Method and system for screening ground object and lane association relationship

Abstract

The present invention discloses a method and system for screening feature-lane association relationships, which establish lane-feature association relationships based on feature-road association relationships; based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, the associated lane with the shortest distance is screened and retained to meet practical application needs such as positioning and searching, and the association relationships with little significance are filtered, thereby greatly reducing the data volume of map data packets and saving storage space.

Description

Technical Field

[0001] The present invention relates to the technical field of map data production and testing, and in particular to a method and system for screening ground object and lane association relationships. Background Art

[0002] In map data, the relationship between features and lanes is often calculated by methods such as overlay, intersection, and elevation difference to preserve the relationship between features and all related lanes as much as possible. The general practice is to preserve all these relationships, which results in a large amount of map data and a large map data package, which requires a considerable storage space; secondly, some lanes in the preserved lane-feature relationship are too far away from the features and are of little significance in actual use. Summary of the invention

[0003] The purpose of the present invention is to overcome the above technical deficiencies and to propose a method and system for screening the relationship between features and lanes, so as to solve the problem that the map data package has a large amount of data and a large amount of useless data.

[0004] In order to achieve the above technical objectives, the technical solution of the present invention provides a method for screening the relationship between ground objects and lanes in a first aspect, which comprises the following steps:

[0005] Establish lane-land feature association relationship based on the feature-road association relationship;

[0006] Based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, the associated lane with the shortest distance is selected and retained.

[0007] A second aspect of the present invention provides a system for screening ground object and lane association relationships, which includes the following functional modules:

[0008] A lane-land feature association module is used to establish a lane-land feature association relationship based on a land feature-road association relationship;

[0009] The association relationship screening module is used to screen the associated lane with the shortest distance based on the distance between the minimum circumscribed rectangle of the feature and the associated lane.

[0010] A third aspect of the present invention provides a server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for screening the relationship between land features and lanes when executing the computer program.

[0011] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for screening the above-mentioned terrain feature and lane association relationship is implemented.

[0012] Compared with the prior art, the method and system for screening the feature-lane association relationship of the present invention establishes the lane-feature association relationship based on the feature-road association relationship; based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, the associated lane with the shortest distance is screened and retained to meet the needs of practical applications such as positioning and searching, and the association relationships with little significance are filtered out, which greatly reduces the data volume of the map data packet and saves storage space. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a flowchart of a method for screening a terrain feature and lane association relationship according to an embodiment of the present invention;

[0014] Figure 2 yes Figure 1 The step-by-step flowchart of step S1;

[0015] Figure 3 yes Figure 1 The step-by-step flowchart of step S2;

[0016] Figure 4 It is a module block diagram of a system for screening the relationship between features and lanes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] like Figures 1 to 3 As shown, an embodiment of the present invention provides a method for screening the relationship between ground objects and lanes, which includes the following steps:

[0019] S1. Establish lane-landform association relationship based on the landform-road association relationship.

[0020] like Figure 2 As shown, step S1 includes the following sub-steps:

[0021] S11. Establish a lane feature primary association relationship between the feature and all lanes in the associated road.

[0022] Suppose there is the following relationship between terrain features and roads:

[0023]

[0024] The feature Obj1 is associated with two lanes: RD1->Sec1->Lan1 and RD1->Sec1->Lan2;

[0025] The feature Obj2 is associated with the lane RD1->Sec1->Lan2;

[0026] Through the above-mentioned land feature-road association relationship, the primary lane feature association relationship between the two land features is established.

[0027] S12. Construct a lane-landform association relationship topology based on the lane topology data and the lane-landform primary association relationship to obtain the lane-landform association relationship.

[0028] Among them, after constructing the lane-landform association relationship topology according to the lane topology data and the lane-landform primary association relationship, it is necessary to perform primary screening of the lane-landform association relationship based on the lane-landform association relationship topology; the primary screening includes deleting the association relationship between the interrupted lane and the feature in the lane-landform association relationship topology, and deleting other non-associated lanes in the same associated road.

[0029] That is, firstly, a lane-land feature association relationship topology is constructed according to the lane topology data and the primary association relationship of the lane-land feature, and then the association relationship between the interrupted lane and the feature in the lane-land feature association relationship topology is deleted based on the lane-land feature association relationship topology, which specifically includes the following contents:

[0030] According to the lane topology data, the preceding lane and the succeeding lane of the associated lane are obtained, and the lane object association relationship topology is constructed in combination with the primary association relationship of the lane objects;

[0031] It is judged in turn whether the preceding lane and the succeeding lane of the associated lane in the lane-feature association relationship topology are associated with the same feature. If not, the associated lane is considered to be an interrupted lane.

[0032] Deleting the lane-feature association topology interrupts the association between the lane and the feature.

[0033] Then, the lane-land feature association relationship topology is constructed based on the lane topology data and the lane-land feature primary association relationship. The association relationship between the interrupted lane and the feature in the lane-land feature association relationship topology is deleted based on the lane-land feature association relationship topology, which specifically includes the following contents:

[0034] According to the lane topology data, the predecessor lane and the successor lane of the associated lane are obtained, and the predecessor associated lane and the successor associated lane of the associated lane are obtained in combination with the primary association relationship of the lane objects, so as to construct a complete lane object association relationship topology;

[0035] In the lane feature association relationship topology, the associated lanes are selected from the associated roads according to the preceding associated lanes and the succeeding associated lanes;

[0036] Delete other non-associated lanes in the same associated road.

[0037] Furthermore, after establishing a lane-feature association relationship based on the feature-road association relationship and performing primary screening, the number of lanes associated with each feature is counted, and secondary screening is performed only on lane-feature association relationships with more than one lane.

[0038] S2. Based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, select and retain the associated lane with the shortest distance.

[0039] like Figure 3 As shown, step S2 includes the following sub-steps:

[0040] S21, construct the minimum enclosing rectangle of the feature;

[0041] S22, calculating the distances from the four vertices of the minimum circumscribed rectangle to the associated lanes in the lane feature relationship;

[0042] S23. Keep the associated lane with the shortest distance to the vertex of the minimum circumscribed rectangle of the feature.

[0043] Assume: the minimum circumscribed rectangle of the feature is ABCD, and the feature is associated with N lanes.

[0044] Calculate the distances between the four vertices of the minimum circumscribed rectangle ABCD of the feature and the corresponding lanes in the N lane feature relationships respectively;

[0045] The distance from vertex A to N lanes is denoted as {A1, A2, …, AN},

[0046] The distance from vertex B to N lanes is denoted as {B1, B2, …, BN},

[0047] The distance from vertex C to N lanes is denoted as {C1,C2,…,CN},

[0048] The distance from vertex D to N lanes is denoted as {D1, D2, …, DN};

[0049] Take the minimum value DisA=min{A1,A2,…,AN} in the distance set from vertex A to N lanes,

[0050] Take the minimum value DisB=min{B1,B2,…,BN} in the distance set from vertex B to N lanes,

[0051] Take the minimum value DisC=min{C1,C2,…,CN} in the distance set from vertex C to N lanes,

[0052] Take the minimum value DisD=min{D1,D2,…,DN} in the distance set from vertex D to N lanes;

[0053] The lane feature relationships corresponding to DisA, DisB, DisC, and DisD are retained, and other lane feature relationships of the feature are deleted.

[0054] The present invention establishes lane-feature association relationships based on feature-road association relationships; based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, the associated lane with the shortest distance is screened and retained to meet practical application needs such as positioning and searching, and the association relationships with little significance are filtered out, thereby greatly reducing the data volume of the map data packet and saving storage space.

[0055] like Figure 4 As shown, the embodiment of the present invention also discloses a system for screening the relationship between ground objects and lanes, which includes the following functional modules:

[0056] A lane-land feature association module 10 is used to establish a lane-land feature association relationship according to a land feature-road association relationship;

[0057] The association relationship screening module 20 is used to screen and retain the associated lane with the shortest distance based on the distance between the minimum circumscribed rectangle of the feature and the associated lane.

[0058] The implementation method of the system for screening the relationship between a terrain object and a lane in this embodiment is basically the same as the above-mentioned method for screening the relationship between a terrain object and a lane, so it will not be described in detail.

[0059] The server of this embodiment is a device that provides computing services, generally referring to a computer with high computing power that is provided to multiple consumers through a network. The server of this embodiment includes: a memory, a processor, and a system bus, wherein the memory includes executable programs stored thereon. It can be understood by those skilled in the art that the terminal device structure of this embodiment does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0060] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing of the terminal by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the terminal (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0061] An executable program of a method for screening a terrain-lane association relationship is included in a memory, and the executable program can be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by a processor to complete the information acquisition and implementation process. The one or more modules / units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the server. For example, the computer program can be divided into a lane terrain association module 10 and an association relationship screening module 20.

[0062] The processor is the control center of the server, which uses various interfaces and lines to connect various parts of the entire terminal device, and executes various functions of the terminal and processes data by running or executing software programs and / or modules stored in the memory, and calling data stored in the memory, so as to monitor the terminal as a whole. Optionally, the processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor.

[0063] The system bus is used to connect the various functional components inside the computer. It can transmit data information, address information, and control information. Its types can be, for example, PCI bus, ISA bus, VESA bus, etc. The processor's instructions are transmitted to the memory through the bus, and the memory feeds back data to the processor. The system bus is responsible for the data and instruction exchange between the processor and the memory. Of course, the system bus can also be connected to other devices, such as network interfaces, display devices, etc.

[0064] The server should at least include a CPU, a chipset, a memory, a disk system, etc., and other components will not be described in detail here.

[0065] In an embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a method for screening the association relationship between ground objects and lanes, which includes the following steps:

[0066] Establish lane-land feature association relationship based on the feature-road association relationship;

[0067] Based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, the associated lane with the shortest distance is selected and retained.

[0068] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0069] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] Those of ordinary skill in the art will appreciate that the modules, units and / or method steps of the various embodiments described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0071] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for screening the relationship between ground features and lanes, characterized in that: The steps include: Establish lane-land feature association relationship based on the feature-road association relationship; Based on the distance between the minimum circumscribed rectangle of the feature and the associated lane, the associated lane with the shortest distance is selected and retained; The step of establishing a lane-land feature association relationship according to the land feature-road association relationship specifically includes: Establishing lane feature primary association relationships between features and all lanes on the associated road; According to the lane topology data and the primary association relationship between lane objects, a lane object association relationship topology is constructed to obtain a lane object association relationship; The lane-land object association relationship topology is constructed according to the lane topology data and the primary association relationship of the lane-land object. The lane-land object association relationship is initially screened based on the lane-land object association relationship topology, including: According to the lane topology data, the preceding lane and the succeeding lane of the associated lane are obtained, and the lane object association relationship topology is constructed in combination with the primary association relationship of the lane objects; It is judged in turn whether the preceding lane and the succeeding lane of the associated lane in the lane-feature association relationship topology are associated with the same feature. If not, the associated lane is considered to be an interrupted lane. Deleting the lane-feature association topology interrupts the association between the lane and the feature.

2. The method for screening the relationship between ground features and lanes according to claim 1, characterized in that: The constructing of lane-land object association relationship topology according to the lane topology data and the lane-land object primary association relationship, and performing primary screening of the lane-land object association relationship based on the lane-land object association relationship topology also includes: According to the lane topology data, the predecessor lane and the successor lane of the associated lane are obtained, and the predecessor associated lane and the successor associated lane of the associated lane are obtained in combination with the primary association relationship of the lane objects, so as to construct a complete lane object association relationship topology; In the lane feature association relationship topology, the associated lanes are selected from the associated roads according to the preceding associated lanes and the succeeding associated lanes; Delete other non-associated lanes in the same associated road.

3. The method for screening the relationship between ground features and lanes according to claim 1, characterized in that: After establishing the lane-feature association relationship according to the feature-road association relationship, the number of lanes associated with each feature is calculated, and only the lane-feature association relationships with the number of associated lanes exceeding one lane are screened.

4. The method for screening the relationship between ground features and lanes according to claim 1, characterized in that: The step of selecting and retaining the associated lane with the shortest distance based on the distance between the minimum circumscribed rectangle of the feature and the associated lane specifically includes: Construct the minimum enclosing rectangle of the feature; Calculate the distances from the four vertices of the minimum circumscribed rectangle to the associated lanes in the lane feature relationship; The associated lane with the shortest distance to the vertex of the minimum circumscribed rectangle of the feature is retained.

5. A system for screening ground feature and lane association relationships, characterized in that: Includes the following functional modules: A lane-land feature association module is used to establish a lane-land feature association relationship based on a land feature-road association relationship; An association relationship screening module is used to screen the associated lane with the shortest distance based on the distance between the minimum circumscribed rectangle of the feature and the associated lane; The step of establishing a lane-land feature association relationship according to the land feature-road association relationship specifically includes: Establishing lane feature primary association relationships between features and all lanes on the associated road; According to the lane topology data and the primary association relationship between lane objects, a lane object association relationship topology is constructed to obtain a lane object association relationship; The lane-land object association relationship topology is constructed according to the lane topology data and the primary association relationship of the lane-land object. The lane-land object association relationship is initially screened based on the lane-land object association relationship topology, including: According to the lane topology data, the preceding lane and the succeeding lane of the associated lane are obtained, and the lane object association relationship topology is constructed in combination with the primary association relationship of the lane objects; It is judged in turn whether the preceding lane and the succeeding lane of the associated lane in the lane-feature association relationship topology are associated with the same feature. If not, the associated lane is considered to be an interrupted lane. Deleting the lane-feature association topology interrupts the association between the lane and the feature.

6. A server 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 computer program, the method for screening the relationship between objects and lanes as described in any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for screening the relationship between features and lanes as described in any one of claims 1 to 4 is implemented.

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