A map sheet edge joining method, device, equipment and storage medium

Abstract

This application relates to the field of map drawing technology, and in particular to a method, apparatus, device, and storage medium for map sheet edge joining. The method includes: acquiring a first map sheet and a second map sheet to be joined; determining the first geometric information, first attribute information, and first road association information of the joining elements in the first map sheet; determining the second geometric information, second attribute information, and second road association information of the joining elements in the second map sheet; and joining the first and second map sheets when the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information. This method achieves automatic map sheet pair finding, error screening and location of map sheet edge joining positions, and automatic edge joining, reducing manual intervention and improving edge joining efficiency.

Description

Technical Field

[0001] This application relates to the field of map drawing technology, and in particular to a method, apparatus, device and storage medium for map sheet edge joining. Background Technology

[0002] High-precision maps are specialized maps used by autonomous driving systems, as opposed to ordinary navigation electronic maps. Also known as autonomous driving maps or high-resolution maps, they represent a new map data paradigm for autonomous vehicles. High-precision maps offer centimeter-level accuracy and, compared to traditional electronic navigation maps, provide more detailed elements, richer attributes, higher dimensions, and faster update frequencies. High-precision map production often employs a centralized cartographic model. This model requires multiple people working simultaneously on multiple map sheets, which are then joined together.

[0003] Currently, high-precision map edge joining requires significant manual intervention. After manually selecting edge elements, they are joined at the designated locations based on their structure and attributes. Because high-precision maps are drawn in sheets and contain numerous elements and attributes, structural and attribute differences are unavoidable at edge joining locations across different sheets. Ensuring accuracy requires substantial time for verification and is prone to errors. Alternatively, some solutions automate edge joining by judging the attributes of edge data. However, these solutions rely on simplistic criteria and cannot fully guarantee the complete continuity and consistency of elements across different sheets. Furthermore, if edge joining fails, the cause cannot be quickly identified. Summary of the Invention

[0004] This application provides a map sheet joining method, apparatus, device, and storage medium. By performing multi-level judgment on the geometric information, attribute information, and road association information of the joining elements in the map sheet pair to be joined, the complete connection and consistency of cross-map sheet elements are ensured, thereby ensuring the joining accuracy of the map sheet pair.

[0005] In a first aspect, embodiments of this application disclose a method for joining map sheet edges, the method comprising:

[0006] Obtain the first and second map sheets to be joined;

[0007] Determine the first geometric information, first attribute information, and first road association information of the edge-connecting elements in the first map sheet; the first road association information is used to characterize the relationship between the edge-connecting elements in the first map sheet and the roads in the first map sheet;

[0008] Determine the second geometric information, second attribute information, and second road association information of the edge-connecting elements in the second map sheet; the second road association information is used to characterize the relationship between the edge-connecting elements in the second map sheet and the roads in the second map sheet;

[0009] If the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information, then the first map sheet and the second map sheet are joined together.

[0010] Furthermore, if it is determined that the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information, then the first map sheet and the second map sheet are joined together, including:

[0011] Determine the first matching result between the first geometric information and the second geometric information;

[0012] When the first matching result is used to indicate that the first geometric information matches the second geometric information, a second matching result of the first attribute information and the second attribute information is determined;

[0013] When the second matching result is used to indicate that the first attribute information matches the second attribute information, a third matching result is determined between the first road association information and the second road association information;

[0014] When the third matching result is used to indicate the matching of the first road association information and the second road association information, the first map sheet and the second map sheet are joined together.

[0015] Furthermore, the edge-joining elements in the first map sheet include the first map sheet frame and the first road reference line, and the junction of the first road reference line and the first map sheet frame is the first map frame point; the edge-joining elements in the second map sheet include the second map sheet frame and the second road reference line, and the junction of the second road reference line and the second map sheet frame is the second map frame point; the first geometric information includes the first position information of the first map sheet frame, the first coordinate information of the first map frame point, and the first heading angle of the first road reference line at the first map frame point; the second geometric information includes the second position information of the second map sheet frame, the second coordinate information of the second map frame point, and the second heading angle of the second road reference line at the second map frame point; determining the first matching result of the first geometric information and the second geometric information includes:

[0016] Based on the first location information and the second coordinate information, determine the first distance tolerance between the second map frame point and the first map frame;

[0017] Based on the second location information and the first coordinate information, determine the second distance tolerance between the first map frame point and the second map frame;

[0018] Based on the first coordinate information and the second coordinate information, determine the position tolerance of the first map frame point and the second map frame point;

[0019] Determine the tolerance between the heading angle at the first map frame point and the heading angle at the second map frame point based on the first heading angle and the second heading angle;

[0020] Based on the first distance tolerance, the second distance tolerance, the position tolerance, and the heading angle tolerance, the first matching result between the first geometric information and the second geometric information is determined.

[0021] Furthermore, the first attribute information consists of the first feature type and the first feature feature of the bordering features in the first map sheet; the second attribute information consists of the second feature type and the second feature feature of the bordering features in the second map sheet; determining the second matching result between the first attribute information and the second attribute information includes:

[0022] The element type matching result is determined based on the first element type and the second element type;

[0023] The feature matching result is determined based on the first feature and the second feature.

[0024] Based on the feature type matching results and feature feature matching results, determine the second matching result between the first attribute information and the second attribute information.

[0025] Furthermore, a third matching result is determined between the first road association information and the second road association information, including:

[0026] Determine the first element information associated with the first road reference line based on the first road association information;

[0027] Determine the second element information associated with the second road reference line based on the second road association information;

[0028] Based on the first element information and the second element information, a third matching result is determined between the first road association information and the second road association information.

[0029] Furthermore, the methods also include:

[0030] When the first matching result indicates a mismatch between the first geometric information and the second geometric information, a first edge-connection log is generated; the first edge-connection log records the matching process between the first geometric information and the second geometric information, as well as the first matching result; or,

[0031] When the second matching result indicates a mismatch between the first attribute information and the second attribute information, a second edge-connection log is generated; the second edge-connection log records the matching process between the first attribute information and the second attribute information, as well as the second matching result; or,

[0032] When the third matching result indicates that the first road association information does not match the second road association information, a third edge log is generated; the third edge log is used to record the matching process of the first road association information and the second road association information as well as the third matching result.

[0033] Furthermore, obtaining the first and second map sheets to be joined includes:

[0034] Obtain the set of edge maps to be joined;

[0035] Identify the reference map sheet and the map sheets that have a connection with the reference map sheet from the set of map sheets to be joined;

[0036] If the base map sheet and the adjacent map sheet have been historically joined, determine the first update time of the last update of the base map sheet and the second update time of the last update of the adjacent map sheet, as well as the latest joining time of the base map sheet and the adjacent map sheet.

[0037] If the first update time is later than the latest edge-joining time or the second update time is later than the latest edge-joining time, the base map sheet is determined as the first map sheet and the edge-joining map sheet is determined as the second map sheet.

[0038] Secondly, embodiments of this application disclose a map sheet edge-joining device, which includes:

[0039] The acquisition module is used to acquire the first and second map sheets to be joined.

[0040] The first information determination module is used to determine the first geometric information, first attribute information and first road association information of the edge-connecting elements in the first map sheet;

[0041] The second information determination module is used to determine the second geometric information, second attribute information, and second road association information of the edge-joining elements in the second map sheet;

[0042] The edge-joining module is used to join the first map sheet and the second map sheet when it is determined that the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information.

[0043] In some alternative implementations, the interface module includes:

[0044] The first matching result determination unit is used to determine the first matching result between the first geometric information and the second geometric information;

[0045] The second matching result determination unit is used to determine the second matching result of the first attribute information and the second attribute information when the first matching result is used to indicate that the first geometric information matches the second geometric information;

[0046] The third matching result determination unit is used to determine the third matching result of the first road association information and the second road association information when the second matching result is used to indicate that the first attribute information matches the second attribute information;

[0047] The edge-joining unit is used to join the first map sheet and the second map sheet when the third matching result indicates that the first road association information matches the second road association information.

[0048] In some optional embodiments, the edge-joining elements in the first map sheet include a first map sheet frame and a first road reference line, and the junction of the first road reference line and the first map sheet frame is a first map frame point; the edge-joining elements in the second map sheet include a second map sheet frame and a second road reference line, and the junction of the second road reference line and the second map sheet frame is a second map frame point; the first geometric information includes the first position information of the first map sheet frame, the first coordinate information of the first map frame point, and the first heading angle of the first road reference line at the first map frame point; the second geometric information includes the second position information of the second map sheet frame, the second coordinate information of the second map frame point, and the second heading angle of the second road reference line at the second map frame point; the first matching result determination unit includes:

[0049] The first distance tolerance determination subunit is used to determine the first distance tolerance between the second map frame point and the first map frame based on the first position information and the second coordinate information.

[0050] The second distance tolerance determination subunit is used to determine the second distance tolerance between the first map frame point and the second map frame based on the second position information and the first coordinate information.

[0051] The position tolerance determination subunit is used to determine the position tolerance of the first map frame point and the second map frame point based on the first coordinate information and the second coordinate information.

[0052] The heading angle tolerance determination subunit is used to determine the heading angle tolerance at the first map frame point and the heading angle tolerance at the second map frame point based on the first heading angle and the second heading angle.

[0053] The first matching result determination sub-unit is used to determine the first matching result between the first geometric information and the second geometric information based on the first distance tolerance, the second distance tolerance, the position tolerance, and the heading angle tolerance.

[0054] In some optional implementations, the first attribute information is the first feature type and first feature feature of the edge-connecting feature in the first map sheet; the second attribute information is the second feature type and second feature feature of the edge-connecting feature in the second map sheet; the second matching result determination unit includes:

[0055] The feature type matching result determination sub-unit is used to determine the feature type matching result based on the first feature type and the second feature type.

[0056] The feature matching result determination sub-unit is used to determine the feature matching result based on the first feature and the second feature.

[0057] The second matching result determination sub-unit is used to determine the second matching result between the first attribute information and the second attribute information based on the feature type matching result and the feature feature matching result.

[0058] In some optional implementations, the third matching result determination unit includes:

[0059] The first element information determination subunit is used to determine the first element information associated with the first road reference line based on the first road association information.

[0060] The second element information determination subunit is used to determine the second element information associated with the second road reference line based on the second road association information.

[0061] The third matching result determination subunit is used to determine the third matching result between the first road association information and the second road association information based on the first element information and the second element information.

[0062] In some alternative embodiments, the device further includes:

[0063] The first edge-connection log generation module is used to generate a first edge-connection log when the first matching result indicates a mismatch between the first geometric information and the second geometric information; the first edge-connection log is used to record the matching process between the first geometric information and the second geometric information, as well as the first matching result; or...

[0064] The second edge-connection log generation module is used to generate a second edge-connection log when the second matching result indicates that the first attribute information and the second attribute information do not match; the second edge-connection log is used to record the matching process of the first attribute information and the second attribute information, as well as the second matching result; or...

[0065] The third edge connection log generation module is used to generate a third edge connection log when the third matching result indicates that the first road association information and the second road association information do not match; the third edge connection log is used to record the matching process of the first road association information and the second road association information as well as the third matching result.

[0066] In some optional implementations, the acquisition module includes:

[0067] The unit for obtaining the set of map sheets to be joined is used to obtain the set of map sheets to be joined.

[0068] The map sheet determination unit is used to determine the reference map sheet and the map sheets that have a border relationship with the reference map sheet from the set of map sheets to be joined.

[0069] The time determination unit is used to determine the first update time of the last update of the reference map sheet and the second update time of the last update of the adjacent map sheet, as well as the latest connection time of the reference map sheet and the adjacent map sheet, when the reference map sheet and the adjacent map sheet have been historically connected.

[0070] The unit for determining the map sheet to be joined is used to determine the base map sheet as the first map sheet and the map sheet to be joined as the second map sheet when the first update time is later than the latest joining time or the second update time is later than the latest joining time.

[0071] Thirdly, embodiments of this application disclose an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded by the processor and executed as described above for the map sheet edge joining method.

[0072] Fourthly, embodiments of this application disclose a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the map sheet edge joining method as described above.

[0073] The technical solution provided in this application has the following technical effects:

[0074] This map sheet edge-joining method performs multi-level judgments on the geometric, attribute, and road association information of the edge-joining elements in the map sheet pairs to ensure the integrity and consistency of cross-map sheet elements and guarantee the accuracy of edge-joining pairs. Furthermore, by setting complete map sheet edge-joining condition rules and perfecting element topology and associations, edge-joining element matching can be automated, enabling batch automated edge-joining of multiple map sheets, reducing manual intervention, and improving edge-joining efficiency and accuracy. Attached Figure Description

[0075] To more clearly illustrate the technical solutions and advantages in the embodiments of this application 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This is a schematic diagram illustrating the application environment of a map sheet edge-joining method provided in an embodiment of this application;

[0077] Figure 2 This is a flowchart illustrating a method for joining map sheet edges according to an embodiment of this application;

[0078] Figure 3This is a schematic diagram of the distribution of edge pairs to be joined provided in an embodiment of this application;

[0079] Figure 4 This is a schematic flowchart illustrating a method for joining the first and second drawing sheets according to an embodiment of this application.

[0080] Figure 5 This is a schematic diagram of the structure of a map sheet joining device provided in an embodiment of this application;

[0081] Figure 6 This is a hardware structure block diagram of a computer terminal for a map sheet edge-joining method provided in an embodiment of this application. Detailed Implementation

[0082] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0083] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the embodiments of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0084] To make the objectives, technical solutions, and advantages disclosed in the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of this application and are not intended to limit the embodiments of this application.

[0085] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this embodiment, unless otherwise stated, "a plurality of" means two or more.

[0086] With the increasing maturity of autonomous driving technology, the industry's demand for large-scale production of high-precision maps is becoming increasingly urgent. Currently, high-precision map production mostly adopts a centralized cartographic production model. In centralized cartographic production, multiple people need to work simultaneously on multiple map sheets. Due to the large number of elements and attributes in high-precision maps, differences in geometry, attributes, and relationships are unavoidable at the junctions of different map sheets. To ensure the complete continuity and consistency of elements across map sheets, it is essential to perform edge joining. Currently, high-precision map edge joining requires significant manual intervention. Ensuring complete consistency in geometry, attributes, and relationships at the junctions requires a considerable amount of time for inspection and is prone to errors and omissions.

[0087] In view of this, the embodiments of this application provide a map sheet edge joining method, which screens edge elements based on multiple levels such as geometry, attributes and relationships, realizes automatic search of map sheet pairs, error screening, location and automatic edge joining of map sheet edge positions, reduces manual intervention and improves edge joining efficiency.

[0088] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the application environment of a map sheet edge-joining method provided in an embodiment of this application, such as... Figure 1 As shown, the application environment may include a map drawing device 101 and a map edge joining device 103.

[0089] In this embodiment, the map drawing device 101 is a device capable of drawing maps. The map joining device 103 is a device used for joining map edges. The map drawing device 101 and the map joining device 103 may be electronic devices including, but not limited to, smartphones, desktop computers, tablets, laptops, digital assistants, etc. They may also be software running on the aforementioned electronic devices, such as applications, mini-programs, etc. Optionally, the operating system running on the electronic device may include, but is not limited to, Android operating systems, iOS operating systems, Linux, Windows, Unix, etc.

[0090] In this embodiment, the number of map drawing devices 101 can be one or more, used to draw multiple different maps. The map joining device 103 acquires the maps drawn by the map drawing device 101 and then joins the edges of the maps. Optionally, the map joining device 103 can be connected to the map drawing device 101, such as through a wired or wireless link. In some embodiments, the map joining device 103 may not be connected to the map drawing device 101. In other embodiments, the map joining device 103 and the map drawing device 101 may be different software on the same device, or different functional modules within the same software.

[0091] The following describes a specific embodiment of a map sheet edge joining method according to this application. Figure 2 This is a flowchart illustrating a map sheet edge joining method provided in this application embodiment. This specification provides the method operation steps as shown in the embodiment or flowchart, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiment is merely one possible execution order among many, and does not represent the only execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiment or the accompanying drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). Furthermore, this map sheet edge joining method is applicable to the automatic edge joining of high-precision maps, as well as the automatic edge joining of ordinary map sheets. Specifically, as shown... Figure 2 As shown, this method is applied to a map sheet joining device, and the method may include:

[0092] S201: Obtain the first and second map sheets to be joined.

[0093] In this embodiment, the first map sheet and the second map sheet are two map sheets to be joined together. During map production, a sheet-by-sheet drawing method can be used to improve map drawing efficiency. After the sheet-by-sheet drawing is completed, the complete map is obtained by joining the edges of each sheet.

[0094] In this embodiment, the map sheet joining device can automatically perform map sheet joining. Optionally, after the completion of multiple map sheets drawn in a segmented manner, the map sheet joining state can be entered by triggering a map sheet joining operation. The map sheet joining state can be triggered actively by the map sheet joining device. For example, after the segmented map sheets are completed, the map sheet joining device actively acquires a preset number of completed map sheets from the map sheet drawing device, thereby entering the map sheet joining state. The map sheet joining state can also be triggered passively by the map sheet joining device. For example, after the segmented map sheets are completed, the map sheet drawing device sends a preset number of completed map sheets to the map sheet joining device, thereby entering the map sheet joining state. Alternatively, the user can operate the map sheet joining device to acquire the completed map sheets from the map sheet drawing device, thereby entering the map sheet joining state.

[0095] In this embodiment, after the map sheet joining device enters the map sheet joining state, it determines the map sheet frame position information of each acquired map sheet. Based on the map sheet frame position information, it determines the map sheet pairs that can be joined. The map sheet frame refers to the boundary line of the map sheet. The map sheet frame can be a real frame line set on the map sheet, or it can be a virtual frame line set on the edge of the map sheet. The map sheet frame is generated by calculating the map sheet range based on the point cloud data position information. Optionally, the map sheet frame can be set by the map sheet drawing device, or it can be set by the map sheet joining device during the joining process.

[0096] In this embodiment, the map sheet joining device acquires a set of map sheets to be joined, containing multiple map sheets. By determining the map sheet frame position information of each map sheet in the set, map sheets can be combined in pairs to form a pair of map sheets to be joined. Optionally, a reference map sheet is first determined in the set of map sheets to be joined, and then the joining map sheets that have a joining relationship with the reference map sheet are determined based on the position information of the map sheet frame in each map sheet. Specifically, Figure 3 This is a schematic diagram of the distribution of edge pairs to be joined provided in an embodiment of this application, such as... Figure 3 As shown, based on the position of the map frame generated in advance for each map sheet, the eight adjacent map sheets around each map sheet are obtained, and every two map sheets with adjacent edges are combined into an adjacent map sheet pair.

[0097] It should be understood that... Figure 3 The map shown is merely a schematic representation and does not represent the actual shape of the map. Furthermore, the number of map sheets that are adjacent to the reference map sheet is not limited to eight; it can be any number.

[0098] In this embodiment, for the identified map sheet pairs to be joined, both map sheets should be in an edit-locked state, meaning that they cannot be edited before the joining is completed. Furthermore, for any map sheet pair to be joined, the joining status between the two map sheets can be either unjoined or have an existing historical joining relationship. For map sheet pairs to be joined that have not been joined before, joining can be performed based on joining conditions. For map sheet pairs to be joined that have an existing historical joining relationship, it is necessary to determine whether to rejoin based on the update time and historical joining time of the two map sheets.

[0099] As an optional implementation, if the base map sheet and the adjacent map sheet have historically been joined, the first update time of the last update of the base map sheet and the second update time of the last update of the adjacent map sheet are determined, along with the latest joining time of both the base map sheet and the adjacent map sheet. If the first update time is later than the latest joining time, or the second update time is later than the latest joining time, the base map sheet is determined to be the first map sheet, and the adjacent map sheet is determined to be the second map sheet. In other words, for a pair of map sheets to be joined that have a historical joining relationship, the latest joining time of both map sheets needs to be obtained to determine whether the map sheets have been updated since the joining.

[0100] In some embodiments, for map sheets with historical border relationships to be joined, the border status of each bordering element in the two map sheets also needs to be determined during the current border joining process. For bordering elements that have already been joined, they can be skipped during the current border joining process, and border joining can be performed only on the bordering elements that have not yet been joined, thereby reducing the workload and improving the efficiency of border joining. Of course, bordering elements that have already been joined can also be re-joined, thereby ensuring the accuracy of border joining in the map sheets to be joined.

[0101] S203: Determine the first geometric information, first attribute information, and first road association information of the edge elements in the first map sheet.

[0102] In this embodiment of the application, the first map sheet is one of the map sheets in the pair of map sheets to be joined that can be joined, and it can be a reference map sheet.

[0103] S205: Determine the second geometric information, second attribute information, and second road association information of the edge-joining elements in the second map sheet.

[0104] In this embodiment, the second map sheet is the other map sheet in the pair of map sheets to be joined, which can be any map sheet surrounding the base map sheet. When performing the joining operation, the joining elements in the pair of map sheets to be joined must first be determined. Optionally, joining elements include, but are not limited to, map frame points, road reference lines, lane boundary lines, lane center lines, traffic lights, streetlights, curbs, guardrails, signs, walls, warning zones, traffic guidance zones, bicycle lanes within intersections, no-parking zones, and road boundary lines. Among the aforementioned joining elements, map frame points refer to the intersection of the road reference line and the map sheet frame. In practical applications, map frame points may not necessarily fall strictly on the map sheet frame; sometimes they may deviate from the map sheet frame by a certain distance. Therefore, map frame points can be points on the road reference line whose distance from the map sheet frame is no greater than a threshold. Road reference lines are used to reflect the road direction. When drawing map sheets, each road needs to have a road reference line defined. Road reference lines can be defined to the center of the road, or to the two sides of the road or other locations. The road reference line reflects the direction of the road on the horizontal projection plane.

[0105] In this embodiment, the consistency of border elements can be determined through three levels: geometry, attributes, and road association. Specifically, the consistency of border elements is determined by acquiring the geometric information, attribute information, and road association information of the border elements in the two map sheets to be bordered. The geometric information of the border elements refers to their position coordinates, direction, and deflection angle. The attribute information refers to the type and characteristics of the road elements. The road association information is used to characterize the relationship between the border elements in the map sheet to be bordered and the roads in that map sheet. That is, the first road association information is used to characterize the relationship between the border elements in the first map sheet and the roads in the first map sheet. The second road association information is used to characterize the relationship between the border elements in the second map sheet and the roads in the second map sheet.

[0106] S207: If it is determined that the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information, then the first map sheet and the second map sheet are joined together.

[0107] In this embodiment of the application, when the geometric information, attribute information and road association information of each pair of map sheets to be joined all meet the consistency judgment, the joining process is performed on the pair of map sheets to be joined. Figure 4 This is a flowchart illustrating a method for joining the first and second drawing sheets according to an embodiment of this application. Figure 4 As shown, when it is determined that the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information, the first map sheet and the second map sheet are joined together, including:

[0108] S401: Determine the first matching result between the first geometric information and the second geometric information.

[0109] In this embodiment, the geometric information of the two map sheets in the pair to be joined is first matched one by one to obtain a first matching result. Specifically, for a map frame point in one map sheet in the pair to be joined, if the distance between the map frame points in the two map sheets meets a preset map frame point distance tolerance, the difference in heading angle between the map frame points in the two map sheets meets the map frame point heading angle tolerance, and the distance from the map frame point to the map sheet frame meets the map frame point distance tolerance, then the geometric information of the joining elements in the two map sheets to be joined is considered to match, and the two map sheets to be joined meet the geometric conditions. The aforementioned distance from the map frame point to the map sheet frame refers to the distance from the map frame point in one map sheet to the map sheet frame in another map sheet being within the map frame point distance tolerance range.

[0110] As an optional implementation, the edge-joining elements in the first map sheet include a first map sheet frame and a first road reference line, with the junction of the first road reference line and the first map sheet frame being a first map frame point. The edge-joining elements in the second map sheet include a second map sheet frame and a second road reference line, with the junction of the second road reference line and the second map sheet frame being a second map frame point. The first geometric information includes the first position information of the first map sheet frame, the first coordinate information of the first map frame point, and the first heading angle of the first road reference line at the first map frame point. The second geometric information includes the second position information of the second map sheet frame, the second coordinate information of the second map frame point, and the second heading angle of the second road reference line at the second map frame point. Determining the first matching result between the first and second geometric information can be: determining a first distance tolerance between the second map frame point and the first map sheet frame based on the first position information and the second coordinate information; determining a second distance tolerance between the first map frame point and the second map sheet frame based on the second position information and the first coordinate information; and determining the position tolerance between the first map frame point and the second map frame point based on the first coordinate information and the second coordinate information. Based on the first heading angle and the second heading angle, determine the heading angle tolerance between the first map frame point and the second map frame point. Based on the first distance tolerance, the second distance tolerance, the position tolerance, and the heading angle tolerance, determine the first matching result between the first geometric information and the second geometric information.

[0111] In the above implementation, road reference lines are used to represent the direction of roads. Therefore, the consistency of road reference lines in two map sheets to be joined can be determined by judging whether the heading angles of the map frame points in the two sheets are consistent. Furthermore, map frame points represent the intersection points between road reference lines and map frame boundaries, and their coordinates can be directly read from the map sheet. For any map sheet in the pair of sheets to be joined, there may be multiple nodes on the road reference lines; however, only the intersection points of the road reference lines and map frame boundaries are map frame points, which participate in the joining process as an important joining element. Other nodes in the road reference lines may only represent the endpoints of roads and do not have the characteristic of crossing map sheets; therefore, they do not need to participate in the geometric judgment of joining elements. Since the map frame is merely an element set on the edge plane of the map sheet, while the map frame points are points on the road reference line, for high-precision maps, in some scenarios, such as overpasses, the map frame points will not be on the same plane as the map frame during drawing. The map frame points may not necessarily fall on the map frame in terms of height. Therefore, it is necessary to calculate the horizontal distance from the map frame point on one map sheet to the map frame of another map sheet to determine the consistency between the two map sheets. Furthermore, two map frame points whose horizontal distance meets the tolerance may have a large difference in elevation, so the relative distance between the two map frame points must also be calculated to determine whether the map frame points in the two map sheets to be joined are consistent. Generally, when drawing map sheets in sections, the edges of two map sheets that can be joined may exactly touch, or have only a small overlap. If two map sheets can be joined, the coordinates of the map frame points in the two map sheets should exactly coincide, or have a very small distance between them, which cannot exceed the map frame point distance tolerance. Therefore, the distance between the map frame points in two map sheets to be joined can be used as a preliminary geometric judgment condition to preliminarily determine whether the two map sheets to be joined can be joined, and the position of the joined elements after merging when the joining is performed.

[0112] In the above implementation, if the heading angles of the map frame points in the two map sheets to be joined are the same, or the difference between the two heading angles is not greater than the heading angle tolerance of the map frame point, and the distance from the map frame point to the frame of the other map sheet is less than or equal to the distance tolerance of the map frame point to the frame, and the distance between the two corresponding map frame points is less than or equal to the distance tolerance of the map frame point, then the geometric information of the two map sheets to be joined matches and meets the consistency requirements. If any inconsistency exists during the above matching process, the joining of the two map sheets is stopped, and the error and its cause are output in the log for modification reference and location.

[0113] S403: When the first matching result is used to indicate that the first geometric information matches the second geometric information, determine the second matching result of the first attribute information and the second attribute information.

[0114] In this embodiment of the application, a first edge-joining log is generated when the first matching result indicates a mismatch between the first geometric information and the second geometric information. The first edge-joining log records the matching process between the first and second geometric information, as well as the first matching result. By viewing the edge-joining log, mismatched edge-joining elements in two maps to be joined can be quickly located, and then the relevant edge-joining elements can be modified to meet the edge-joining conditions, thereby improving edge-joining efficiency.

[0115] In this embodiment of the application, if the geometric information in the two maps to be joined matches, then it is further determined whether the attribute information of the joining elements in the two maps to be joined matches.

[0116] As an optional implementation, the first attribute information consists of the first element type and the first element feature of the bordering element in the first map sheet. The second attribute information consists of the second element type and the second element feature of the bordering element in the second map sheet. Determining the second matching result between the first and second attribute information can be: determining the element type matching result based on the first and second element types; determining the element feature matching result based on the first and second element features; and determining the second matching result between the first and second attribute information based on the element type matching result and the element feature matching result. Specifically, the attribute information can include the type and features of the bordering element. When determining whether the attributes of a lane line in one map sheet match those of a lane line in another map sheet, it is necessary to determine whether the types and features of the corresponding bordering elements in the two map sheets to be bordered are consistent. As an example, taking a lane line as the bordering element, for the corresponding road elements in the two map sheets to be bordered, it is necessary to determine whether the types of the two road elements are both road centerlines, and whether the road line colors are consistent (e.g., both are yellow), whether the line types are consistent (e.g., both are solid lines), and whether the road line thicknesses are consistent, etc.

[0117] In this embodiment, the attribute information of the joining elements in the two map sheets to be joined is judged, and the matching result is output. If any inconsistency exists during the matching process, the joining of the two map sheets is stopped, and the error and reason are output in the log for modification reference and location.

[0118] S405: When the second matching result is used to indicate that the first attribute information matches the second attribute information, a third matching result is determined between the first road association information and the second road association information.

[0119] In this embodiment of the application, a second edge-joining log is generated when the second matching result indicates a mismatch between the first attribute information and the second attribute information. The second edge-joining log records the matching process between the first attribute information and the second attribute information, as well as the second matching result. By viewing the edge-joining log, mismatched edge-joining elements in two map sheets to be joined can be quickly located, and then the relevant edge-joining elements can be modified to meet the edge-joining conditions, thereby improving edge-joining efficiency.

[0120] In this embodiment of the application, if the attribute information in the two map sheets to be joined matches, it is further determined whether the road association relationship of the joining elements in the two map sheets to be joined matches.

[0121] As an optional implementation, determining the third matching result between the first road association information and the second road association information may include: determining first element information associated with the first road reference line based on the first road association information; determining second element information associated with the second road reference line based on the second road association information; and determining the third matching result between the first road association information and the second road association information based on the first element information and the second element information. Specifically, generally, a road may have many associated objects, such as traffic lights, streetlights, curbs, guardrails, and signs. If an object associated with a road appears in one map sheet, and the same or matching object associated with a road also appears in another map sheet, it indicates that the association relationship between the two map sheets is consistent. As an example, for one map sheet in a pair of map sheets to be joined, there is a road in that map sheet, and there is a traffic light on that road. If the same traffic light also exists on the matching road in another map sheet, it indicates that the road association information in the two map sheets matches.

[0122] It should be noted that for a pair of adjacent map sheets, it is not always possible to draw the same object in both sheets. Therefore, during the map sheet drawing process, multiple relationships between objects and roads can be established. Alternatively, for objects that are close to the edge of the map sheet, an extension drawing method can be used to draw the same object in both sheets.

[0123] S407: When the third matching result is used to indicate that the first road association information matches the second road association information, the first map sheet and the second map sheet are joined together.

[0124] In this embodiment, a third edge-joining log is generated when the third matching result indicates a mismatch between the first road association information and the second road association information. The third edge-joining log records the matching process between the first and second road association information, as well as the third matching result. By viewing the edge-joining log, mismatched edge-joining elements in the two map sheets to be joined can be quickly located, and then the relevant edge-joining elements can be modified to meet the edge-joining conditions, thus improving edge-joining efficiency.

[0125] In this embodiment of the application, if the geometric information, attribute information, and road reference information of the connecting elements in the pair of map sheets to be joined all meet the matching requirements, it can be determined that the two map sheets have met the joining conditions. Then, according to the matching relationship of the connecting elements in the above judgment process, they can be paired and merged one by one to complete the joining of the two map sheets.

[0126] The map sheet edge-matching method described in this application, based on the construction of road associations and road-object associations and custom tolerance settings, proposes an automatic edge-matching element matching method that can cover both road and object elements, achieving fast and accurate matching and condition judgment of edge elements. Furthermore, based on edge-matching condition rules, a batch automated map sheet edge-matching log management method is proposed, cyclically locating map sheet pairs requiring edge-matching condition modifications and edge-matching positions, improving edge-matching modification efficiency. This method, based on the constraints of map sheet edge-matching condition rules and the completeness of element topology and associations, employs an automated edge-matching element matching method and an automated map sheet edge-matching log information cyclic location mechanism to achieve batch automated edge-matching of multiple map sheets, reducing manual intervention and improving edge-matching efficiency and accuracy.

[0127] This application also provides a map sheet joining device. Figure 5 This is a schematic diagram of the structure of a map sheet joining device provided in an embodiment of this application, as shown below. Figure 5 As shown, the device includes:

[0128] The acquisition module 501 is used to acquire the first and second map sheets to be joined.

[0129] The first information determination module 503 is used to determine the first geometric information, first attribute information and first road association information of the edge-connecting elements in the first map sheet;

[0130] The second information determination module 505 is used to determine the second geometric information, second attribute information and second road association information of the edge-joining elements in the second map sheet;

[0131] The edge-joining module 507 is used to join the first map sheet and the second map sheet when it is determined that the first geometric information matches the second geometric information, the first attribute information matches the second attribute information, and the first road association information matches the second road association information.

[0132] In some alternative implementations, the interface module includes:

[0133] The first matching result determination unit is used to determine the first matching result between the first geometric information and the second geometric information;

[0134] The second matching result determination unit is used to determine the second matching result of the first attribute information and the second attribute information when the first matching result is used to indicate that the first geometric information matches the second geometric information;

[0135] The third matching result determination unit is used to determine the third matching result of the first road association information and the second road association information when the second matching result is used to indicate that the first attribute information matches the second attribute information;

[0136] The edge-joining unit is used to join the first map sheet and the second map sheet when the third matching result indicates that the first road association information matches the second road association information.

[0137] In some optional embodiments, the edge-joining elements in the first map sheet include a first map sheet frame and a first road reference line, and the junction of the first road reference line and the first map sheet frame is a first map frame point. The edge-joining elements in the second map sheet include a second map sheet frame and a second road reference line, and the junction of the second road reference line and the second map sheet frame is a second map frame point. The first geometric information includes the first position information of the first map sheet frame, the first coordinate information of the first map frame point, and the first heading angle of the first road reference line at the first map frame point. The second geometric information includes the second position information of the second map sheet frame, the second coordinate information of the second map frame point, and the second heading angle of the second road reference line at the second map frame point. The first matching result determination unit includes:

[0138] The first distance tolerance determination subunit is used to determine the first distance tolerance between the second map frame point and the first map frame based on the first position information and the second coordinate information.

[0139] The second distance tolerance determination subunit is used to determine the second distance tolerance between the first map frame point and the second map frame based on the second position information and the first coordinate information.

[0140] The position tolerance determination subunit is used to determine the position tolerance of the first map frame point and the second map frame point based on the first coordinate information and the second coordinate information.

[0141] The heading angle tolerance determination subunit is used to determine the heading angle tolerance at the first map frame point and the heading angle tolerance at the second map frame point based on the first heading angle and the second heading angle.

[0142] The first matching result determination sub-unit is used to determine the first matching result between the first geometric information and the second geometric information based on the first distance tolerance, the second distance tolerance, the position tolerance, and the heading angle tolerance.

[0143] In some optional implementations, the first attribute information is the first feature type and first feature feature of the bordering features in the first map sheet. The second attribute information is the second feature type and second feature feature of the bordering features in the second map sheet. The second matching result determination unit includes:

[0144] The feature type matching result determination sub-unit is used to determine the feature type matching result based on the first feature type and the second feature type.

[0145] The feature matching result determination sub-unit is used to determine the feature matching result based on the first feature and the second feature.

[0146] The second matching result determination sub-unit is used to determine the second matching result between the first attribute information and the second attribute information based on the feature type matching result and the feature feature matching result.

[0147] In some optional implementations, the third matching result determination unit includes:

[0148] The first element information determination subunit is used to determine the first element information associated with the first road reference line based on the first road association information.

[0149] The second element information determination subunit is used to determine the second element information associated with the second road reference line based on the second road association information.

[0150] The third matching result determination subunit is used to determine the third matching result between the first road association information and the second road association information based on the first element information and the second element information.

[0151] In some alternative embodiments, the device further includes:

[0152] The first edge-connection log generation module is used to generate a first edge-connection log when the first matching result indicates a mismatch between the first geometric information and the second geometric information. The first edge-connection log records the matching process between the first and second geometric information, as well as the first matching result; or,

[0153] The second edge-connection log generation module is used to generate a second edge-connection log when the second matching result indicates that the first attribute information and the second attribute information do not match. The second edge-connection log records the matching process between the first attribute information and the second attribute information, as well as the second matching result; or,

[0154] The third edge connection log generation module is used to generate a third edge connection log when the third matching result indicates that the first road association information and the second road association information do not match. The third edge connection log is used to record the matching process of the first road association information and the second road association information, as well as the third matching result.

[0155] In some optional implementations, the acquisition module includes:

[0156] The unit for obtaining the set of map sheets to be joined is used to obtain the set of map sheets to be joined.

[0157] The map sheet determination unit is used to determine the reference map sheet and the map sheets that have a border relationship with the reference map sheet from the set of map sheets to be joined.

[0158] The time determination unit is used to determine the first update time of the last update of the reference map sheet and the second update time of the last update of the adjacent map sheet, as well as the latest connection time of the reference map sheet and the adjacent map sheet, when the reference map sheet and the adjacent map sheet have been historically connected.

[0159] The unit for determining the map sheet to be joined is used to determine the base map sheet as the first map sheet and the map sheet to be joined as the second map sheet when the first update time is later than the latest joining time or the second update time is later than the latest joining time.

[0160] The map sheet joining device and map sheet joining method embodiments described in this application are based on the same application concept. For specific implementation details of the map sheet joining device, please refer to all the above-described implementation methods of the map sheet joining method.

[0161] This application also provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The processor loads and executes the map sheet edge joining method described above.

[0162] The map sheet edge-joining method provided in this application can be executed on a mobile terminal, computer terminal, server, or similar computing device. Taking it running on a server as an example, Figure 6 This is a hardware structure block diagram of a computer terminal for a map sheet edge-joining method provided in an embodiment of this application. For example... Figure 6As shown, the computer terminal 600 can vary considerably depending on its configuration or performance. It may include one or more Central Processing Units (CPUs) 610 (CPUs 610 may include, but are not limited to, microprocessors (MCUs) or field-programmable gate arrays (FPGAs), etc.), a memory 630 for storing data, and one or more storage media 620 (e.g., one or more mass storage devices) for storing application programs 623 or data 622. The memory 630 and storage media 620 may be temporary or persistent storage. The program stored in the storage media 620 may include one or more modules, each module including a series of instruction operations on a server. Furthermore, the CPU 610 may be configured to communicate with the storage media 620 and execute the series of instruction operations stored in the storage media 620 on the computer terminal 600. The computer terminal 600 may also include one or more power supplies 660, one or more wired or wireless network interfaces 650, one or more input / output interfaces 640, and / or one or more operating systems 621, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0163] The input / output interface 640 can be used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 600. In one example, the input / output interface 640 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the input / output interface 640 may be a radio frequency (RF) module for wireless communication with the Internet.

[0164] Those skilled in the art will understand that Figure 6 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, the computer terminal 600 may also include... Figure 6 The more or fewer components shown, or having the same Figure 6 The different configurations shown.

[0165] This application also provides a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the map sheet edge joining method as described above.

[0166] In this embodiment, the computer storage medium can be located in at least one of multiple network servers in a computer network. Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM).

[0167] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0168] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0169] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0170] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of map sheet bordering, characterized in that, The method includes: Obtain the first and second map sheets to be joined; The first geometric information, first attribute information, and first road association information of the edge-connecting elements in the first map sheet are determined. The first road association information is used to characterize the relationship between the edge-connecting elements in the first map sheet and the roads in the first map sheet. The edge-connecting elements in the first map sheet include a first map sheet frame and a first road reference line, and the connection point between the first road reference line and the first map sheet frame is a first map frame point. The first geometric information includes the first position information of the first map sheet frame, the first coordinate information of the first map frame point, and the first heading angle of the first road reference line at the first map frame point. The second geometric information, second attribute information, and second road association information of the edge-connecting elements in the second map sheet are determined. The second road association information is used to characterize the relationship between the edge-connecting elements in the second map sheet and the roads in the second map sheet. The edge-connecting elements in the second map sheet include the second map sheet frame and the second road reference line, and the connection point between the second road reference line and the second map sheet frame is the second map frame point. The second geometric information includes the second position information of the second map sheet frame, the second coordinate information of the second map frame point, and the second heading angle of the second road reference line at the second map frame point. Based on the first location information and the second coordinate information, a first distance tolerance between the second map frame point and the first map frame is determined; based on the second location information and the first coordinate information, a second distance tolerance between the first map frame point and the second map frame is determined; based on the first coordinate information and the second coordinate information, a position tolerance between the first map frame point and the second map frame point is determined; based on the first heading angle and the second heading angle, a heading angle tolerance between the first map frame point and the second map frame point is determined; based on the first distance tolerance, the second distance tolerance, the position tolerance, and the heading angle tolerance, a first matching result between the first geometric information and the second geometric information is determined; when the first matching result indicates that the first geometric information matches the second geometric information, a second matching result between the first attribute information and the second attribute information is determined; when the second matching result indicates that the first attribute information matches the second attribute information, a third matching result between the first road association information and the second road association information is determined; when the third matching result indicates that the first road association information matches the second road association information, the first map frame and the second map frame are joined together.

2. The method of claim 1, wherein, The first attribute information is the first feature type and first feature feature of the edge-connecting feature in the first map sheet; the second attribute information is the second feature type and second feature feature of the edge-connecting feature in the second map sheet; determining the second matching result between the first attribute information and the second attribute information includes: Based on the first element type and the second element type, determine the element type matching result; Based on the first feature and the second feature, determine the feature matching result; Based on the feature type matching result and the feature feature matching result, the second matching result between the first attribute information and the second attribute information is determined.

3. The method according to claim 1, characterized in that, The determination of the third matching result between the first road association information and the second road association information includes: Determine the first element information associated with the first road reference line based on the first road association information; Determine the second element information associated with the second road reference line based on the second road association information; Based on the first element information and the second element information, the third matching result of the first road association information and the second road association information is determined.

4. The method according to claim 1, characterized in that, The method further includes: When the first matching result indicates a mismatch between the first geometric information and the second geometric information, a first edge-connection log is generated; the first edge-connection log records the matching process between the first geometric information and the second geometric information, as well as the first matching result; or... When the second matching result indicates that the first attribute information and the second attribute information do not match, a second edge-connection log is generated; the second edge-connection log is used to record the matching process between the first attribute information and the second attribute information, as well as the second matching result; or, When the third matching result indicates that the first road association information and the second road association information do not match, a third edge connection log is generated; the third edge connection log is used to record the matching process of the first road association information and the second road association information and the third matching result.

5. The method according to claim 1, characterized in that, The process of obtaining the first and second map sheets to be joined includes: Obtain the set of edge maps to be joined; Determine the reference map sheet and the map sheets that have a connection relationship with the reference map sheet from the set of map sheets to be joined; If the reference map sheet and the adjacent map sheet have historically been joined, determine the first update time of the last update of the reference map sheet and the second update time of the last update of the adjacent map sheet, as well as the latest joining time of the reference map sheet and the adjacent map sheet; If the first update time is later than the latest edge-connecting time or the second update time is later than the latest edge-connecting time, the reference map sheet is determined to be the first map sheet and the edge-connecting map sheet is determined to be the second map sheet.

6. A map sheet joining device, characterized in that, The device includes: The acquisition module is used to acquire the first and second map sheets to be joined. The first information determination module is used to determine the first geometric information, first attribute information and first road association information of the edge-connecting elements in the first map sheet; The second information determination module is used to determine the second geometric information, second attribute information, and second road association information of the edge-joining elements in the second map sheet; The edge-connecting module includes a first matching result determination unit, a second matching result determination unit, a third matching result determination unit, and an edge-connecting unit; The first matching result determination unit includes: The first distance tolerance determination subunit is used to determine the first distance tolerance between the second map frame point and the first map frame based on the first position information and the second coordinate information. The second distance tolerance determination subunit is used to determine the second distance tolerance between the first map frame point and the second map frame based on the second position information and the first coordinate information. The position tolerance determination subunit is used to determine the position tolerance of the first map frame point and the second map frame point based on the first coordinate information and the second coordinate information. The heading angle tolerance determination subunit is used to determine the heading angle tolerance at the first map frame point and the heading angle tolerance at the second map frame point based on the first heading angle and the second heading angle. The first matching result determination sub-unit is used to determine the first matching result between the first geometric information and the second geometric information based on the first distance tolerance, the second distance tolerance, the position tolerance, and the heading angle tolerance. The second matching result determination unit is used to determine a second matching result of the first attribute information and the second attribute information when the first matching result is used to indicate that the first geometric information matches the second geometric information; The third matching result determination unit is used to determine the third matching result between the first road association information and the second road association information when the second matching result indicates that the first attribute information matches the second attribute information; The edge-joining unit is used to join the first map sheet and the second map sheet when the third matching result indicates that the first road association information matches the second road association information.

7. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the map sheet edge joining method as described in any one of claims 1-5.

Images