed correction is a detailed matching correction based on matching quality. This subsequent detailed correction targets matching road networks with similar paths or shapes. When two matching road networks are similar, and matching can be performed between the survey line and both networks, the subsequent detailed correction compares the obtained matching path with the survey line's data based on driving conventions, on-site vehicle information, traffic restrictions, and path shape. It then determines whether the matching results obtained are reasonable and corrects any unreasonable aspects. A map corresponding to the road is generated based on the corrected matching results.

[0115] Figure 2 This paper illustrates a specific embodiment of a map data processing system according to the present invention.

[0116] In this specific embodiment, the map data processing system mainly includes: module 201, which is used to perform coarse matching and correction of survey lines that match at least one road;

[0117] Module 202 is used to obtain at least one existing road from the roads matched with the survey line, and to obtain the nodes of each existing road in the at least one existing road;

[0118] Module 203 is used to obtain the pair of survey points corresponding to two nodes of each existing road based on the distance between the node and the survey point on the survey line, and the traffic direction of at least one existing road.

[0119] Module 204 is used to update the corresponding positional relationship between roads and matching survey lines in the map, as well as the matching order between roads and survey lines, using the survey line point pairs corresponding to nodes.

[0120] The map data processing system provided by the present invention can be used to execute the map data processing method described in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0121] In one specific embodiment of the present invention, the functional modules of the map data processing system of the present invention can be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0122] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0123] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0124] In another specific embodiment of the present invention, a map data cloud platform is provided, comprising a field data collection module, a preprocessing module, an office data library module, and a data output module; wherein: the field data collection module includes a field data processing module and a field data feedback module, the field data processing module being used to process the survey lines and trajectories collected in the field; the field data feedback module being used to transmit the survey lines and trajectories to the big data collection module; the preprocessing module being used to correct the survey lines and trajectories using map data processing methods and to perform related subsequent detailed corrections to obtain the final matching result; the office data library module being used to store the final matching result and to transmit the final matching result to the office processing module; and the data output module being used to call the final matching result and provide users with updated map data and services.

[0125] In another specific embodiment of this application, a computer-readable storage medium is provided that stores computer instructions which are operated to perform the map data processing method described in the above embodiments.

[0126] In another specific embodiment of this application, a computer device is provided, wherein the computer device includes the map data processing method described in any embodiment.

[0127] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A map data processing method, characterized in that, include: A coarse correction is performed on the survey lines that match at least one road. The matching results are supplemented and cleared according to the location of the road and the location of the survey line to obtain a coarse correction result for the survey lines that match at least one road. The coarse correction is a correction of the matching relationship that does not involve specific matching locations. Obtain at least one existing road from the roads that match the survey line, and obtain nodes of each of the at least one existing road, wherein the nodes are points on the road that reflect the starting point information and the ending point information of the road; Based on the distance between the node and the survey points on the survey line, and the travel direction of at least one of the existing roads, a pair of survey points corresponding to the two nodes of each existing road is obtained. Specifically, a pre-selected pair of survey points corresponding to the node is obtained based on the distance between the node and the survey points on the survey line, and the travel direction of at least one of the existing roads. The pre-selected pairs of survey points are then filtered out based on the distance between them, the road attributes of the existing roads, and the intersection of the survey point matching results, resulting in a pair of survey points corresponding to the two nodes of each existing road. Using the survey line point pairs corresponding to the nodes, update the corresponding positional relationship between the roads and the matching survey lines in the map, as well as the matching order between the roads and the survey lines.

2. The map data processing method as described in claim 1, characterized in that, The process of obtaining the pre-selected pair of survey points corresponding to the node based on the distance between the node and the survey points on the survey line, and the travel direction of at least one of the existing roads, includes: Taking each of the two nodes of the existing road as the center, the survey points within a predetermined distance threshold range are determined as node-related survey points; The node-related survey points are grouped according to the continuity of their survey point numbers to obtain node-related survey point groups; Based on the node-related survey point group and the travel direction of at least one of the existing roads, the pre-selected survey point pair corresponding to the node is obtained.

3. The map data processing method as described in claim 2, characterized in that, The process of obtaining the pre-selected survey point pair corresponding to the node based on the node-related survey point group and the traffic direction of at least one of the existing roads includes, Obtain the nearest node-related survey line point in each group of node-related survey line points; Using the nearest node's related survey points, and based on the travel direction of at least one of the existing roads, a pair of pre-selected survey points for the node that are consistent with the travel direction of the existing roads is obtained.

4. The map data processing method as described in claim 1, characterized in that, The process of filtering out the pre-selected survey line point pairs based on the distance between the pre-selected survey line point pairs, the road attributes of the existing roads, and the intersection of the survey line point matching results, to obtain the survey line point pairs corresponding to the two nodes of each existing road, includes: If the ratio of the distance in the travel direction of at least one existing road corresponding to the preselected survey point pair to the actual length of at least one existing road corresponding to the preselected survey point pair exceeds a predetermined threshold range, the preselected survey point pair is filtered out until a survey point pair corresponding to two nodes of each existing road is obtained, and / or if one of the existing roads corresponding to at least one of the preselected survey point pairs is not connected to at least one other adjacent existing road, the preselected survey point pair corresponding to that existing road is filtered out until a survey point pair corresponding to two nodes of each existing road is obtained.

5. The map data processing method as described in claim 1, characterized in that, The process of filtering out the pre-selected survey line point pairs based on the distance between the pre-selected survey line point pairs, the road attributes of the existing roads, and the intersection of the survey line point matching results, to obtain the survey line point pairs corresponding to the two nodes of each existing road, includes: If one of the existing roads corresponding to the pre-selected survey line point pair is not passable to at least one other adjacent existing road, the pre-selected survey line point pair corresponding to the existing road is screened out until a survey line point pair corresponding to the two nodes of each existing road is obtained, and / or if the survey line corresponding to the pre-selected survey line point pair intersects with other survey lines during the matching process, the pre-selected survey line point pair is screened out until a survey line point pair corresponding to the two nodes of each existing road is obtained.

6. The map data processing method as described in claim 1, characterized in that, Also includes: Based on the road traffic restrictions and driving restrictions, the measurement point pairs corresponding to the two nodes of each existing road will be further refined; Using the matching results from the subsequent detailed correction, a map of the road is generated.

7. A map data processing system, characterized in that, include: A module for performing coarse correction on a survey line that matches at least one road, wherein, based on the location of the road and the location of the survey line, the matching result is supplemented and cleared to obtain a coarse correction result for the survey line that matches at least one road, and the coarse correction is a correction of the matching relationship that does not involve the specific matching location. A module for obtaining at least one existing road from the roads that match the survey line, and obtaining a node of each of the at least one existing road, wherein the node is a point on the road reflecting the starting point information and ending point information of the road; A module for obtaining a pair of survey points corresponding to two nodes of each existing road based on the distance between the node and the survey points on the survey line, and the travel direction of at least one existing road, wherein: a pre-selected pair of survey points corresponding to the node is obtained based on the distance between the node and the survey points on the survey line, and the travel direction of at least one existing road; the pre-selected pair of survey points is then filtered out based on the distance between the pre-selected pair of survey points, the road attributes of the existing roads, and the intersection of the survey point matching results, to obtain a pair of survey points corresponding to two nodes of each existing road; A module for updating the corresponding positional relationship between the road and the matching survey line in the map, and the matching order between the road and the survey line, using the survey line point pairs corresponding to the node.

8. A map data cloud platform, characterized in that, It includes a field data collection module, a preprocessing module, an office data repository module, and a data output module; among which: The field data collection module includes a field data processing module and a field data transmission module. The field data processing module is used to process the survey lines and trajectories obtained from the field data collection. The field data transmission module is used to transmit the survey lines and trajectories to the big data collection module. The preprocessing module is used to correct the survey line and the trajectory using the map data processing method as described in any one of claims 1-6 and to perform related subsequent detailed corrections to obtain the final matching result. The internal database module is used to store the final matching results and transmit the final matching results to the internal processing section; The data output module is used to call the final matching result and provide the user with updated map data and services.

9. A computer-readable storage medium storing computer instructions, characterized in that, When the computer instructions are executed, the computer performs the map data processing method according to any one of claims 1-6, or performs the map data processing system according to claim 7, or performs the map data cloud platform according to claim 8.

10. A computer device comprising a processor and a memory, the memory storing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the map data processing method as described in any one of claims 1-6, or cause the computer to execute the map data processing system as described in claim 7, or cause the computer to execute the map data cloud platform as described in claim 8.

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