Road network processing method, road calculation method, navigation method, device, equipment and system

Abstract

The application discloses a road network processing method, a road searching method, a navigation method, a device, equipment and a system. The road network processing method can include: cutting a target road network to form a plurality of road network units; determining an entering and exiting combination of a road network unit based on all links connected to the road network unit, and calculating an optimal path of all entering and exiting combinations of the road network unit to form road searching data. The optimal path in the application can be used as pre-processed intermediate data and stored on a server in advance, and directly called when searching for a road, so that the calculation is convenient and fast, and the user waiting time is greatly reduced when the navigation application is used, and the user experience is further improved. Further, the road network is segmented, and the optimal path of the entering and exiting road network unit is directly used when the route is explored, so that the calculation speed is accelerated by dozens of times or even hundreds of times.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geographic information, and in particular relates to a road network processing method, a route calculation method, a navigation method, a device, an apparatus and a system. BACKGROUND

[0002] A national road network is composed of tens of millions of links. When performing route calculation, simply using Dijkstra and A* algorithms to calculate routes has very low performance, which results in that a user needs to wait for several seconds or even tens of seconds to see the calculated route result when using a route planning function of a vehicle-mounted navigation device.

[0003] In the prior art, the performance of route calculation is improved by filtering low-grade roads (for example, township roads, county roads and the like). However, this often results in problems of poor quality of medium-distance and long-distance routes (for example, a route is too long), which is also unacceptable to users.

[0004] Therefore, how to greatly improve the performance of route calculation (that is, fast calculation and high quality) while ensuring the quality of route calculation is an important issue for the route planning function. SUMMARY

[0005] In view of the above problems, the present application is proposed to provide a road network processing method, a route calculation method, a navigation method, a device, an apparatus and a system which overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present application provides a road network processing method, which can include:

[0007] cutting a target road network to form a plurality of road network units;

[0008] determining entry-exit combinations for entering and exiting the road network units based on all links connected to the road network units, and calculating optimal paths of all entry-exit combinations for entering and exiting the road network units to form route calculation data.

[0009] Optionally, the method can further include determining all links connected to a road network block; wherein the road network block includes a plurality of road network units.

[0010] determining entry-exit combinations for entering and exiting the road network block based on all links connected to the road network block, and calculating optimal paths of all entry-exit combinations for entering and exiting the road network block to form route calculation data.

[0011] Optionally, the cutting of the target road network to form a plurality of road network units can include:

[0012] setting an upper limit value of the number of nodes included in the cut road network units.

[0013] determining the number of nodes contained in the first exploration range and the second exploration range based on the upper limit value of the number of nodes respectively; wherein the first exploration range is smaller than the second exploration range, and the number of nodes contained in the second exploration range does not exceed the upper limit value of the number of nodes;

[0014] exploring from an arbitrarily selected first node as a starting point to the second exploration range to obtain an initial road network unit;

[0015] selecting a second node outside the first exploration range of the first node, and exploring from the second node as a starting point until all nodes in the target road network are divided into a plurality of initial road network units;

[0016] merging a plurality of the initial road network units so that nodes contained in adjacent initial road network units are divided into one adjacent initial road network unit to obtain a plurality of road network units after cutting the target road network.

[0017] Optionally, the merging a plurality of the initial road network units to obtain a plurality of road network units after cutting the target road network can include:

[0018] determining the number of boundary links reduced after merging all adjacent initial road network units;

[0019] sorting the number of boundary links reduced, and determining the priority of merging adjacent initial road network units according to the sorting size of the number;

[0020] merging the initial road network units based on the priority of merging adjacent initial road network units and the number of nodes of the road network unit after merging adjacent initial road network units to obtain a plurality of road network units after cutting the target road network.

[0021] Optionally, the method can further include:

[0022] obtaining traffic information of the link in the corresponding time zone in the road network;

[0023] judging whether the optimal path is allowed to pass in the corresponding time zone based on the traffic information to filter the optimal path.

[0024] In a second aspect, an algorithm calculation method is provided, which can include:

[0025] judging whether the node corresponding to the origin and / or destination and the exploration node included in the algorithm calculation data generated by the target road network are located in the same road network unit in the algorithm calculation data;

[0026] If yes, exploration is performed between links in the road network unit to generate a first routing result;

[0027] If the exploration node and the node corresponding to the departure and / or destination are not located in the same road network unit, but are located in the road network block in which the road network unit is located, exploration is performed between links between road network units included in the road network block to generate a second routing result;

[0028] A planned path is generated based on the first routing result and / or the second routing result;

[0029] The routing data is generated according to the road network processing method of the first aspect.

[0030] Optionally, the method can further include:

[0031] If the exploration node and the node corresponding to the departure and / or destination are not located in the same road network block, exploration is performed between links between the road network blocks to generate a third routing result;

[0032] A planned path is generated based on the first routing result, the second routing result, and / or the third routing result.

[0033] In a third aspect, an embodiment of the present application provides a navigation method, which can include:

[0034] Receiving a navigation request;

[0035] Generating a navigation route corresponding to the navigation request based on a planned path;

[0036] The planned path is generated based on the routing method of the second aspect.

[0037] In a fourth aspect, an embodiment of the present application provides a road network processing device, which can include:

[0038] A cutting module configured to cut a target road network to form a plurality of road network units;

[0039] A computing module configured to determine, based on all links connected to the road network unit, an entry-exit combination for entering and exiting the road network unit, and to calculate an optimal path for all entry-exit combinations for entering and exiting the road network unit to form routing data.

[0040] In a fifth aspect, an embodiment of the present application provides a routing device, which can include:

[0041] a judging module, configured to judge whether the node corresponding to the starting point and / or the destination and an exploration node included in the algorithm route data generated by the target road network are located in a same road network unit in the algorithm route data;

[0042] an exploration module, configured to perform exploration between links in the road network unit if the judging module judges that the exploration node and the destination node are located in the same road network unit, and perform exploration between links in road network units included in a road network block in which the road network unit is located if the judging module judges that the exploration node and the destination node are not located in the same road network unit but are located in the road network block;

[0043] a planned path generation module, configured to generate a first algorithm route result and / or a second algorithm route result according to the exploration result, and generate a planned path based on the first algorithm route result and / or the second algorithm route result;

[0044] The algorithm route data is generated according to the road network processing method in the first aspect.

[0045] In a sixth aspect, an embodiment of the present application provides a navigation device, which can include:

[0046] a receiving module, configured to receive a navigation request;

[0047] a navigation route generation module, configured to generate a navigation route corresponding to the navigation request based on the planned path;

[0048] The planned path is generated based on the algorithm route method in the second aspect.

[0049] In a seventh aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the road network processing method in the first aspect, or implement the algorithm route method in the second aspect, or implement the navigation method in the third aspect.

[0050] In an eighth aspect, an embodiment of the present application provides a computer device, which can include a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the road network processing method in the first aspect, or implement the algorithm route method in the second aspect, or implement the navigation method in the third aspect.

[0051] In a ninth aspect, an embodiment of the present application provides a navigation system, which can include a terminal and a server.

[0052] The terminal is configured to send a navigation request and receive a navigation route pushed by the server.

[0053] The server comprises the navigation device of the sixth aspect, and is configured to receive the navigation request and generate a navigation route corresponding to the navigation request based on a planned path.

[0054] The planned path is generated based on the path calculation method of the second aspect, and the planned path comprises the first path calculation result and / or the second path calculation result.

[0055] The above technical solution provided by the embodiments of the present application has at least the following beneficial effects:

[0056] The embodiments of the present application provide a road network processing method, a path calculation method, a navigation method, a device, equipment and a system, and the road network processing method can comprise: cutting a target road network to form a plurality of road network units; determining an entry-exit combination of entering and exiting a road network unit based on all links connected to the road network unit, and calculating an optimal path of all entry-exit combinations of entering and exiting the road network unit to form path calculation data. The optimal path in the present application can be used as pre-processed intermediate data and is pre-stored on a server, so that the optimal path can be directly called when path calculation is performed, the calculation is convenient and fast, the waiting time of a user can be greatly reduced when navigation is applied, and the user experience is further improved. Further, the road network is segmented, the optimal path of entering and exiting the road network unit is directly used when route exploration is performed, and the calculation speed is accelerated by several tens of times or even several hundreds of times.

[0057] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structure particularly pointed out in the written description and the accompanying drawings.

[0058] The technical solutions of the present application will be further described in detail below with the help of the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0059] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation to the present application. In the drawings:

[0060] Figure 1 A flowchart of the road network processing method provided in the first embodiment of the present application is shown in the figure;

[0061] Figure 2 An example of the target road network provided in the first embodiment of the present application is shown in the figure;

[0062] Figure 3 An example of the target road network after cutting in the first embodiment of the present application is shown in the figure; Figure 2

[0063] Figure 4 ​An example of the road network unit optimal path algorithm provided in Embodiment One of the present application;

[0064] Figure 5 An example of the cut road network unit and road network block provided in Embodiment One of the present application;

[0065] Figure 6 A specific flowchart of the road network cutting provided in Embodiment One of the present application;

[0066] Figure 7 An example of the first exploration range and the second exploration range provided in Embodiment One of the present application;

[0067] Figure 8 A schematic diagram of the target road network cutting intersection provided in Embodiment One of the present application;

[0068] Figure 9 An example of the cut road network unit provided in Embodiment One of the present application; Figure 8 A schematic diagram of the cut initial road network unit;

[0069] Figure 10 A schematic diagram of the cut road network unit provided in Embodiment One of the present application;

[0070] Figure 11 A structural schematic diagram of the road network processing device provided in Embodiment One of the present application;

[0071] Figure 12 A flowchart of the path calculation method provided in Embodiment Two of the present application;

[0072] Figure 13 A schematic diagram of the path calculation process provided in Embodiment Two of the present application;

[0073] Figure 14 A structural schematic diagram of the path calculation device provided in Embodiment Two of the present application;

[0074] Figure 15 A flowchart of the navigation method provided in Embodiment Three of the present application;

[0075] Figure 16 A structural schematic diagram of the navigation device provided in Embodiment Three of the present application;

[0076] Figure 17 A structural schematic diagram of the navigation system provided in Embodiment Three of the present application. DETAILED DESCRIPTION

[0077] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0078] Embodiment one

[0079] In the embodiment one of the present disclosure, a road network processing method is provided, which processes road network data for later application in route calculation, navigation, etc. Referring to FIG. 1, the method can include the following steps: Figure 1

[0080] Step S11, cutting the target road network to form several road network units.

[0081] In the embodiment of the present disclosure, the road network, the target road network, etc. are composed of several links, and the link is a section of road in the road network. The node at both ends of the link or the node connecting the links is the intersection in the road network. There are a large number of links and nodes in the road network. Referring to FIG. 2, an example of a road network is shown. When the route calculation is based on the entire target road network, the route calculation performance is very low. This step is to cut the target road network, and the ultimate goal is to form several small road network units, each of which contains a limited number of links and nodes. In this way, the route calculation efficiency will be significantly improved based on the road network unit. Referring to FIG. 3, an example of cutting the target road network is shown. Figure 2 Figure 3 Figure 3 As shown in FIG. 3, several road network units formed after cutting the target road network are shown, in which the area enclosed by the dashed line is a road network unit, and the solid line part is the link between adjacent road network units. It should be noted that adjacent road network units do not belong to the same road network block. This will be described in detail below, and the embodiment of the present disclosure will not be described here.

[0082] Step S12, based on all links connected to the road network unit, determining the entry-exit combination of the entry-exit road network unit, and calculating the optimal path of all entry-exit combinations of the entry-exit road network unit to form route calculation data.

[0083] ​​​The optimal path described in this embodiment of the invention is matched with a travel cost value; different travel cost values ​​correspond to different optimal paths. In specific implementations, the optimal path can be the shortest distance path, the shortest travel time path, the highway avoidance path, the highway preferred path, the toll avoidance path, etc. Specifically, the Top N different travel cost values ​​and their corresponding optimal paths can be calculated. Since this application can be applied to real-time routing and real-time navigation, the top-ranked optimal paths can be calculated. This allows for the rapid acquisition of the corresponding optimal path when switching between different travel cost values, making the routing process accurate and efficient.

[0084] It should be noted that when performing route calculation or navigation, the route calculation data formed by the optimal paths of all the entry and exit combinations of the above-mentioned road network unit can be directly used. However, for nodes inside the road network unit, it is still necessary to explore between links within the road network unit. This embodiment of the invention will not be elaborated here.

[0085] In a specific example, refer to Figure 4 As shown, the optimal path calculation is illustrated using a specific road network unit as an example. The optimal path between boundary link_1 and boundary link_3 is link_2; the optimal paths between boundary link_1 and boundary link_7 are link_12, link_11, link_10, link_9, and link_8; and the optimal paths between boundary link_3 and boundary link_7 are link_4, link_5, and link_6. In this embodiment of the invention, the optimal path algorithm can employ common algorithms such as Dijkstra's and Bellmanford's algorithms. Entering and exiting a road network unit requires generating multiple optimal paths based on different path calculation conditions, such as the shortest distance path, the path avoiding high-speed traffic, the shortest time path, etc.

[0086] The optimal path described in this embodiment of the invention can be stored on a server as pre-processed intermediate data. During route calculation, it can be directly retrieved from the server for convenient and rapid computation. In navigation applications, this significantly reduces user waiting time and further enhances the user experience. Furthermore, by segmenting the road network, the optimal path entering and exiting the road network unit can be directly used during route exploration, ultimately achieving a computational speedup of tens or even hundreds of times.

[0087] In an optional embodiment, refer to Figure 1 As shown, the method may further include:

[0088] Step S13: Determine all links connected to the road network block; wherein, the road network block includes several road network units.

[0089] Reference Figure 5As shown, the target road network includes several road network blocks, and each road network block contains several road network units. Among them, Figure 5 The areas enclosed by medium-thick lines are road network blocks, and the areas divided by thin lines are road network units. Each road network block also has links that connect to the road network block, similar to those in a road network unit.

[0090] Step S14: Based on all links connected to the road network block, determine the entry and exit combinations for entering and exiting the road network block, and calculate the optimal path for all entry and exit combinations for entering and exiting the road network block to form route calculation data.

[0091] This step determines the entry / exit combinations for entering and exiting the road network block based on all links connected to the road network block, and then calculates the optimal path for all entry / exit combinations entering and exiting the road network block. The calculation method for entry / exit combinations and optimal paths in this step can refer to the algorithm for the optimal path of entry / exit combinations for entering and exiting the road network unit described above, and will not be repeated here in this embodiment of the invention.

[0092] It should be noted that the road network blocks mentioned above in the embodiments of the present invention are equivalent to upper-level road network units. Although the embodiments of the present invention only divide the target road network into road network blocks and road network units, this application is not limited to two-level / two-layer road network units. Instead, it can divide into multiple levels or multiple layers of road network units according to the size and complexity of the target road network data. This makes it faster to divide blocks or explore between blocks and units when performing route calculation, thus improving route calculation efficiency.

[0093] If the target road network has 500,000 links, and after splitting it into 10,000 links, the performance can theoretically be optimized by 50 times. In practical applications, a layered, multi-stage splitting approach is often used, which can achieve performance improvements of up to several hundred times. Multi-stage splitting, such as... Figure 5 The thick lines represent the first cut, and each cut unit is further cut after the first cut. The thin lines represent the second cut.

[0094] In another optional embodiment, the specific steps for cutting the target road network in step S11 above can be referred to Figure 6 As shown, the details are as follows:

[0095] Step S111: Set the upper limit of the number of nodes included in the cut road network unit.

[0096] In this embodiment of the invention, an upper limit for the number of nodes included in each segmented road network unit can be set based on empirical values. These empirical values ​​can be adjusted according to actual needs. The upper limit for the number of nodes in this embodiment can be represented by N. For example, if the target road network has 640 nodes, the empirical value could be 64 (8×8), then the upper limit N for the number of nodes included in the road network unit is 10. By setting an upper limit for the number of nodes, this embodiment of the invention ensures that the number of nodes in each road network unit is not excessive, thus improving performance during road network unit exploration (computer operation / computation); it also avoids excessive links (boundary links) between segmented road network units, reducing the number of exploration attempts and improving the overall routing efficiency.

[0097] Step S112: Determine the number of nodes included in the first exploration range and the second exploration range based on the upper limit of the number of nodes; wherein the first exploration range is smaller than the second exploration range, and the number of nodes included in the second exploration range does not exceed the upper limit of the number of nodes.

[0098] In this embodiment of the invention, after determining the upper limit of the number of nodes in the segmented road network unit, the number of nodes included in the first exploration range and the second exploration range are determined based on the upper limit N. Exploration is then performed based on these node numbers, stopping when the range of the aforementioned node numbers is reached. Specifically, the number of nodes in the first exploration range can be N / 5 or N / 10. The first exploration range in this embodiment is used to control the starting position of nodes during exploration, avoiding excessive repetition of the initial road network units obtained in step S113. It should be noted that in this embodiment, determining the number of nodes included in the first exploration range based on the upper limit N only needs to be completed before step S114; it can be performed before or after step S113, and this embodiment does not impose specific limitations on this. (Refer to...) Figure 7 As shown in the figure, the origin represents a node, the shaded area represents the first exploration range, and the area enclosed by the dashed line represents the second exploration range. In this embodiment of the invention, the first exploration range is smaller than the second exploration range, thus ensuring that all nodes in the target road network can be assigned to the initial road network unit during exploration and segmentation.

[0099] Step S113: Start from any selected first node and explore to the second exploration range to obtain the initial road network unit.

[0100] It should be noted that the first node in the embodiments of the present invention is not limited to a single node; it can also be a single node, as shown in the reference. Figure 8As shown, the dot in the upper left corner can be the first node, and the dot in the lower right corner can also be the first node. In practice, one can initially select only one first node within the target road network, forming an initial road network unit after exploration. Then, further exploration and segmentation can be carried out based on this unit, and the selected node in the next exploration is the second node. Alternatively, multiple first nodes can be selected within the target road network. When selecting multiple first nodes, the selection can be based on the distribution of nodes and / or links in the target road network, for example... Figure 8 The dots near the four corners are the first nodes.

[0101] In specific implementation, the present invention can use DFS (Depth-First Search) to explore and form initial road network units.

[0102] Step S114: Select a second node outside the first exploration range of the first node, and start the exploration from the second node until all nodes in the target road network are assigned to multiple initial road network units.

[0103] In this embodiment of the invention, a second node is selected outside the first exploration range of the first node. The inventors of this application select this node in this way to avoid excessive repetition of the initial road network units obtained when exploring with the first node and the second node as starting points respectively, which would inevitably lead to excessive computational load during later merging. It should be noted that the second node in this step is not limited to a single node, but rather a type of node. This step is a repeated iterative process based on step S113, which continues until all nodes in the target road network are assigned to their respective initial road network units. (Refer to...) Figure 9 As shown, the initial road network units (areas enclosed by dashed lines) formed after the target road network is divided are shown. It can be seen from the figure that some areas in adjacent initial road network units overlap, that is, some nodes are repeatedly divided into adjacent initial road network units.

[0104] Step S115: Merge multiple initial road network units so that nodes contained in adjacent initial road network units are assigned to one of the adjacent initial road network units, so as to obtain several road network units after the target road network is cut.

[0105] This step merges the initial road network units obtained in step S114 above. The final result of the merging is that the nodes that are repeatedly divided are assigned to one of the adjacent initial road network units. Specifically, the merging of multiple initial road network units in this step can be achieved in the following way: First, determine the number of boundary links that will be reduced after merging all adjacent initial road network units; then, sort the number of boundary links that will be reduced, and determine the priority of merging adjacent initial road network units based on the sorted values; finally, based on the priority of merging adjacent initial road network units and the number of nodes in the road network unit after merging adjacent initial road network units, merge the initial road network units to obtain several road network units after the target road network is cut.

[0106] Reference Figure 9 As shown, for example, if there are adjacent initial road network units A, B, C, and D, and the overlapping portion of initial road network units A and B is merged with initial road network unit A, the number of boundary links reduced by a is 'a'. The number of boundary links reduced by merging the overlapping portion with initial road network unit B is 'b'. If a > b, then the overlapping portion is preferentially merged into initial road network unit A. In this embodiment of the invention, the number of nodes in the merged road network unit is verified. If the number of nodes is not greater than a pre-set upper limit, the merge can proceed; otherwise, it cannot proceed. The merged road network unit is as follows: Figure 10 As shown.

[0107] It should be noted that the initial road network unit merging process is also an iterative process. The overlapping parts between adjacent road network units are merged until they can no longer be merged, so as to optimize the final number of road network units and the number of nodes they contain. This can improve the running efficiency when performing route calculation and exploration.

[0108] The cutting method provided in this embodiment of the invention can not only divide the target road network into road network units of blocks, but also fully consider the number of boundary links when dividing the road network units. In this way, the final road network unit nodes and / or link concentration areas will be divided into one road network unit, and the number of boundary links between adjacent road network units is minimized, thus reducing the road exploration cost and improving the road exploration efficiency.

[0109] In this embodiment of the invention, after the target road network data is segmented into several road network units, if the target road network includes a large number of road network units, several adjacent road network units can be divided into a road network block. This allows the entire target road network to be divided into several road network blocks, each containing several road network units. Alternatively, during segmentation, a larger upper limit on the number of nodes can be set in step S111. After a segmentation, an upper-level road network unit (containing many nodes, which can be used as a higher-level road network unit or road network block) is formed. This upper-level road network unit is then segmented again to form lower-level road network units. In this embodiment of the invention, the road network units formed after segmenting the target road network can have multiple levels. The optimal paths between or within levels can be pre-processed and pre-calculated, and directly applied during route calculation, thereby improving computational efficiency.

[0110] In another alternative embodiment, reference is also made to Figure 1 As shown, the method may further include:

[0111] Step S15: Obtain traffic information of links in the road network within the corresponding time band.

[0112] The traffic information mentioned above in this embodiment of the invention includes, but is not limited to, the following information: traffic rules information, traffic restriction rules information, traffic congestion information, traffic accident information, etc. In this embodiment of the invention, traffic information is acquired in real time or intermittently to determine whether the optimal path is passable, thereby avoiding or eliminating the optimal path that does not meet the conditions, and avoiding the inability to pass normally in the corresponding time period during route calculation or navigation.

[0113] Step S16: Based on traffic information, determine whether the optimal route is allowed to pass in the corresponding time zone in order to filter the optimal route.

[0114] The road network processing method provided in this embodiment of the invention processes links in the road network data based on time bands. This not only generates the optimal path that meets different traffic rules, but also effectively avoids routes that are impassable or inconvenient to travel, providing a foundation for subsequent route calculation or navigation.

[0115] Based on the same inventive concept, this invention also provides a road network processing device, referring to... Figure 11 As shown, the device may include a cutting module 11 and a calculation module 12, and its working principle is as follows:

[0116] The cutting module 11 is used to cut the target road network to form several road network units;

[0117] The calculation module 12 is used to determine the entry and exit combinations of the road network unit based on all links connected to the road network unit, and to calculate the optimal path for all entry and exit combinations of the road network unit to form route calculation data.

[0118] In another optional embodiment, the above-mentioned calculation module 12 is further used to determine all links connected to the road network block; wherein the road network block includes a plurality of road network units;

[0119] Based on all links connected to the road network block, determine the entry and exit combinations for entering and exiting the road network block, and calculate the optimal path for all entry and exit combinations for entering and exiting the road network block to form route calculation data.

[0120] In another optional embodiment, the cutting module 11 is specifically used to: set an upper limit value for the number of nodes included in the cut road network unit;

[0121] The number of nodes included in the first exploration range and the second exploration range are determined based on the upper limit value of the number of nodes, respectively; wherein, the first exploration range is smaller than the second exploration range, and the number of nodes included in the second exploration range does not exceed the upper limit value of the number of nodes;

[0122] Starting from an arbitrarily selected first node, explore to the second exploration range to obtain the initial road network unit;

[0123] Select a second node outside the first exploration range of the first node, and start exploration from the second node until all nodes in the target road network are divided into multiple initial road network units;

[0124] Multiple initial road network units are merged such that nodes contained in adjacent initial road network units are assigned to one of the adjacent initial road network units, thereby obtaining several road network units after the target road network is cut.

[0125] In another optional embodiment, the cutting module 12 is further configured to: determine the amount by which the boundary links are reduced after all adjacent initial road network units are merged;

[0126] The reduction values ​​of boundary links are sorted, and the priority of merging adjacent initial road network units is determined based on the sorting of the reduction values.

[0127] Based on the priority of merging adjacent initial road network units and the number of nodes in the merged road network unit, the initial road network units are merged to obtain several road network units after the target road network is cut.

[0128] In an optional embodiment, refer to Figure 11 As shown, it may also include: an acquisition module 13 and a filtering module 14;

[0129] The acquisition module 13 is used to acquire traffic information of links in the road network in the corresponding time bands;

[0130] The filtering module 14 is used to determine, based on the traffic information, whether the optimal route is allowed to pass in the corresponding time zone, so as to filter the optimal route.

[0131] Based on the same inventive concept, this embodiment of the invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described road network processing method.

[0132] Based on the same inventive concept, this embodiment of the invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described road network processing method.

[0133] The principles by which the above-mentioned devices, media, and related equipment in the embodiments of the present invention solve the problem are similar to those of the aforementioned methods. Therefore, their implementation can refer to the implementation of the aforementioned methods, and repeated details will not be repeated.

[0134] Example 2

[0135] Embodiment 2 of the present invention provides a path calculation method, referring to Figure 12 As shown, the method may include the following steps:

[0136] Step S121: Determine whether the node corresponding to the origin and / or destination is located in the same road network unit as the exploration node included in the route calculation data generated by the target road network; if yes, proceed to step S122; if the exploration node is not located in the same road network unit as the node corresponding to the origin and / or destination, but is located in the road network block where the road network unit is located, proceed to step S123. The route calculation data is generated according to the road network processing method in Embodiment 1 described above.

[0137] In this embodiment of the invention, it should be noted that the aforementioned origin and / or destination are not located at the intersection of roads (nodes in the road network), but may also be located on a certain road (link in the road network). Therefore, when performing route calculation, the selected node is the node corresponding to the origin and / or destination. This node can be a node near the origin and / or destination, or a node where the origin is closer to the destination direction and the destination is closer to the origin direction, or a node with a higher level within the preset range of the origin and / or destination (i.e., the node is located at the edge of the road network block / upper-level road network unit). This embodiment of the invention does not specifically limit the specific definition and acquisition method of "node corresponding to the origin and / or destination".

[0138] Step S122: Explore the links within the road network unit to generate the first route calculation result.

[0139] The first route calculation result in this step is the optimal path explored among links within the road network unit under different travel cost values. (Refer to...) Figure 13 As shown, the solid lines between nodes represent the results of link exploration within the same road network unit.

[0140] Step S123: Explore the links between road network units contained in the road network block to generate a second routing result.

[0141] The second path calculation result in this step is the optimal path formed by exploring among network units under different travel costs. In this step, Dijkstra's algorithm can be used for path calculation, requiring only the traversal of boundary links, not the links within the network units. (See reference...) Figure 13 As shown, the dashed lines between nodes represent the exploration results of nodes that are located within the same road network unit but within the road network block where the road network unit is located.

[0142] Step S124: Generate a planned path based on the first path calculation result and / or the second path calculation result. The planned path in this step is a complete path formed by connecting at least one first path calculation result and / or at least one second path calculation result.

[0143] In an optional embodiment, reference is also made to Figure 12 As shown, it may also include step S125: if the exploration node and the node corresponding to the origin and / or destination are not located in the same road network block, then explore the links between road network blocks to generate a third route calculation result. Accordingly, step S124 is: generating a planned path based on the first route calculation result, the second route calculation result, and / or the third route calculation result.

[0144] The third route calculation result in step S125 above is the optimal path formed by exploring between road network blocks under different travel cost values. In this step, when calculating the route, it is not necessary to traverse the links within a road network unit or the boundary links between road network units; only the boundary links between road network blocks need to be traversed, which greatly improves the performance of road network route calculation. (Refer to...) Figure 13 As shown, the discontinuous lines between nodes represent the exploration results between road network blocks.

[0145] It should be noted that the path calculation method provided in this embodiment of the invention is not limited to a two-level exploration scheme of road network blocks and road network units. It can explore multiple levels / multi-level road network units that can be divided according to the scale and complexity of the target road network, and determine which level the exploration node belongs to. In this way, the performance of multi-level path exploration will be multiplied compared with the path exploration between links.

[0146] Based on the same inventive concept, this invention also provides a path calculation device, referring to... Figure 14 As shown, the device may include: a judgment module 141, an exploration module 142, and a planned path generation module 143, and its working principle is as follows:

[0147] The judgment module 141 is used to determine whether the node corresponding to the origin and / or destination is located under the same road network unit as the exploration node included in the routing data generated by the target road network;

[0148] If the judgment module 141 determines that the target node and the target node are not located in the same road network unit, but are located in the road network block where the road network unit is located, the exploration module 142 will explore the links between the road network units contained in the road network block.

[0149] The path planning generation module 143 is used to generate a first path calculation result and / or a second path calculation result based on the exploration results, and to generate a planned path based on the first path calculation result and / or the second path calculation result;

[0150] The route calculation data is generated according to the road network processing method described in Embodiment 1.

[0151] In an optional embodiment, if the determination module 141 determines that the exploration node and the node corresponding to the origin and / or destination are not located in the same road network block, the exploration module 142 explores the links between the road network blocks to generate a third route calculation result; the planning path generation module 143 generates a planning path based on the first route calculation result, the second route calculation result, and / or the third route calculation result.

[0152] Based on the same inventive concept, this embodiment of the invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described algorithm.

[0153] Based on the same inventive concept, this embodiment of the invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described algorithm.

[0154] The principles by which the above-mentioned devices, media, and related equipment in the embodiments of the present invention solve the problem are similar to those of the aforementioned methods. Therefore, their implementation can refer to the implementation of the aforementioned methods, and repeated details will not be repeated.

[0155] Example 3

[0156] The present invention provides a navigation method in embodiment three, referring to Figure 15 As shown, the method may include: step S151, receiving a navigation request; step S152, generating a navigation route corresponding to the navigation request based on the planned path; wherein the planned path is generated based on the route calculation method in Embodiment 2.

[0157] Based on the same inventive concept, a navigation device is also provided in this embodiment of the invention, referring to... Figure 16 As shown, the device may include a receiving module 161 and a navigation route generation module 162, and its working principle is as follows:

[0158] Receiver module 161 is used to receive navigation requests;

[0159] The navigation route generation module 162 is used to generate a navigation route corresponding to the navigation request based on the planned path;

[0160] The planned path is generated based on the path calculation method described in Embodiment 2.

[0161] Based on the same inventive concept, this embodiment of the invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described navigation method.

[0162] Based on the same inventive concept, this embodiment of the invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described navigation method.

[0163] Based on the same inventive concept, this invention also provides a navigation system, referring to... Figure 17As shown, the system may include: a terminal 171 and a server 172;

[0164] The terminal 171 is used to send navigation requests and receive navigation routes pushed by the server 172;

[0165] The server 172 includes the aforementioned navigation device, which is used to receive the navigation request and generate a navigation route corresponding to the navigation request based on the planned path.

[0166] The planned path is generated based on the path calculation method described in Embodiment 2, and the planned path includes a first path calculation result and / or a second path calculation result.

[0167] The principles by which the above-described apparatus, medium, related equipment, and system in the embodiments of the present invention solve the problem are similar to those of the aforementioned methods. Therefore, their implementation can refer to the implementation of the aforementioned methods, and repeated details will not be repeated.

[0168] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0169] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0170] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0172] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A road network processing method, characterized in that, include: Set an upper limit on the number of nodes included in the segmented road network unit; The number of nodes included in the first exploration range and the second exploration range are determined based on the upper limit value of the number of nodes, respectively; wherein, the first exploration range is smaller than the second exploration range, and the number of nodes included in the second exploration range does not exceed the upper limit value of the number of nodes; Starting from an arbitrarily selected first node, explore to the second exploration range to obtain the initial road network unit; Select a second node outside the first exploration range of the first node, and start exploration from the second node until all nodes in the target road network are divided into multiple initial road network units; Multiple initial road network units are merged such that nodes contained in adjacent initial road network units are assigned to one of the adjacent initial road network units, so as to obtain several road network units after the target road network is cut. Based on all links connected to the road network unit, the entry and exit combinations of the road network unit are determined, and the optimal path for all entry and exit combinations of the road network unit is calculated to form route calculation data.

2. The method according to claim 1, characterized in that, Also includes: Identify all links connected to the road network block; wherein the road network block includes several road network units; Based on all links connected to the road network block, determine the entry and exit combinations for entering and exiting the road network block, and calculate the optimal path for all entry and exit combinations for entering and exiting the road network block to form route calculation data.

3. The method according to claim 1, characterized in that, The step of merging multiple initial road network units to obtain several road network units after the target road network is segmented includes: Determine the number of boundary links that are reduced after merging all adjacent initial road network units; The reduction values ​​of boundary links are sorted, and the priority of merging adjacent initial road network units is determined based on the sorting of the reduction values. Based on the priority of merging adjacent initial road network units and the number of nodes in the merged road network unit, the initial road network units are merged to obtain several road network units after the target road network is cut.

4. The method according to any one of claims 1 to 3, characterized in that, Also includes: Obtain traffic information of links in the road network within the corresponding time band; Based on the traffic information, it is determined whether the optimal route is allowed to pass in the corresponding time period, so as to filter the optimal route.

5. A method for calculating routes, characterized in that, include: Determine whether the nodes corresponding to the origin and / or destination are located in the same road network unit as the exploration nodes included in the routing data generated by the target road network; If so, then the links within the road network unit are explored to generate a first path calculation result; If the exploration node is not located in the same road network unit as the node corresponding to the origin and / or destination, but is located in the road network block where the road network unit is located, then the links between the road network units contained in the road network block are explored to generate a second route calculation result; A planned path is generated based on the first path calculation result and / or the second path calculation result; The route calculation data is generated by the road network processing method according to any one of claims 1 to 4.

6. The method according to claim 5, characterized in that, Also includes: If the exploration node is not located in the same road network block as the node corresponding to the origin and / or destination, then the link between the road network blocks is explored to generate a third route calculation result; A planned path is generated based on the first path calculation result, the second path calculation result, and / or the third path calculation result.

7. A navigation method, characterized in that, include: Receive navigation request; Generate the navigation route corresponding to the navigation request based on the planned path; The planned path is generated based on the path calculation method described in claim 5 or 6.

8. A road network processing device, characterized in that, include: The cutting module is used to cut the target road network and set the upper limit of the number of nodes included in the cut road network unit; The number of nodes included in the first exploration range and the second exploration range are determined based on the upper limit of the number of nodes, respectively; wherein, the first exploration range is smaller than the second exploration range, and the number of nodes included in the second exploration range does not exceed the upper limit of the number of nodes; exploration is carried out starting from any selected first node and extending to the second exploration range to obtain an initial road network unit; a second node is selected outside the first exploration range of the first node, and exploration is carried out starting from the second node until all nodes in the target road network are divided into multiple initial road network units; multiple initial road network units are merged so that the nodes included in adjacent initial road network units are divided into one of the adjacent initial road network units to obtain several road network units after the target road network is cut; The calculation module is used to determine the entry and exit combinations of the road network unit based on all links connected to the road network unit, and to calculate the optimal path for all entry and exit combinations of the road network unit to form route calculation data.

9. A circuit calculation device, characterized in that, include: The judgment module is used to determine whether the node corresponding to the origin and / or destination is located in the same road network unit as the exploration node included in the routing data generated by the target road network. If the judgment module determines that the exploration module is correct, then the exploration is performed between the links within the road network unit. If the judgment module determines that the exploration node and the destination node are not located in the same road network unit, but are located in the road network block where the road network unit is located, then the link between the road network units contained in the road network block will be explored. The planning path generation module is used to generate a first path calculation result and / or a second path calculation result based on the exploration results, and to generate a planning path based on the first path calculation result and / or the second path calculation result; The route calculation data is generated by the road network processing method according to any one of claims 1 to 4.

10. A navigation device, characterized in that, include: The receiving module is used to receive navigation requests; The navigation route generation module is used to generate the navigation route corresponding to the navigation request based on the planned path; The planned path is generated based on the path calculation method described in claim 5 or 6.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the road network processing method as described in any one of claims 1 to 4, or the route calculation method as described in claim 5 or 6, or the navigation method as described in claim 7.

12. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the road network processing method as described in any one of claims 1 to 4, or the route calculation method as described in claim 5 or 6, or the navigation method as described in claim 7.

13. A navigation system, characterized in that, include: Terminals and servers; The terminal is used to send navigation requests and receive navigation routes pushed by the server. The server includes the navigation device as described in claim 10, used to receive the navigation request and generate a navigation route corresponding to the navigation request based on the planned path; The planned path is generated based on the path calculation method described in claim 5 or 6, and the planned path includes a first path calculation result and / or a second path calculation result.

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