A method, apparatus, equipment, and readable storage medium for screening and calculating branch road types.

Abstract

This invention provides a method, apparatus, device, and readable storage medium for branch road type screening and calculation, relating to the field of navigation map mapping technology. The method includes: obtaining a navigation path; screening the navigation path for road intersections to obtain all road intersections in the navigation path; obtaining associated branches corresponding to each road intersection based on the relationship between all the road intersections and preset basic road network data; vectorizing the associated branches corresponding to each road intersection to obtain a branch road vector for each associated branch road; and determining the angle based on the branch road vectors corresponding to each road intersection to obtain the branch road type corresponding to each associated branch road. This method considers the potential impact of adjacent intersections on navigation path optimization when considering the surrounding environment, introduces the vectorization of associated branches, and achieves screening of the branch road type corresponding to each associated branch road.

Description

Technical Field

[0001] This invention relates to the field of navigation map mapping technology, and more specifically, to a method, apparatus, device, and readable storage medium for calculating branch road types. Background Technology

[0002] A navigation path, planned using path planning algorithms within the road network data of a navigation electronic map, is a route from the starting point to the destination and is one of the most important aspects for users. Existing technologies simplify navigation paths to deliver effective information to users intuitively and efficiently. However, these technologies neglect the impact of the spatial context of the navigation path on this simplification, particularly lacking a method for calculating branch road types. Furthermore, based on branch road type screening, there is a lack of guidance for further simplification, resulting in insufficient consideration of navigation application needs during the current simplification process. This manifests as insufficient consideration of the surrounding environment, focusing only on the impact of road intersections on navigation path optimization while ignoring the potential influence of adjacent intersections. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, device, and readable storage medium for branch road type screening and calculation, in order to improve the above-mentioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0004] Firstly, this application provides a method for calculating branch road type screening, including:

[0005] Get the navigation path;

[0006] The navigation path is screened for road intersections to obtain all road intersections in the navigation path;

[0007] Based on the relationship between all the road intersections and the preset basic road network data, the associated branch roads corresponding to each road intersection are obtained;

[0008] Vectorize the associated branch roads corresponding to each road intersection to obtain the branch road vector corresponding to each associated branch road;

[0009] Angle determination is performed based on the branch vector corresponding to each road intersection to obtain the branch type corresponding to each associated branch.

[0010] Secondly, this application also provides a branch road type screening and calculation device, comprising:

[0011] The acquisition module is used to obtain the navigation path;

[0012] The first processing module is used to screen the road intersections of the navigation path to obtain all the road intersections in the navigation path.

[0013] The second processing module is used to obtain the associated branch road corresponding to each road intersection based on the relationship between all the road intersections and the preset basic road network data.

[0014] The third processing module is used to vectorize the associated branch roads corresponding to each road intersection to obtain the branch road vector corresponding to each associated branch road.

[0015] The fourth processing module is used to determine the angle based on the branch vector corresponding to each road intersection, and to obtain the branch type corresponding to each associated branch.

[0016] Thirdly, this application also provides a branch road type screening and calculation device, including:

[0017] Memory, used to store computer programs;

[0018] A processor is used to implement the steps of the branch type screening calculation method when executing the computer program.

[0019] Fourthly, this application also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described branch-type screening calculation method.

[0020] The beneficial effects of this invention are as follows:

[0021] In view of the fact that existing technologies neglect the optimization of the vertical environment when processing navigation paths, this invention proposes a branch type screening calculation method. When considering the vertical environment of the path, it takes into account the potential impact of adjacent intersections on navigation path optimization. It vectorizes the associated branches corresponding to each road intersection, and then judges the branch type corresponding to each associated branch based on the angle of the branch vector, thereby realizing the screening of the branch type corresponding to each associated branch.

[0022] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the branch road type screening and calculation method described in this embodiment of the invention;

[0025] Figure 2 This is a schematic diagram of the branch road type screening and calculation device described in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the eighth processing module in this invention;

[0027] Figure 4 This is a schematic diagram of the branch road type screening and calculation device described in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram illustrating the overall process of the branch road type screening and calculation method described in this embodiment of the invention.

[0029] Marked in the image:

[0030] 901. Acquisition Module; 902. First Processing Module; 903. Second Processing Module; 904. Third Processing Module; 905. Fourth Processing Module; 906. Fifth Processing Module; 907. Sixth Processing Module; 908. Seventh Processing Module; 909. Eighth Processing Module; 9051. First Calculation Unit; 9052. Second Calculation Unit; 9061. Third Calculation Unit; 9062. Fourth Calculation Unit; 9063. Fifth Calculation Unit; 9064. Sixth Calculation Unit; 9071. Seventh Calculation Unit; 9072. Eighth Calculation Unit Units; 9073, Ninth Calculation Unit; 9074, Tenth Calculation Unit; 9081, Eleventh Calculation Unit; 9082, Twelfth Calculation Unit; 9083, Thirteenth Calculation Unit; 9091, Fourteenth Calculation Unit; 9092, Fifteenth Calculation Unit; 90911, First Processing Unit; 90912, Second Processing Unit; 90913, Third Processing Unit; 800, Branch Type Screening Calculation Device; 801, Processor; 802, Memory; 803, Multimedia Component; 804, I / O Interface; 805, Communication Component. Detailed Implementation

[0031] A navigation path is a route planned from the starting point to the ending point in the road network data of a navigation electronic map using path planning algorithms. It is one of the most important aspects for users. A navigation path is composed of vertices with coordinates arranged sequentially. It is understood that the number of vertices constituting the path must be at least two.

[0032] In this invention, the concepts of vertex, node, and endpoint are distinguished. All points that constitute a line element are called vertices, points where other line elements intersect with the line element are called nodes, and the starting and ending vertices of the line element are called endpoints. Both nodes and endpoints belong to vertices.

[0033] Example 1:

[0034] This embodiment provides a method for calculating the type of branch road.

[0035] See Figure 1 The figure shows that this method includes steps S1 to S5, specifically:

[0036] Step S1: Obtain the navigation path;

[0037] Using path planning algorithms to analyze basic road network data {R a |a∈[1,n a The optimal path is planned in {R}. a |a∈[1,n a ]} represents n a Road section R a The basic road network constituted;

[0038] Extract and connect all vertices between the starting and ending vertices of the optimal path in sequence, denoted as L = {v i |i∈[1,n i ]}, where L∈{R a |a∈[1,n a ]}, where L represents the extracted navigation path, v i Let n represent the i-th vertex that constitutes the navigation path L. i This represents the number of vertices that make up the navigation path L.

[0039] Step S2: Filter the navigation path by road intersections to obtain all road intersections in the navigation path;

[0040] In step S2, if Then v i This refers to a road node, i.e., a road intersection; among which, This refers to roads other than navigation path L, i.e. and

[0041] Based on this condition, traverse {v i |i∈[1,n i ]}, denoted as {v j |j∈[1,n j ]}, where v j Let n represent the j-th vertex in the road intersection. jThis indicates the number of vertices at a road intersection.

[0042] Step S2 includes steps 2.1-2.3, specifically:

[0043] Step 2.1: Create an empty set to store road intersections in the navigation path, and let i = 1;

[0044] Step 2.2: If Let v j =v i and v j Add a set of road intersections; otherwise, do nothing.

[0045] Step 2.3: Let i = i + 1, if i > n i If the condition is met, the process terminates; otherwise, return to step 2.2.

[0046] Step S3: Based on the relationship between all the road intersections and the preset basic road network data, obtain the associated branch roads corresponding to each road intersection;

[0047] In step S3, at the road intersection v j There may be multiple related branch roads, denoted as {r j (m), m∈[1,n] m ]}, where r j (m) represents the associated branch road n corresponding to each of the road intersections. m This represents the number of associated branch roads corresponding to each of the aforementioned road intersections, where r j (m) needs to satisfy: r j (m)∈{R a |a∈[1,n a ]}and And r j (m)∩L=v j ;

[0048] Based on this condition, traverse {v j |j∈[1,n j ]} and {R a |a∈[1,n a Extracting the branch roads related to the road intersections yields {{r}. j (m), m∈[1,n] m ]}|j∈[1,n j ]}.

[0049] Step S3 includes steps 3.1-3.5, specifically:

[0050] Step 3.1: Create an empty set to store all branches, let a = 1, j = 1;

[0051] Step 3.2: Create a new empty set to store the road intersection v j For the relevant branch paths, let m = 1;

[0052] Step 3.3: If And R a ∩L=v j Then r j (m)=R a , will r j (m) Add to road intersection v j The relevant set of branch paths; otherwise, no action is taken.

[0053] Step 3.4: Let a = a + 1, if a > n a Then we get the road intersection v j All related branch paths, i.e. {r j (m), m∈[1,n] m ]}, and {r j (m), m∈[1,n] m Add the path to the branch set and proceed to step 1.3.5; otherwise, return to step 1.3.3.

[0054] Step 3.5: Let j = j + 1, if j > n j If the condition is met, then terminate; otherwise, let m = m + 1 and return to step 3.2.

[0055] Step S4: Vectorize the associated branch roads corresponding to each road intersection to obtain the branch road vector corresponding to each associated branch road;

[0056] In step S4, the fork in the road is simplified to a vector formed by connecting the endpoints of the road intersection with their neighboring vertices, i.e., {{r j (m), m∈[1,n] m ]}|j∈[1,n j ]},and Among them, v j With r j (m) The starting vertex (or ending vertex) coincides, v j_m Indicates r j (m) with v j The next vertex (or the previous vertex) of a coinciding starting vertex (or ending vertex);

[0057] Based on the above conditions, traverse {{r j (m), m∈[1,n] m ]}|j∈[1,n j ]}, thus obtaining the simplified set of branch paths, that is, the branch path vector corresponding to each associated branch path.

[0058] Step S4 includes steps 4.1-4.3, specifically:

[0059] Step 4.1: Let m = 1, j = 1;

[0060] Step 4.2: For r j (m), if v j With r j (m) The initial vertices coincide, let r j (m) The next vertex after the starting vertex is v. j_m Otherwise, v j With r j (m) Terminating vertex coincidence, let r j (m) The vertex preceding the terminating vertex is v. j_m ;make Let r j (m)=r j (m);

[0061] Step 4.3: Let m = m + 1. If m > n m Let j = j + 1, if j > n j If the condition is met, the process terminates; otherwise, return to step 4.2.

[0062] Step S5: Determine the angle based on the branch vector corresponding to each road intersection to obtain the branch type corresponding to each associated branch.

[0063] In this invention, useful branches are turning branches and error-prone branches in navigation and pathfinding.

[0064] like and If the directional difference is significant, exceeding a certain angular threshold α, then v j This is a turning intersection, corresponding to the fork in the road r. j (m), m∈[1,n] m ]} is a turning fork; if and If the directions are not significantly different, i.e., less than a certain angle threshold β, then v j This is a common intersection, corresponding to the fork in the road r. j (m), m∈[1,n] m ]} is a branch road that is prone to errors.

[0065] Based on the above conditions, traverse {v j |j∈[1,n j ]} and {{r j (m), m∈[1,n] m ]}|j∈[1,n j ]},get:

[0066] Turning intersection: denoted as {vj’ |j'∈[1,n j’ ]};

[0067] Turning fork: denoted as {{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]};

[0068] Commonly mistaken intersections: denoted as {v j” |j”∈[1,n j” ]};

[0069] Commonly mistaken forks in the road: denoted as {{r j” (m”),m”∈[1,n m” ]}|j∈[1,n j” ]};

[0070] In practical implementation, we can let α = 70° and β = 20°. It should be noted that the navigation and pathfinding process is directional; the turning angle is calculated using the angle derived from the vector. For ease of explanation, let the angle function be denoted as Ang. Indicates from arrive The angle.

[0071] This method considers the potential impact of adjacent intersections on navigation path optimization when considering the environment above and below the path. It introduces vectorization of associated branches and realizes the screening of the branch type corresponding to each associated branch.

[0072] The angle determination based on the branch vector corresponding to each road intersection includes:

[0073] Among all the branch vectors corresponding to each associated branch, the direction of travel along the navigation path is selected as the reference direction;

[0074] In each associated branch, the angle between the branch vector to be judged and the reference direction is compared with a preset angle threshold to obtain the branch type corresponding to each branch vector to be judged.

[0075] Step S5 includes steps 5.1-5.4, specifically:

[0076] Step 5.1: Create new empty sets to store turning intersections, turning forks, error-prone intersections, and error-prone forks, and let j = 1;

[0077] Step 5.2: If This is a turning intersection, and the corresponding fork in the road is a turning fork. Let v j’ =v j , {r j’ (m'), m'∈[1,nm’ ]}={r j (m), m∈[1,n] m ]} and add them to the turning intersection set and turning branch road set respectively; otherwise, do nothing;

[0078] Step 5.3: Traverse {r} j (m), m∈[1,n] m If r exists j (m) and If the included angle is less than β, then v j For intersections prone to errors, let v j” =v j And all of them r with an angle less than β j (m) are all error-prone forks;

[0079] Let r j” (m”)=r j (m), and add them to the set of error-prone intersections and the set of error-prone forks respectively, see steps 5.3.1-5.3.4 for details; otherwise, do not process them;

[0080] Step 5.4: Let j = j + 1, if j > n j If the condition is met, the process terminates; otherwise, return to step 5.2.

[0081] Step 5.3 includes steps 5.3.1-5.3.4, specifically as follows:

[0082] Step 5.3.1: Let m = 1;

[0083] Step 5.3.2: If Let v j” =v j , let r j” (m”)=r j (m), and add it to the set of error-prone branches; otherwise, do nothing;

[0084] Step 5.3.3: Let m = m + 1, if m > n m If so, proceed to step 5.3.4; otherwise, return to step 5.3.2.

[0085] Step 5.3.4: If v j” =v j If it is a mistaken intersection, add it to the mistaken intersection set; otherwise, it is not a mistaken intersection; terminate.

[0086] This invention also distinguishes between navigation paths, road segments, and arc segments. A complete navigation path is divided into several road segments, each of which consists of one or more arc segments. An arc segment is a straight line segment formed by connecting adjacent vertices. This invention defines an arc segment as the smallest line element constituting a line element, taking into account more user navigation application needs. Based on the impact of the vertical environment, such as intersection angles, on user navigation applications, it further considers a simplified strategy for designing local arc segments during the user's driving process. After step S5, step S6 is included, which includes steps 6.1-6.4, specifically:

[0087] Step 6.1: Calculate the salience type for each associated branch road type to obtain first information, wherein the first information is the branch road salience type corresponding to each associated branch road;

[0088] The salience type calculation is based on the minimum visible distance method, which defines the minimum resolvable distance and minimum resolvable angle of the human eye, denoted as svd and sva, respectively. Typically, in paper map products, the minimum resolvable distance on the map is 0.2mm, and the minimum resolvable angle is 0.5°; in electronic map products, due to the limitations of electronic screen resolution, the minimum resolvable distance can be magnified to 1mm, and the minimum resolvable angle can be magnified to 5°.

[0089] In this invention, to highlight key points, let svd = 1mm + LW and sva = 5°, where LW is the line width. Addressing the problem that existing technologies using random variations of arc length (±20%) and arc angle (±5°) are insufficient to adequately represent important road segments, this invention constructs road segment and intersection highlighting conditions based on a minimum visibility method. This ensures that road segments and intersections affecting navigation and wayfinding applications are prominently displayed in the window. Specifically:

[0090] To achieve a more prominent effect, the navigation path L = {v} is adjusted based on svd and sva. i |i∈[1,n i ]}、Turning forks{{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]} and error-prone forks {{r j” (m”),m”∈[1,n m” ]}|j∈[1,n j” ]}, so that the length of the turning branch and the error-prone branch is not less than ρ·svd, and the angle between the error-prone branch and the target arc segment is not less than η·sva; where ρ and η are coefficients, and the range of values ​​is set to ρ∈[1,8], η∈[1,6]; in specific implementation, ρ=4, η=4 can be set.

[0091] Step 6.1 includes steps 6.1.1-6.1.3, specifically as follows:

[0092] Step 6.1.1: Let i = 1;

[0093] Step 6.1.2: For turning forks, if {r} j’ (m'), m'∈[1,n m’ ]} satisfies v i ∈ Then traverse {r j’ (m'), m'∈[1,n m’ ]}, r with a length less than ρ·svd j’ (m') is extended along its direction to ρ·svd, see steps 6.1.2.1-6.1.2.3 for details; otherwise, no processing is performed;

[0094] Step 6.1.2.1: Let m' = 1;

[0095] Step 6.1.2.2: If |r j’ (m')|<ρ·svd, then r j’ (m') Extend ρ·svd-|r along its direction j’ (m')|; otherwise, do nothing.

[0096] Step 6.1.2.3: Let m' = m' + 1. If m' > n m’ If the condition is met, the process terminates; otherwise, return to step 6.1.2.2.

[0097] Step 6.1.3: For error-prone branches, if {r} j” (m”),m”∈[1,n m” ]}satisfy Then traverse {r j” (m”),m”∈[1,n m” ]}, r with a length less than ρ·svd j” (m”) extends along its direction to ρ·svd, and will be connected with The included angle is less than η·sva for r j” (m”) rotate to the position of The included angle η·sva is detailed in steps 6.1.3.1-6.1.3.4; otherwise, no action is taken.

[0098] Step 6.1.3.1: Let m” = 1;

[0099] Step 6.1.3.2: If |r j” (m”)|<ρ·svd, then let r j” (m”) Extend along its direction ρ·svd-|r j”(m”)|; otherwise, do nothing;

[0100] Step 6.1.3.3: If Let r j” (m”) with v i Rotate to the center of rotation, and rotate to the center of rotation. At the included angle η·sva; otherwise, no action is taken.

[0101] Step 6.1.3.4: Let m” = m” + 1. If m” > n m” If the condition is met, the process terminates; otherwise, return to step 6.1.3.2.

[0102] Step 6.2: Perform arc segment vector transformation according to the branch type corresponding to each associated branch to obtain the second information, wherein the second information is the arc segment vector corresponding to each branch type;

[0103] In step 6.2, the navigation path L = {v i |i∈[1,n i ]} contains error-prone intersections {v j” |j”∈[1,n j” The arc segment in the diagram is the error-prone arc segment; the navigation path L = {v} i |i∈[1,n i The intersection contains a turning point. j’ |j'∈[1,n j’ The arc segments of the arc and adjacent arc segments with a large turning angle (i.e., greater than a certain angle threshold) are all turning arc segments; where the angle threshold is denoted as τ, and in specific implementation, τ = α = 70° can be set.

[0104] Considering the directional nature of the navigation pathfinding process, both turning arcs and error-prone arcs are stored in vector form. The turning arc is denoted as {Vu}. ’ |u'∈[1,n u’ The error-prone arc segment is denoted as {Vu}. ” |u”∈[1,n u” ]};

[0105] Step 6.2 includes steps 6.2.1-6.2.4, specifically as follows:

[0106] Step 6.2.1: Create a new empty set to store turning arc segments and error-prone arc segments, and let i = 2;

[0107] Step 6.2.2: If v i ∈{v j” |j”∈[1,n j” ]},but and For the error-prone arc segment, let and Vu ”and Vu +1” Add to the set of error-prone arc segments; otherwise, do nothing.

[0108] Step 6.2.3: If v i ∈{v j’ |j'∈[1,n j’ ]}or make and Vu ’ and Vu +1’ Add to the steering arc set; otherwise, do nothing.

[0109] Step 6.2.4: Let i = i + 1, if i ≥ n i If the condition is met, the process terminates; otherwise, return to step 6.2.2.

[0110] Step 6.3: Calculate the salience type of the second information to obtain the third information, wherein the third information is the arc segment salience vector for each branch type;

[0111] In step 6.3, to achieve the desired effect of highlighting the expression, the turning arc segment {Vu} is highlighted. ’ |u'∈[1,n u’ ]} and error-prone arcs {Vu ” |u”∈[1,n u” ]}, so that the length of the turning arc segment and the error-prone arc segment is not less than ρ·svd, and the angle between the error-prone branch and the target arc segment is not less than η·sva;

[0112] Where ρ and η are coefficients, and their values ​​are set to ρ∈[1,8] and η∈[1,6]. In specific implementation, ρ=4 and η=4 can be set.

[0113] Step 6.3 includes 6.3.1-6.3.2, specifically:

[0114] Step 6.3.1: For the steering arc segment, if Vu exists... ’ Satisfy v i ∈Vu ’ , For the turning arc segment;

[0115] If |Vu ’ |<ρ·svd, then let {v i |i∈[i+1,n i ]} and its connected turning forks along Directional movement ρ·svd-|Vu ’ |, making the arc segment If the length reaches ρ·svd, adjust the positions of subsequent vertices in L; otherwise, do nothing.

[0116] Step 6.3.2: For error-prone arc segments, if Vu exists... ” Satisfy v i ∈Vu ” , These are error-prone arc segments;

[0117] If |Vu ” |<ρ·svd, then let {v i |i∈[i+1,n i ]} and its connected error-prone branch paths Directional movement ρ·svd-|Vu ” |, making the arc segment If the length reaches ρ·svd, adjust the positions of subsequent vertices in L; otherwise, do nothing.

[0118] Step 6.4: Update the navigation path based on the first information and the third information.

[0119] After step 6.3.2 is completed, proceed to step S6.4: Let i = i + 1, if i ≥ n i Connect the adjusted path vertices to obtain the adjusted navigation path, replace the original data with the adjusted navigation path, turning forks, and error-prone forks, and terminate; otherwise, return to step 6.1.2.

[0120] After completing step S6, replace the original data with the navigation path, turning points, and error-prone points. The adjusted navigation path L = {v i |i∈[1,n i ]}、Turning forks{{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]}、Easily mistaken forks in the road j” (m”),m”∈[1,n m” ]}|j∈[1,n j” The ]} constitute a prominent expression of the navigation path.

[0121] To address the issue that existing technologies neglect the minimum visibility problem in traditional map scales, this invention, based on the minimum visibility method, considers the surrounding environment of the navigation path and the characteristics of user navigation applications. It utilizes simplification and exaggeration methods to process the navigation path, achieving an optimized representation of the navigation path with a display size adapted to navigation needs, making the processing result sufficiently clear and visible. Specifically:

[0122] Following step S6, a road segmentation method is introduced to this invention, namely step S7, which includes 7.1-7.4, specifically:

[0123] Step 7.1: Perform road segmentation on the navigation path to obtain fourth information, which is all the road segment types of the navigation path;

[0124] For l k If Vu exists ’ ∈l k Then l k Marked as a turning section; if Vu exists ” ∈l k Then l k Marked as a faulty section; otherwise, l k It is marked as a general road section.

[0125] Step 7.1 includes steps 7.1.1-7.1.3, specifically:

[0126] Step 7.1.1: Create a new empty set to store the partitioned road segments, and let the variable v cut Let v represent one endpoint of the road segment. cut =v1, let i = 2;

[0127] Step 7.1.2: If And v i ∈{Vu ’ |u'∈[1,n u’ ]}∪{Vu ” |u”∈[1,n u” ]}, then v i Connect v to the other endpoint. cut to v i The path segment is obtained by dividing all vertices. k , let v cut =v i ;

[0128] If v i-1 ∈{Vu ’ |u'∈[1,n u’ ]}∪{Vu ” |u”∈[1,n u” ]}and ∪{Vu ” |u”∈[1,n u” ]}, then v i Connect v to the other endpoint. cut to v i The path segment is obtained by dividing all vertices. k , let v cut =v i Otherwise, no action will be taken.

[0129] Step 7.1.3: Let i = i + 1, if i <n iThen return to step 7.1.2;

[0130] If i=n i , link v cut to The path segment is obtained by dividing all vertices. k Then add it to the segment set and terminate.

[0131] The segmented navigation path consists of turning segments, error-prone segments, and other segments, denoted as {l}. k |k∈[1,n k ]}, where turning sections are composed of turning arcs, error-prone sections are composed of error-prone arcs, and other sections are composed of arcs that are not turning arcs or error-prone arcs.

[0132] Step 7.2: Calculate the display range of the fourth information to obtain the fifth information, which is the minimum visible range of all road segment types in the navigation path;

[0133] The segmented road segments are useful in the navigation process. As the display range shrinks, each segmented road segment in the shrunken navigation path must still be clearly visible. Therefore, when the navigation path is shrunken to the point where there are segmented road segments that cannot be clearly represented, the limit display size is reached. The navigation path scale at this size is the limit scale for clear display of the navigation path.

[0134] Step 7.2 includes 7.2.0-7.2.4, specifically as follows:

[0135] Step 7.2.0: Based on the minimum visible distance (SVD), calculate the clearly displayed target navigation path L = {l k |k∈[1,n k The limit dimensions and limit scales of the navigation path are usually displayed in a rectangular window. The limit dimensions of the navigation path correspond to the length and width of the rectangle, denoted as H1 and W1 respectively, and the limit scale is denoted as S1.

[0136] In this invention, the envelope rectangle mentioned refers to a general envelope rectangle constructed based on the extreme horizontal and vertical coordinates. An envelope rectangle is constructed for the navigation path L at the extreme scale, and the length H1 and width W1 of this envelope rectangle are the extreme display dimensions of the navigation path.

[0137] Step 7.2.1: Calculate the display range of the navigation path at the current scale;

[0138] The current navigation path L is extracted from the basic road network data, and its scale is consistent with the scale of the basic road network data, denoted as S2;

[0139] Construct an envelope rectangle for L at scale S2. The length and width of the envelope rectangle are denoted as H2 and W2, respectively. The range of the envelope rectangle is the display range of the current navigation path.

[0140] Step 7.2.2: Calculate the minimum visible distance (SVD) for each segmented road segment sequentially. k |k∈[1,n k The limiting compression ratio of ]} is calculated and the minimum limiting compression ratio is obtained, denoted as λ. min ;

[0141] Step 7.2.3: Based on the minimum compression ratio λ min Calculate the limiting scale at which the navigation path is clearly displayed, i.e., let S1 = S2 / λ. min ;

[0142] Step 7.2.4: Based on the minimum compression ratio λ min Calculate the limit size for a clear display of the navigation path.

[0143] Step 7.2.2 includes steps 7.2.2.1-7.2.2.4, specifically:

[0144] Step 7.2.2.1: Create a new empty set to store the limit compression ratio of each subdivided road segment, and let k = 1;

[0145] Step 7.2.2.2: If l k For a typical road section, the measurement is l. k The straight-line distance from the starting vertex to the ending vertex within the current display area is denoted as Dis(l). k If the condition is met, proceed to step 7.2.2.3; otherwise, proceed to step 7.2.2.4.

[0146] Step 7.2.2.3: L calculated based on SVO k Ultimate compressibility λ k That is, let λ k =Dis(l k ) / svo, and will λ k Add to the extreme compression class collection;

[0147] Step 7.2.2.4: Let k = k + 1, if k > n k Select the minimum value from the set of limiting compressibility, that is, let λ min =MIN{λ k |k∈[1,n k Otherwise, return to step 7.2.2.2.

[0148] The aforementioned steps specified the display lengths of turning arc segments and error-prone arc segments. After scaling down, the display lengths of turning road segments composed of turning arc segments and error-prone road segments composed of error-prone arc segments need to be maintained. Therefore, the navigation path scaling down process can be viewed as a process of proportionally scaling down general road segments while keeping turning road segments and error-prone road segments unchanged.

[0149] In step 7.2.4, for L = {l} k |k∈[1,n k The process of shrinking to the limiting scale S1 is detailed in steps 7.2.4.1-7.2.4.3, which include:

[0150] Step 7.2.4.1: Let k = 1;

[0151] Step 7.2.4.2: If l k For general road sections, use l k The starting vertex is, l k Reduce proportionally to its S2 / S1; otherwise, l k The length remains unchanged;

[0152] Step 7.2.4.3: If k = 1, fix l k The starting vertex; otherwise, let l k The starting vertex and l k-1 The terminating vertices coincide; let k = k + 1, and repeat step 7.2.4.3.

[0153] Step 7.3: Calculate the display range of the first information to obtain the sixth information, wherein the sixth information is the minimum visible range of the branch highlighting type corresponding to each associated branch;

[0154] In this invention, a useful branch includes a turning branch {{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]} and error-prone forks {{r j” (m”),m”∈[1,n m” ]}|j∈[1,n j” ]};

[0155] For the first piece of information, a rectangular display window is still used to clearly express the length and width of the rectangle corresponding to the first piece of information, denoted as H and W respectively, and the limit scale is denoted as S;

[0156] Step 7.3 includes 7.3.1-7.3.2, specifically:

[0157] Step 7.3.1: Determine the limiting scale corresponding to the first piece of information;

[0158] Since step 7.2.0 specifies the display length and direction of useful branches, the length and direction displayed on the useful branch map remain the same even after the scale is reduced. Therefore, there is no limiting scale for useful branches. The limiting scale for clearly displaying the navigation path and useful branches is unified with the limiting scale clearly expressed by the navigation path, i.e., let S = S1.

[0159] Step 7.3.2: Calculate the limit dimension corresponding to the first piece of information;

[0160] The first information is reduced to the limit scale S1. Based on the limit coordinates of the navigation path and the useful branch, an envelope rectangle that can cover the navigation path and the useful branch is constructed. The length and width of the envelope rectangle are H and W, respectively.

[0161] Step 7.4: Calculate the comprehensive display range based on the fifth and sixth information. The comprehensive display range includes the highlighting type of each associated branch and the types of all road segments of the navigation path.

[0162] Construct an envelope rectangle for the navigation path and useful branch at the S2 scale. The length and width of this envelope rectangle are denoted as H' and W', respectively.

[0163] The overall display range has a length range of [H,H'], a width range of [W,W'], and a scale range of [S1,S2].

[0164] Following step S7, step S8 is further included, wherein S8 specifically comprises:

[0165] The system matches the overall display range with the preset window range, and controls the device to display based on the matching result.

[0166] The control device displays the following: when the overall display range is less than or equal to the preset display window range, all the highlighted branches and navigation paths corresponding to each associated branch in the overall display range are displayed in the center within the preset window range;

[0167] When the overall display range is larger than the preset display window range, the highlighted branch and navigation path corresponding to each associated branch in the overall display range will be partially displayed within the preset window range, and the preset window display content will be dynamically updated as the navigation location changes.

[0168] The parameter flow for S8 is as follows: Steps 8.1-8.5, specifically:

[0169] Step 8.1: Construct an envelope rectangle based on the coordinates of the maximum and minimum values ​​of the navigation path and useful branches;

[0170] Step 8.2: Align the center of the bounding rectangle with the display window so that the navigation path and the useful branch are centered within the given window;

[0171] Step 8.3: Align the position of the navigation pathfinding object with the starting vertex position of the navigation path;

[0172] Step 8.4: Align the center of the display window with the navigation pathfinding object and rotate the navigation path so that the forward direction of the navigation pathfinding object is perpendicular or parallel to the side of the display window;

[0173] Step 8.5: If the position of the navigation pathfinding object coincides with the ending vertex position of the navigation path, terminate; otherwise, update the position of the navigation pathfinding object and return to Step 8.2.

[0174] After Step S8, Step S9 is further included. Specifically, Step S9 is as follows:

[0175] Calculate the simplification scale of the navigation path according to the preset display window range;

[0176] Perform a first simplification on the navigation path in the comprehensive display range according to the simplification scale of the navigation path to obtain the first comprehensive display simplification range;

[0177] Match the first comprehensive display simplification range with the preset window range and control the device to update the display according to the matching result.

[0178] The parameter process of Step S9 is Steps 9.1 - 9.3. Among them, the length and width of the preset given display window are respectively denoted as H” and W”, and the calculated simplification scale is denoted as S”. Specifically:

[0179] Step 9.1: If H” > H’ and W” > W’, the given display window is clear enough to display the navigation path and the useful branch. Let S” = S2; otherwise, do not process temporarily;

[0180] Step 9.2: If H” < H or W” < W, the given display window is smaller than the limit display size. Let S” = S1; otherwise, do not process temporarily;

[0181] Step 9.3: If H” / H’ < W” / W’, let S” = (H” / H’)·S1; otherwise, let S” = (W” / W’)·S1.

[0182] Existing navigation path simplification algorithms are relatively coarse and difficult to apply to various types of navigation paths. Navigation paths may contain both regular, winding sections and natural, smooth sections. Different types of sections often require different simplification algorithms to preserve their morphological characteristics. In this invention, a road segment smoothness metric is designed, and based on this, different simplification algorithms suitable for simplifying winding and smooth curves are applied to navigation path simplification. This ensures that winding road segments remain winding after simplification, and smooth road segments remain smooth after simplification, maintaining good geometric consistency.

[0183] Following step S9, step S10 is further included, wherein step S10 specifically comprises:

[0184] The navigation path in the first simplification range of the comprehensive display is simplified a second time according to the preset smooth curve simplification algorithm and the preset tortuous curve simplification algorithm to obtain the second simplification range of the comprehensive display.

[0185] The system matches the simplified range of the comprehensive display with the preset window range, and controls the device to update the display based on the matching result.

[0186] The navigation path within the first-simplification range of the comprehensive display is further simplified using preset smooth curve simplification algorithms and preset tortuous curve simplification algorithms to obtain the second-simplification range of the comprehensive display. This includes the following steps:

[0187] The navigation path within the first simplification range of the comprehensive display is simplified a second time according to the preset smooth curve simplification algorithm and the preset tortuous curve simplification algorithm.

[0188] The simplified navigation path is combined with the first information to obtain a comprehensive road segment, which includes the prominence type of each associated branch and the simplified navigation path.

[0189] A topology calculation is performed on the comprehensive road segment to obtain the simplified range of the comprehensive display.

[0190] In topology calculations, this invention simplifies navigation paths, eliminating the impact of invisible details on graphical representation and reducing interference and transmission of unimportant information during navigation pathfinding. Furthermore, this invention highlights important arcs and useful branches relevant to navigation pathfinding, enhancing the display and transmission of crucial information and improving the user-friendliness of navigation pathfinding. This invention can eliminate topology problems between navigation paths and useful branches through progressive adjustments to the length and direction of useful branches.

[0191] In this invention, an expression method is generated that consists of an optimized navigation path and a simplified expression of effective branch paths. By adjusting certain steps or parameters of this scheme, the expression result of the optimized navigation path and the simplified expression of effective branch paths should also fall within the scope of protection of this invention.

[0192] The parameter flow for S10 is as follows: Steps 10.1-10.6, specifically:

[0193] Traverse each segmented road segment, simplify general road segments, extend turning road segments, and error-prone road segments based on the minimum visible distance (SVD) to adapt them to the target scale (S); the processed l k denoted as l k The processed navigation path is denoted as L' = {l} k '|k∈[1,n k ]};

[0194] Step 10.1: Let k = 1;

[0195] Step 10.2: Optimize and process road segment l k , constitute l k The vertices are denoted as {v k_p ,p∈[1,n p ]}, that is, l k ={v k_p ,p∈[1,n p ]};

[0196] If l k For turning and error-prone sections, move all vertices except the starting vertex to make l k Extend to ρ·svd / S”, see steps 10.2.1-10.2.3 for details;

[0197] Otherwise, l k For general road sections, the minimum visible distance svd / S is simplified based on their morphological characteristics and target scale. k For details, please refer to steps 10.2.4-10.2.6;

[0198] Step 10.2 includes steps 10.2.1-10.2.6, specifically:

[0199] Step 10.2.1: Let p = 2;

[0200] Step 10.2.2: Along Directional movement v k_p distance Make the moved v k_p With v k_p-1 The distance between them reaches ρ·svd / S”;

[0201] Step 10.2.3: If p <np If p = p + 1, then repeat step 10.2.2; otherwise, let the length of the processed l be extended. k For l k ',termination;

[0202] Step 10.2.4: Calculate l k The smoothness is denoted as Smoot(l) k ), Smoot(l k The calculation formula is:

[0203]

[0204] In the above formula, e is the natural logarithm, and the other parameters are the same as described in the steps above.

[0205] The above formula conforms to the cognitive rule that the smaller the turning angle and the longer the turning length, the smoother the arc segment, and also conforms to the basic understanding that the turning angle is the main factor affecting the smoothness of the arc segment;

[0206] Define a smoothness threshold Ψ, if l k >Ψ, then l k Since the shape is relatively smooth, a simplification method that preserves the smoothness feature is adopted, and step 10.2.5 is executed;

[0207] If l k ≤Ψ, then l k The shape is relatively tortuous, so a simplification method oriented towards tortuous curves is adopted, and step 10.2.6 is executed; in a specific embodiment, let Ψ = 0.9;

[0208] Step 10.2.5: Simplify l using a commonly used smooth curve simplification algorithm. k Get l k ';

[0209] This invention does not specify which smooth curve simplification algorithm to use, but requires that the zigzag curve simplification algorithm can maintain the smoothness of the curve and keep the starting and ending vertex positions of the curve unchanged, such as the Li-OpenShaw algorithm, the Perkal algorithm, the curvature constraint method, etc. In this invention, a vector simplification algorithm can be used to simplify smooth road segments, with a simplification threshold of svd / S.

[0210] Step 10.2.6: Simplify l using a commonly used tortuous curve simplification algorithm. k Get l k ';

[0211] This invention does not specify which tortuous curve simplification algorithm to use, but requires that the algorithm maintains the tortuosity of the curve and keeps the starting and ending vertices of the curve unchanged, such as the Douglas-Peucker algorithm, the Sleeve-Fitting algorithm, and the Visvalingam-Whyatt algorithm. This invention constructs a simplification threshold adapted to the simplification algorithm based on svd / S” and sva.

[0212] Step 10.3: Combine the optimized segmented arc segments;

[0213] If k>1, move l. k 'Make its starting vertex and l k-1 The terminating vertices coincide; if k = 1, fix l. k ';

[0214] Step 10.4: Let k = k + 1, if k > n k If the result is positive, no action is taken and the process terminates; otherwise, return to step 10.2.2.

[0215] Step 10.5: Traverse navigation segments k ', Overall movement and turning at the fork in the road {{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]} Make the starting vertex of the turning branch coincide with the endpoint of its corresponding turning segment, and move the error-prone branch as a whole {{r j” (m”),m”∈[1,n m” ]}|j∈[1,n j” Make the starting vertex of the error-prone branch coincide with the endpoint of its corresponding error-prone segment;

[0216] Step 10.5 includes steps 10.5.1-10.5.3, specifically:

[0217] Step 10.5.1: Let k = 1;

[0218] Step 10.5.2: If l k 'For turning sections, traverse the turning forks {{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ Searching for l k Terminating vertex connection {r j’ (m'), m'∈[1,n m’ ]}, and will be with l k Terminating vertex connection {r j’ (m'), m'∈[1,n m’ Move to l kConnect the terminating vertices of ' and traverse {r j’ (m'), m'∈[1,n m’ ]}, extend r j’ (m') make its length ρ·svd / S” to meet the specified target scale display distance;

[0219] If l k 'Is this a section of road prone to errors? Traverse the error-prone forks {{r} j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ Searching for l k Terminating vertex connection {r j” (m”),m”∈[1,n m” ]}, and will be with l k Terminating vertex connection {r j” (m”),m”∈[1,n m” Move to l k Connect the terminating vertices of ' and traverse {r j” (m”),m”∈[1,n m” ]}, extend r j” (m”) make its length ρ·svd / S” to meet the specified target scale display distance; otherwise, do not process it;

[0220] Step 10.5.3: Let k = k + 1, if k > n k If the condition is met, the process terminates; otherwise, repeat step 10.5.2.

[0221] Step 10.6: Check and process useful forks and navigation paths L' = {l k '|k∈[1,n k Topological problems between ]};

[0222] In step 10.6, {{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]}(or {{r j” (m”),m”∈[1,n m” ]}|j∈[1,n j” ]}) and L' have one and only one intersection point, and their relationship is only shown as one of connection;

[0223] If r exists j’ (m')∈{{r j’ (m'), m'∈[1,n m’ ]}|j∈[1,n j’ ]} (or r exists j”(m”)∈{{r j” (m”),m”∈[1,n m” ]}|j∈[1,n j” If ]}) and L' have multiple intersection points, then there is a topological problem that needs to be addressed. j’ (m')(or r) j” (m”)) to avoid topological problems, see steps 4.3.2.1-4.3.2.3 for details; otherwise, if there are no topological problems, terminate;

[0224] Step 10.6 includes steps 10.6.1-10.6.3, specifically:

[0225] Step 10.6.1: If r j’ (m')(or r) j” If (m”) and L' have more than one intersection point, then r j’ (m')(or r) j” If there is a topological problem between (m”) and L', proceed to step 10.6.2; otherwise, terminate.

[0226] Step 10.6.2: Along r j’ (m')(or r) j” (m”)) moves its terminal vertex in the opposite direction to make its length ζ·ρ·svd / S”;

[0227] Where ζ∈(0,1); in this embodiment, ζ=0.9;

[0228] If the shortened r j’ (m')(or r) j” If (m”) and L' have more than one intersection point, then r j’ (m')(or r) j” If a topological problem still exists between (m”) and L', proceed to step 10.6.3; otherwise, the process ends and is terminated.

[0229] Step 10.6.3: Using r j’ (m')(or r) j” (m”) is the starting vertex of the axis, and is gradually rotated r. j’ (m')(or r) j” (m”)), see steps 10.6.3.1-10.6.3.3 for details. If r is rotated during the rotation process... j’ (m')(or r) j” If (m”) and L’ have exactly one intersection point, then the processing ends and terminates; otherwise, let ζ = ζ 2 ,

[0230] Return to step 10.6.2;

[0231] Steps 10.6.3.1-10.6.3.3 specifically include:

[0232] Step 10.6.3.1: Set the angular rotation step size, denoted as θ; let q = 1;

[0233] Step 10.6.3.2: If r j’ (m')(or r) j” (m”)) and the corresponding arc segment have an angle greater than sva, with r j’ (m')(or r) j” (m”)) Let the starting vertex be the axis, and let r j’ (m')(or r) j” (m”)) Rotate q·θ;

[0234] Otherwise, with r j’ (m')(or r) j” (m”)) Let the starting vertex be the axis, and let r j’ (m')(or r) j” (m”)) Rotate q·θ;

[0235] Step 10.6.3.3: If r j’ (m')(or r) j” If (m”)) and L’ have one and only one intersection point, terminate; otherwise, let q = q + 1 and return to step 10.6.3.2.

[0236] like Figure 5 The diagram shown is a schematic representation of the overall process of the branch road type screening calculation method described in this embodiment of the invention.

[0237] Example 2:

[0238] like Figure 2 As shown, this embodiment provides a branch road type screening and calculation device. The device includes an acquisition module 901, a first processing module 902, a second processing module 903, a third processing module 904, and a fourth processing module 905, specifically comprising:

[0239] Module 901 is used to obtain the navigation path;

[0240] The first processing module 902 is used to screen the road intersections of the navigation path to obtain all the road intersections in the navigation path.

[0241] The second processing module 903 is used to obtain the associated branch road corresponding to each of the road intersections based on the relationship between all the road intersections and the preset basic road network data.

[0242] The third processing module 904 is used to vectorize the associated branch roads corresponding to each road intersection to obtain the branch road vector corresponding to each associated branch road.

[0243] The fourth processing module 905 is used to determine the angle based on the branch vector corresponding to each road intersection to obtain the branch type corresponding to each associated branch.

[0244] In one specific embodiment of this disclosure, the fourth processing module 905 includes a first computing unit 9051 and a second computing unit 9052, specifically comprising:

[0245] The first calculation unit 9051 is used to select the direction of travel along the navigation path as the reference direction from all the branch vectors corresponding to each associated branch;

[0246] The second calculation unit 9052 is used to compare the angle between the vector of the branch to be judged and the reference direction with a preset angle threshold in each associated branch to obtain the branch type corresponding to each branch vector to be judged.

[0247] In one specific embodiment of this disclosure, after the fourth processing module 905, a fifth processing module 906 is further included. The fifth processing module 906 includes a third calculation unit 9061, a fourth calculation unit 9062, a fifth calculation unit 9063, and a sixth calculation unit 9064, specifically comprising:

[0248] The third calculation unit 9061 is used to perform a highlighting type calculation on the branch type corresponding to each of the associated branches to obtain first information, wherein the first information is the branch highlighting type corresponding to each associated branch.

[0249] The fourth calculation unit 9062 is used to perform arc segment vector conversion according to the branch type corresponding to each associated branch to obtain second information, wherein the second information is the arc segment vector corresponding to each branch type;

[0250] The fifth calculation unit 9063 is used to perform salience type calculation on the second information to obtain the third information, wherein the third information is the arc segment salience vector for each branch type;

[0251] The sixth calculation unit 9064 is used to update the navigation path based on the first information and the third information.

[0252] In one specific embodiment of this disclosure, after the fifth processing module 906, a sixth processing module 907 is further included. The sixth processing module 907 includes a seventh calculation unit 9071, an eighth calculation unit 9072, a ninth calculation unit 9073, and a tenth calculation unit 9074, specifically as follows:

[0253] The seventh calculation unit 9071 is used to perform road segmentation on the navigation path to obtain fourth information, wherein the fourth information is all road segment types of the navigation path;

[0254] The eighth calculation unit 9072 is used to calculate the display range of the fourth information to obtain the fifth information, which is the minimum visible range of all road segment types of the navigation path;

[0255] The ninth calculation unit 9073 is used to calculate the display range of the first information to obtain the sixth information, wherein the sixth information is the minimum visible range of the branch prominence type corresponding to each associated branch;

[0256] The tenth calculation unit 9074 is used to calculate the comprehensive display range based on the fifth information and the sixth information. The comprehensive display range includes the highlighting type of each associated branch and the types of all road segments of the navigation path.

[0257] In one specific embodiment of this disclosure, after the sixth processing module 907, a seventh processing module 908 is further included. The seventh processing module 908 includes an eleventh calculation unit 9081, a twelfth calculation unit 9082, and a thirteenth calculation unit 9083, specifically comprising:

[0258] The eleventh calculation unit 9081 is used to calculate the simplified scale of the navigation path based on the preset display window range;

[0259] The twelfth calculation unit 9082 is used to simplify the navigation path in the comprehensive display range once according to the simplification scale of the navigation path to obtain the comprehensive display simplified range.

[0260] The thirteenth calculation unit 9083 is used to match the simplified range of the comprehensive display with the preset window range, and control the device to update the display based on the matching result.

[0261] like Figure 3 As shown, in one specific embodiment of this disclosure, after the seventh processing module 908, an eighth processing module 909 is further included. The eighth processing module 909 includes a fourteenth computing unit 9091 and a fifteenth computing unit 9092, specifically comprising:

[0262] The fourteenth calculation unit 9091 is used to perform secondary simplification on the navigation path in the comprehensive display primary simplification range according to the preset smooth curve simplification algorithm and the preset tortuous curve simplification algorithm, so as to obtain the comprehensive display secondary simplification range.

[0263] The fifteenth calculation unit 9092 is used to match the comprehensive display secondary simplification range with the preset window range, and control the device to update the display based on the matching result.

[0264] In one specific embodiment of this disclosure, the fourteenth computing unit 9091 includes a first processing unit 90911, a second processing unit 90912, and a third processing unit 90913, specifically comprising:

[0265] The first processing unit 90911 is used to perform secondary simplification on the navigation path in the comprehensive display primary simplification range according to the preset smooth curve simplification algorithm and the preset tortuous curve simplification algorithm.

[0266] The second processing unit 90912 is used to combine the simplified navigation path with the first information to obtain a comprehensive road segment, wherein the comprehensive road segment includes the prominence type of each associated branch and the simplified navigation path.

[0267] The third processing unit 90913 is used to perform topology calculations on the integrated road segments to obtain the simplified range of the integrated display.

[0268] Example 3:

[0269] Corresponding to the above method embodiments, this embodiment also provides a branch road type screening calculation device. The branch road type screening calculation device described below and the branch road type screening calculation method described above can be referred to each other.

[0270] Figure 4 This is a block diagram illustrating a branch-type screening calculation device 800 according to an exemplary embodiment. For example... Figure 4 As shown, the branch-type screening calculation device 800 may include: a processor 801 and a memory 802. The branch-type screening calculation device 800 may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0271] The processor 801 controls the overall operation of the branch-type screening calculation device 800 to complete all or part of the steps in the aforementioned branch-type screening calculation method. The memory 802 stores various types of data to support the operation of the branch-type screening calculation device 800. This data may include, for example, instructions for any application or method operating on the branch-type screening calculation device 800, as well as application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 802 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as keyboards, mice, and buttons. These buttons can be virtual or physical. Communication component 805 is used for wired or wireless communication between this branch-type screening calculation device 800 and other devices. Wireless communication includes Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 805 may include a Wi-Fi module, a Bluetooth module, or an NFC module.

[0272] In an exemplary embodiment, the branch road type screening calculation device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the branch road type screening calculation method described above.

[0273] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the branch road type screening calculation method described above. For example, the computer-readable storage medium may be the memory 802 including the program instructions described above, which may be executed by the processor 801 of the branch road type screening calculation device 800 to complete the branch road type screening calculation method described above.

[0274] Example 4:

[0275] Corresponding to the above method embodiments, this embodiment also provides a readable storage medium. The readable storage medium described below can be referred to in conjunction with the branch type screening calculation method described above.

[0276] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the branch type screening calculation method described in the above method embodiments.

[0277] The readable storage medium can specifically be a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or any other readable storage medium capable of storing program code.

Claims

1. A method of fork-type screening calculation, characterized by, The method comprises the following steps: obtaining a navigation path; screening road intersections in the navigation path to obtain all road intersections in the navigation path; obtaining associated branch roads corresponding to each road intersection according to the relationship between all the road intersections and preset basic road network data; vectorizing the associated branch roads corresponding to each road intersection to obtain branch road vectors corresponding to each associated branch road; judging the angle of the branch road vectors corresponding to each road intersection to obtain the branch road type corresponding to each associated branch road; in the step of judging the angle of the branch road vectors corresponding to each road intersection, the method comprises the following steps: selecting a direction along the navigation path as a reference direction in all branch road vectors corresponding to each associated branch road; comparing the included angle value formed by the branch road vector to be judged and the reference direction with a preset angle threshold to obtain the branch road type corresponding to each branch road vector to be judged.

2. A method of sizing according to claim 1, wherein after the step of judging the angle of the branch road vectors corresponding to each road intersection to obtain the branch road type corresponding to each associated branch road, the method further comprises the following steps: performing highlight type calculation on the branch road type corresponding to each associated branch road to obtain first information, wherein the first information is the highlight type of each associated branch road; performing arc segment vector conversion on the branch road type corresponding to each associated branch road to obtain second information, wherein the second information is the arc segment vector corresponding to each branch road type; performing highlight type calculation on the second information to obtain third information, wherein the third information is the arc segment highlight vector of each branch road type; updating the navigation path according to the first information and the third information.

3. A method of classifying a distribution according to claim 2, wherein after the step of updating the navigation path according to the first information and the third information, the method further comprises the following steps: performing road section profiling on the navigation path to obtain fourth information, wherein the fourth information is all road section types of the navigation path; performing display range calculation on the fourth information to obtain fifth information, wherein the fifth information is the minimum visible range of all road section types of the navigation path; performing display range calculation on the first information to obtain sixth information, wherein the sixth information is the minimum visible range of the highlight type of each associated branch road; performing calculation according to the fifth information and the sixth information to obtain a comprehensive display range, wherein the comprehensive display range comprises the highlight type of each associated branch road and all road section types of the navigation path.

4. A bifurcation type screening calculation device characterized by, The method comprises the following steps: an obtaining module is configured to obtain a navigation path; a first processing module is configured to screen road intersections in the navigation path to obtain all road intersections in the navigation path; a second processing module is configured to obtain associated branch roads corresponding to each road intersection according to the relationship between all the road intersections and preset basic road network data; a third processing module is configured to vectorize the associated branch roads corresponding to each road intersection to obtain branch road vectors corresponding to each associated branch road; a fourth processing module is configured to judge the angle of the branch road vectors corresponding to each road intersection to obtain the branch road type corresponding to each associated branch road; in the step of judging the angle of the branch road vectors corresponding to each road intersection, the method comprises the following steps: selecting a direction along the navigation path as a reference direction in all branch road vectors corresponding to each associated branch road; comparing the included angle value formed by the branch road vector to be judged and the reference direction with a preset angle threshold to obtain the branch road type corresponding to each branch road vector to be judged. after the step of judging the angle of the branch road vectors corresponding to each road intersection to obtain the branch road type corresponding to each associated branch road, the method further comprises the following steps: performing highlight type calculation on the branch road type corresponding to each associated branch road to obtain first information, wherein the first information is the highlight type of each associated branch road; performing arc segment vector conversion on the branch road type corresponding to each associated branch road to obtain second information, wherein the second information is the arc segment vector corresponding to each branch road type; performing highlight type calculation on the second information to obtain third information, wherein the third information is the arc segment highlight vector of each branch road type; updating the navigation path according to the first information and the third information. after the step of updating the navigation path according to the first information and the third information, the method further comprises the following steps: performing road section profiling on the navigation path to obtain fourth information, wherein the fourth information is all road section types of the navigation path; performing display range calculation on the fourth information to obtain fifth information, wherein the fifth information is the minimum visible range of all road section types of the navigation path; performing display range calculation on the first information to obtain sixth information, wherein the sixth information is the minimum visible range of the highlight type of each associated branch road; performing calculation according to the fifth information and the sixth information to obtain a comprehensive display range, wherein the comprehensive display range comprises the highlight type of each associated branch road and all road section types of the navigation path. In the fourth processing module, a first calculation unit and a second calculation unit are further included, and specifically comprising: The first calculation unit is configured to select a direction along the navigation path as a reference direction in all branch vectors corresponding to each associated branch; The second calculation unit is configured to compare an included angle value formed by a to-be-judged branch vector and the reference direction with a preset angle threshold in each associated branch to obtain a branch type corresponding to each to-be-judged branch vector.

5. The diverging-type sizing calculation device of claim 4, wherein, After the fourth processing module, a fifth processing module is further included, and the fifth processing module comprises: A third calculation unit is configured to perform highlighted type calculation on the branch type corresponding to each associated branch to obtain first information, the first information being a branch highlighted type corresponding to each associated branch; A fourth calculation unit is configured to perform arc segment vector conversion according to the branch type corresponding to each associated branch to obtain second information, the second information being an arc segment vector corresponding to each branch type; A fifth calculation unit is configured to perform highlighted type calculation on the second information to obtain third information, the third information being an arc segment highlighted vector of each branch type; A sixth calculation unit is configured to update the navigation path according to the first information and the third information.

6. The diverging-type sizing calculation device of claim 5, wherein, After the fifth processing module, a sixth processing module is further included, and the sixth processing module comprises: A seventh calculation unit is configured to perform road segment profiling on the navigation path to obtain fourth information, the fourth information being all road segment types of the navigation path; An eighth calculation unit is configured to perform display range calculation on the fourth information to obtain fifth information, the fifth information being a minimum visible range of all road segment types of the navigation path; A ninth calculation unit is configured to perform display range calculation on the first information to obtain sixth information, the sixth information being a minimum visible range of the branch highlighted type corresponding to each associated branch; A tenth calculation unit is configured to calculate a comprehensive display range according to the fifth information and the sixth information, the comprehensive display range including the highlighted type of each associated branch and all road segment types of the navigation path.

7. A fork-type screening computing device, characterized by, Comprise: A memory for storing a computer program; A processor for executing the computer program to implement the steps of the branch type screening calculation method according to any one of claims 1 to 3.

8. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the branch type screening calculation method according to any one of claims 1 to 3.

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