Road network matching method and device

Abstract

The application provides a road network matching method and device, comprising: obtaining a first road network of a target geographic area in a high-definition map and a second road network of the target geographic area in a standard-definition map; wherein the first road network and the second road network comprise intersection nodes, road lines and the relationship between the intersection nodes and the road lines; matching the intersection nodes in the first road network with the intersection nodes in the second road network to obtain a matching relationship of the intersection nodes; and matching the road lines in the first road network with the road lines in the second network according to the matching relationship of the intersection nodes, thereby achieving strong universality through geometric matching of the road network, and being suitable for road network matching in various scenarios and meeting the matching requirements of the standard-definition map and the high-definition map. In addition, the above scheme calculates the context relationship to deduce the matching, and has a rigorous structure and high accuracy.

Description

Technical Field

[0001] This application relates to mapping technology, and more particularly to a road network matching method and device. Background Technology

[0002] With the development of autonomous driving technology, high-definition maps (HDMaps) are also developing rapidly. As the foundation of autonomous driving technology, HDMaps can provide lane-level map data. However, HDMap data typically lacks road attributes. To inherit road attributes from standard-definition maps (SDMaps), road network matching between HDMaps and SDMaps is necessary.

[0003] Commonly used matching algorithms include policy matching and map matching algorithms based on Hidden Markov Models (HMMs). Policy matching relies heavily on road attributes and associated features, while HMM matching algorithms require extensive annotation work. They perform well for road network matching in certain scenarios, and while they are effective for matching road networks and trajectory points, they are not suitable for matching two road networks. Summary of the Invention

[0004] This application provides a road network matching method, including:

[0005] Obtain the first road network of the target geographic area within the high-precision map and the second road network of the target geographic area within the standard-precision map; wherein, the first road network and the second road network include multiple intersection nodes, multiple road lines, and the relationships between intersection nodes and multiple road lines;

[0006] Match the intersection nodes in the first network with the intersection nodes in the second network to obtain the matching relationship of the intersection nodes;

[0007] Match road lines within the first road network and road lines within the second network based on the matching relationships of intersection nodes.

[0008] In some embodiments, matching intersection nodes within a first network with intersection nodes within a second network to obtain matching relationships between intersection nodes specifically includes:

[0009] Establish spatial indexes for the first and second road networks; simplify intersection nodes for the first and second road networks;

[0010] Based on the spatial indexes within the two road networks, determine the set of candidate intersection nodes for the first intersection node in the first road network; the intersection nodes in the candidate intersection node set are the intersection nodes in the second road network.

[0011] The first intersection node and the set of candidate intersection nodes are combined according to the permutation and combination method to obtain multiple sets of intersection node matching schemes; the matching degree of each set of intersection node matching schemes is calculated; and the matching intersection node of the first intersection node is determined from the set of candidate intersection nodes of the first intersection node according to the matching degree.

[0012] In some embodiments, the first intersection node and the set of candidate intersection nodes are combined in a permutation and combination manner to obtain multiple sets of intersection node matching schemes, and the matching degree of each set of intersection node matching schemes is calculated, specifically including:

[0013] Calculate the first in-degree and the second in-degree of the first intersection node and the second intersection node; the second intersection node is an intersection node in the second road network combined with the first intersection node;

[0014] Based on the first in-degree and the second in-degree, the road lines on the first intersection node and the road lines on the second intersection node are arranged and combined to obtain multiple sets of matching schemes for the road lines on the first intersection node and the road lines on the second intersection node.

[0015] Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching schemes of the road lines at the first intersection node and the road lines at the second intersection node in each group.

[0016] In some embodiments, the road lines on the first intersection node and the road lines on the second intersection node are arranged and combined according to a first in-degree and a second in-degree to obtain multiple sets of matching schemes for the road lines on the first intersection node and the road lines on the second intersection node, specifically including:

[0017] When the first in-degree is greater than the second in-degree, select multiple sets of matching road lines from the road lines connected by the first intersection node according to the permutation and combination method;

[0018] For each set of matched road lines, the road lines connecting each set of matched road lines to the second intersection node are arranged and combined in a permutation and combination manner to obtain multiple matching schemes for road lines at the first intersection node and road lines at the second intersection node.

[0019] or

[0020] When the first in-degree is less than the second in-degree, select multiple sets of matching road lines from the road lines connected by the second intersection node according to the permutation and combination method;

[0021] For each set of matched road lines, the road lines connecting each set of matched road lines to the first intersection node are arranged and combined in a permutation and combination manner to obtain multiple matching schemes for road lines at the first intersection node and road lines at the second intersection node.

[0022] In some embodiments, simplifying the intersection nodes of the first road network and the intersection nodes of the second road network specifically includes:

[0023] Within the first or second road network, multiple intersection nodes with a distribution area smaller than a preset area are simplified into one intersection node, and the connecting road lines on the multiple intersection nodes are connected to the simplified intersection node.

[0024] In some embodiments, matching road lines within a first road network and road lines within a second network based on the matching relationship of intersection nodes specifically includes:

[0025] Match the road lines connected to the third intersection node in the first road network with the road lines connected to the fourth intersection node in the second road network that match the third intersection node;

[0026] Match the road lines in the first road network that connect two third intersection nodes with the road lines in the second road network that connect the fourth intersection nodes that match the two third intersection nodes;

[0027] Perform road line matching on the extension relationships of road lines within the first road network and the extension relationships of road lines within the second road network;

[0028] Fuzzy matching is performed on the remaining road lines in the first road network and the remaining road lines in the second road network.

[0029] In some embodiments, matching the road lines connected to the third intersection node in the first road network with the road lines connected to the fourth intersection node in the second road network that matches the third intersection node specifically includes:

[0030] Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching scheme between the road lines at the third intersection node and the road lines at the fourth intersection node in each group;

[0031] The matching scheme with the highest matching degree will be used as the final matching scheme for the road lines at the third intersection node and the fourth intersection node.

[0032] One embodiment of this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0033] The memory stores the instructions that the computer executes;

[0034] The processor executes computer execution instructions stored in memory to implement the road network matching method involved in the above embodiments.

[0035] One embodiment of this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the road network matching method involved in the above embodiment.

[0036] One embodiment of this application provides a computer program product, including a computer program that, when executed by a processor, implements the road network matching method involved in the above embodiments.

[0037] The road network matching method and device provided in this application extract road networks from high-precision maps and standard-precision maps. First, they match intersection nodes in the two road networks, and then match road lines in the two road networks based on the matching relationships of the intersection nodes, thus achieving matching between the road networks of the high-precision map and the standard-precision map. By matching the road network geometrically, it has strong versatility and is suitable for road network matching in various scenarios, meeting the needs of matching standard-precision and high-precision maps. Furthermore, because the above scheme derives the matching based on the relationship of the calculation context, the structure is rigorous and the accuracy is high. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0039] Figure 1 A schematic flowchart of a road network matching method provided in an embodiment of this application;

[0040] Figure 2A Provide a schematic diagram for this application that does not require simplification of intersection nodes;

[0041] Figure 2B Provide a schematic diagram for this application that requires simplification of the intersection nodes;

[0042] Figure 3 A schematic diagram of the spatial index of the road network provided in this application;

[0043] Figure 4 Two simplified intersection node matching diagrams are provided for this application;

[0044] Figure 5A A schematic diagram of the overlapping area of ​​two road lines provided in this application;

[0045] Figure 5B Another schematic diagram of the overlapping area of ​​two road lines provided for this application;

[0046] Figure 5C A schematic diagram illustrating the principle of calculating the distance and angle between two road lines provided in this application;

[0047] Figure 6 A schematic diagram of the road network matching device provided in this application;

[0048] Figure 7 A schematic diagram of the structure of the electronic device provided in this application.

[0049] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0050] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0051] Currently, commonly used road network matching algorithms cannot match high-precision maps with standard-precision maps. Based on the above considerations, this application provides a road network matching method based on road geometry. It calculates the relationship between contexts to derive the matching, resulting in a rigorous structure and high accuracy. It does not rely on road attributes or associated features and can be used for road network matching in both high-precision and standard-precision maps. The method features strong versatility, high accuracy, and high recall.

[0052] like Figure 1 As shown, one embodiment of this application provides a road network matching method, which specifically includes the following steps:

[0053] S101. Obtain a high-precision map and a standard-precision map of the target geographic area, and extract the first road network of the high-precision map and the second road network of the standard-precision map.

[0054] The target geographic area is the geographic area that needs road network matching, and can be set arbitrarily according to requirements. A high-precision map and a standard-precision map of the target geographic area are obtained, and existing road network extraction methods are used to extract the first road network from the high-precision map and the second road network from the standard-precision map.

[0055] Both the first and second road networks include multiple intersection nodes, multiple road lines, and the relationships between these intersection nodes and road lines. The relationship between intersection nodes and road lines refers to the fact that each intersection node can be connected to one or more road lines. The multiple intersection nodes, multiple road lines, and the connections between intersection nodes and road lines form the topology of the road network.

[0056] S102. Match the intersection nodes in the first road network with the intersection nodes in the second road network to obtain the matching relationship of the intersection nodes.

[0057] Specifically, spatial location indexes can be set for intersection nodes in the first road network and intersection nodes in the second road network, and spatial indexes can be set for road lines in the first road network and road lines in the second road network. First, a coarse matching is performed based on the spatial indexes of intersection nodes in the first road network and intersection nodes in the second road network. Then, further intersection matching is performed based on the road lines attached to intersection nodes in the first road network and road lines attached to intersection nodes in the second road network to obtain the matching relationships of the intersection nodes.

[0058] S103. Match road lines in the first road network and road lines in the second network according to the matching relationship of intersection nodes.

[0059] Specifically, the road lines in the first road network and the road lines in the second road network are matched based on the relationship between intersection nodes and road lines in the first road network, the relationship between intersection nodes and road lines in the second road network, and the matching relationship of intersection nodes.

[0060] In the above technical solution, the road network is extracted from the high-precision map and the standard-precision map. First, the intersection nodes in the two road networks are matched, and then the road lines in the two road networks are matched according to the matching relationship of the intersection nodes, so as to realize the matching of the road network of the high-precision map and the road network of the standard-precision map.

[0061] In some embodiments, S102 matches intersection nodes within the first network with intersection nodes within the second network to obtain the matching relationship of the intersection nodes, specifically including:

[0062] S201. Establish spatial indexes for the first road network and the second road network, and simplify the intersection nodes of the first road network and the second road network.

[0063] Specifically, establishing spatial indexes for the two road networks refers to creating spatial location indexes for intersection nodes and road lines in the first road network, and creating spatial location indexes for intersection nodes and road lines in the second road network.

[0064] In the two road networks mentioned above, if the node distribution density is relatively high, the nodes can be simplified. By calculating the area of ​​the distribution region of multiple nodes, if the area of ​​the distribution region of multiple nodes is less than a preset area threshold, the multiple nodes in that distribution region are simplified.

[0065] When simplifying, the area where the simplified intersection is located can be the same as the distribution area of ​​multiple nodes. Then, the road line that is only attached to one node can be attached to the simplified intersection. The road line connecting the two nodes can be used as the internal road line of the simplified intersection, which does not need to be considered when matching the intersection.

[0066] like Figure 2AAs shown, if the distance between an intersection node and other adjacent intersection nodes exceeds a preset distance, then there is no need to simplify the intersection.

[0067] like Figure 2B As shown, if the distance between two adjacent intersection nodes is less than a preset distance, the intersection distribution within that area can be calculated. If the area of ​​the distribution region of three intersection nodes is smaller than a preset area threshold, the three intersection nodes are simplified into one intersection node, marked as the simplified intersection. Road lines connecting only one of the three intersection nodes are attached to the simplified intersection node, represented by dashed lines in the figure. Road lines connecting at least two of the three intersection nodes are marked as internal road lines, represented by solid lines in the figure. These do not need to be considered during intersection node matching.

[0068] S202. Based on the two simplified road network spatial indices, determine the set of candidate intersection nodes for the first intersection node in the first road network.

[0069] Specifically, the simplified intersection nodes in the first road network are marked as first intersection nodes. For each first intersection node, the simplified second road network is used to query intersection nodes with the same spatial index based on the spatial index of the first intersection node. These intersection nodes are then used as candidate intersection nodes for the first intersection node, forming a set of candidate intersection nodes for the first intersection node.

[0070] For example, if the spatial index of a certain first intersection node is geographic location 1, then in the simplified second road network, query the intersection node with the spatial index also being geographic location 1 to obtain the set of candidate intersection nodes for that first intersection node.

[0071] The spatial index for each intersection node or road line has a larger range than the area where the intersection node is located. This is because coordinates may vary due to different sources. The difference between the two ranges can be within 20-50 meters, preferably 30 meters. Figure 3 As shown, the thick dashed lines represent the road lines within the first road network, and the thin solid lines represent the road lines within the second road network. The established spatial index range is the area within the dashed box, and the range of the area within the dashed box is larger than the range of the area within the thick dashed line.

[0072] In some embodiments, according to the matching principle of intersection nodes of the same type, simplified intersection nodes in the first road network are preferentially selected as candidate intersection nodes in the second road network, and intersection nodes in the first road network that are not simplified are preferentially selected as candidate intersection nodes in the second road network.

[0073] like Figure 4 As shown, the solid lines represent intersections within the first road network, which are complex intersections. The dashed lines represent intersections within the second road network, which are also complex intersections; intersections of the same type are matched together.

[0074] S203. Combine the first intersection node and the set of candidate intersection nodes according to the permutation and combination method to obtain multiple sets of intersection node matching schemes; calculate the matching degree of each set of intersection node matching schemes; determine the matching intersection node of the first intersection node from the set of candidate intersection nodes of the intersection node according to the matching degree.

[0075] If each first intersection node has a set of candidate intersection nodes including n intersection nodes, then arranging these n intersection nodes with the first intersection node will yield n intersection combination schemes. That is, the combination scheme of intersection node 1 with the first intersection node, the combination scheme of intersection node 2 with the first intersection node, and so on.

[0076] After obtaining multiple sets of intersection node matching schemes, the matching degree of each set of intersection node matching schemes is calculated, and the matching intersection node of the first intersection node is determined from the candidate intersection node set according to the matching degree.

[0077] In the above technical solution, when matching intersection nodes, the intersection nodes with higher distribution density in the two road networks are simplified. The simplified first road network and the simplified second road network are used to match intersection nodes, reducing the number of intersection nodes. A spatial index is configured for each intersection node for matching, which can simplify the matching process.

[0078] In some embodiments, S203, the first intersection node and the candidate intersection node set are combined according to a permutation and combination method to obtain multiple sets of intersection node matching schemes, and the matching degree of each set of intersection node matching schemes is calculated, specifically including:

[0079] In a set of intersection node matching schemes, a set of intersection nodes is marked as the first intersection node and the second intersection node. The second intersection node is an intersection node within the second road network.

[0080] S301. Calculate the first in-degree and out-degree of the first intersection node and the second in-degree and out-degree of the second intersection node.

[0081] Road lines are further divided into entry roads and exit roads. Entry roads are those that flow towards the road node, while exit roads are those that flow out of the road node. The in-degree refers to the total number of entry and exit roads at an intersection node. For example, if the first intersection node has 3 entry roads and 3 exit roads, then the first in-degree of the first intersection node is 6. If the second intersection node has 2 entry roads and 2 exit roads, then the first in-degree of the second intersection node is 4.

[0082] S302. Based on the first in-degree and the second in-degree, the road lines on the first intersection node and the road lines on the second intersection node are arranged and combined to obtain multiple sets of matching schemes for the road lines on the first intersection node and the road lines on the second intersection node.

[0083] Specifically, when the first in-degree is greater than the second in-degree, multiple sets of matching road lines are selected from the road lines connected to the first intersection node according to a permutation and combination method. For each set of matching road lines, each set of matching road lines is permuted and combined with the road lines connected to the second intersection node according to a permutation and combination method to obtain multiple matching schemes for the road lines on the first intersection node and the road lines on the second intersection node.

[0084] For example: if the first in-degree is 6 and the second in-degree is 4, and 4 roads are selected from the 6 roads connected by the first intersection node as matching roads, then there are C6 matching roads. 4 Group. Arrange and combine the 4 matching road lines with the 4 road lines connected to the second intersection node to obtain 4! groups of matching schemes for the road lines at the first and second intersection nodes. For a group of intersection node combinations, C6 can be obtained. 4 ×4! Group matching scheme.

[0085] When the first in-degree is less than the second in-degree, multiple sets of matching road lines are selected from the road lines connected to the second intersection node according to the permutation and combination method. For each set of matching road lines, the matching road lines are permuted and combined with the road lines connected to the first intersection node according to the permutation and combination method to obtain multiple matching schemes of road lines on the first intersection node and road lines on the second intersection node.

[0086] S303. Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching scheme of the road lines at the first intersection node and the road lines at the second intersection node in each group.

[0087] If there is an overlapping area between two road lines, multiple calculation points are taken in the overlapping area of ​​one of the road lines. Each calculation point is projected onto the other road line, and the projected distance and azimuth angle of each calculated point are calculated. The distance between the two road lines is calculated based on the projected distances of the multiple calculation points, and the angle between the two road lines is calculated based on the azimuth angles of the projected points. The matching probability is calculated based on the distance and angle between the road lines, and the matching probability represents the degree of matching of the matching schemes of the road lines at the first intersection node and the road lines at the second intersection node for each pair of intersections.

[0088] In some embodiments, the distance between two road lines is obtained by statistically analyzing the projected distances of multiple calculation points. The included angle between the two road lines is obtained by statistically analyzing the azimuth angles of the projected points of multiple calculation points.

[0089] In some embodiments, the distances between road lines and the angles between road lines are fused according to preset calculation rules to obtain the matching probability. For example, the distances between road lines and the angles between road lines are normalized, and then the normalized data is weighted and averaged to obtain the matching probability.

[0090] like Figure 5A and Figure 5B There are two overlapping regions, such as Figure 5C As shown, when calculating the distance and angle between two road lines, six calculation points are used, and the projected azimuth angle θ and projected distance d are calculated for each point. The six projected azimuth angles are labeled θ1, θ2, ..., θ6, and the six projected distances are labeled d1, d2, ..., d6, respectively.

[0091] In some embodiments, S103, matching road lines within the first road network and road lines within the second network according to the matching relationship of intersection nodes, specifically includes:

[0092] S401. Match the road lines connected to the third intersection node in the first road network with the road lines connected to the fourth intersection node in the second road network that match the third intersection node.

[0093] The following specific implementation method is used for road line matching:

[0094] S501. Obtain the third in-degree and fourth in-degree of the third intersection node and the fourth in-degree and fourth in-degree. Based on the third in-degree and fourth in-degree, arrange and combine the road lines on the third intersection node and the road lines on the fourth intersection node to obtain multiple matching schemes for the road lines on the third intersection node and the road lines on the fourth intersection node.

[0095] This step is similar to the implementation of S302, and will not be described in detail here.

[0096] S502. Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching scheme between the road lines at the third intersection node and the road lines at the fourth intersection node in each group.

[0097] This step is similar to the implementation of S303, and will not be described in detail here.

[0098] S503. The matching scheme with the highest matching degree shall be used as the final matching scheme for the road lines at the third intersection node and the fourth intersection node.

[0099] The above method enables the matching of connecting road lines on two already matched intersection nodes.

[0100] S402. Match the road lines in the first road network that connect two third intersection nodes with the road lines in the second road network that connect the fourth intersection nodes that match the two third intersection nodes.

[0101] Specifically, by traversing the connecting routes between two third intersection nodes, the optimal matching road line is found within the connecting routes between fourth intersection nodes for each connecting route between the two third intersection nodes. The maximum likelihood method can be used for evaluation.

[0102] S403. Perform road line matching based on the extension relationship of road lines in the first road network and the extension relationship of road lines in the second road network.

[0103] Specifically, for a road line that has already been matched, two road lines within the same road network are matched based on the extension relationship between the matched road line and other road lines.

[0104] S404. Perform fuzzy matching on the remaining road lines in the first road network and the remaining road lines in the second road network.

[0105] After the above matching scheme, the number of unmatched road lines in the first and second road networks is not large, so fuzzy matching can be performed. For example, matching can be based on factors such as minimum angle difference, longest overlapping segment length, smoothest change in the projection distance of the overlapping segment, and minimum elevation difference. Since the previous steps have already matched most road lines, the error of the final fuzzy matching will be very low.

[0106] In the above technical solution, a road network is first created, and intersection nodes and road lines connecting to these nodes are matched. Then, the shortest path search method is used to match connecting road lines between two intersections. Next, the known matched road lines are extended and deduced. Finally, the remaining road network is fuzzy matched, achieving geometric matching of the road network. After matching, road attributes are mined from the high-precision map data. This method is highly versatile and suitable for road network matching in various scenarios, meeting the needs of matching high-precision and low-precision maps. It plays an indispensable role in the automatic intelligence production and automatic fusion process. Furthermore, because the above solution derives the matching based on the relationship of the calculation context, the structure is rigorous and the accuracy is high.

[0107] like Figure 6 As shown, this application provides a road network matching device 500, which includes:

[0108] The acquisition module 501 is used to acquire the first road network of the target geographic area within the high-precision map and the second road network of the target geographic area within the standard-precision map; wherein, the first road network and the second road network include multiple intersection nodes, multiple road lines, and the relationships between multiple intersection nodes and multiple road lines;

[0109] Processing module 502 is used to match intersection nodes in the first network with intersection nodes in the second network to obtain the matching relationship of the intersection nodes; and

[0110] Match road lines within the first road network and road lines within the second network based on the matching relationships of intersection nodes.

[0111] In some embodiments, the processing module 502 is specifically used for:

[0112] Simplify the intersection nodes of the first road network and the second road network, and establish spatial indexes for the first road network and the second road network;

[0113] Based on the spatial indexes within the two road networks, determine the set of candidate intersection nodes for the first intersection node in the first road network; the intersection nodes in the candidate intersection node set are the intersection nodes in the second road network.

[0114] The first intersection node and the set of candidate intersection nodes are combined according to the permutation and combination method to obtain multiple sets of intersection node matching schemes; the matching degree of each set of intersection node matching schemes is calculated; and the matching intersection node of the first intersection node is determined from the set of candidate intersection nodes of the intersection node according to the matching degree.

[0115] In some embodiments, the processing module 502 is specifically used for:

[0116] Calculate the first in-degree and the second in-degree of the first intersection node and the second intersection node; the second intersection node is an intersection node in the second road network combined with the first intersection node;

[0117] Based on the first in-degree and the second in-degree, the road lines on the first intersection node and the road lines on the second intersection node are arranged and combined to obtain multiple sets of matching schemes for the road lines on the first intersection node and the road lines on the second intersection node.

[0118] Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching schemes of the road lines at the first intersection node and the road lines at the second intersection node in each group.

[0119] In some embodiments, the processing module 502 is specifically used for:

[0120] When the first in-degree is greater than the second in-degree, select multiple sets of matching road lines from the road lines connected by the first intersection node according to the permutation and combination method;

[0121] For each set of matched road lines, the road lines connecting each set of matched road lines to the second intersection node are arranged and combined in a permutation and combination manner to obtain multiple matching schemes for road lines at the first intersection node and road lines at the second intersection node.

[0122] or

[0123] When the first in-degree is less than the second in-degree, select multiple sets of matching road lines from the road lines connected by the second intersection node according to the permutation and combination method;

[0124] For each set of matched road lines, the road lines connecting each set of matched road lines to the first intersection node are arranged and combined in a permutation and combination manner to obtain multiple matching schemes for road lines at the first intersection node and road lines at the second intersection node.

[0125] In some embodiments, the processing module 502 is specifically used for:

[0126] Within the first or second road network, multiple intersection nodes with a distribution area smaller than a preset area are simplified into one intersection node, and the connecting road lines on the multiple intersection nodes are connected to the simplified intersection node.

[0127] In some embodiments, the processing module 502 is specifically used for:

[0128] Match the road lines connected to the third intersection node in the first road network with the road lines connected to the fourth intersection node in the second road network that match the third intersection node;

[0129] Match the road lines in the first road network that connect two third intersection nodes with the road lines in the second road network that connect the fourth intersection nodes that match the two third intersection nodes;

[0130] Perform road line matching on the extension relationships of road lines within the first road network and the extension relationships of road lines within the second road network;

[0131] Fuzzy matching is performed on the remaining road lines in the first road network and the remaining road lines in the second road network.

[0132] In some embodiments, the processing module 502 is specifically used for:

[0133] Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching scheme between the road lines at the third intersection node and the road lines at the fourth intersection node in each group;

[0134] The matching scheme with the highest matching degree will be used as the final matching scheme for the road lines at the third intersection node and the fourth intersection node.

[0135] like Figure 7 As shown, one embodiment of this application provides an electronic device 600, which includes a memory 601 and a processor 602.

[0136] Among them, memory 601 is used to store computer instructions that can be executed by the processor;

[0137] The processor 602 implements the various steps of the method in the above embodiments when executing computer instructions. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0138] Optionally, the memory 601 can be either independent or integrated with the processor 602. When the memory 601 is configured independently, the electronic device also includes a bus for connecting the memory 601 and the processor 602.

[0139] This application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the methods described above.

[0140] This application also provides a computer program product, including computer instructions that, when executed by a processor, implement the various steps in the methods described above.

[0141] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0142] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A road network matching method, characterized in that, include: Obtain a first road network of the target geographic area within a high-precision map and a second road network of the target geographic area within a standard-precision map; wherein the first road network and the second road network include multiple intersection nodes, multiple road lines, and the relationships between the multiple intersection nodes and the multiple road lines; The intersection nodes in the first road network are matched with the intersection nodes in the second road network to obtain the matching relationship of the intersection nodes; wherein, the matching intersection nodes of the first intersection node in the first road network are determined from the set of candidate intersection nodes of the first intersection node based on the matching degree of the matching scheme of the road lines of each group of intersection nodes; the matching degree of the matching scheme of the road lines of each group of intersection nodes is calculated based on the distance between the road lines of the first intersection node and the road lines of the second intersection node in the second road network, and the angle between the road lines of the first intersection node and the road lines of the second intersection node; multiple sets of intersection node matching schemes are obtained by combining the first intersection node and the set of candidate intersection nodes in a permutation and combination manner; the intersection nodes in the set of candidate intersection nodes are intersection nodes in the second road network; wherein, if the If there is an overlapping area between the road lines at the first intersection node and the road lines at the second intersection node, then multiple calculation points are taken in the overlapping area of ​​one of the road lines. Each calculation point is projected onto the other road line to obtain the projection distance and the azimuth angle of the projection point. The distance between the road lines at the first intersection node and the road lines at the second intersection node is calculated based on the projection distance of the multiple calculation points, and the angle between the road lines at the first intersection node and the road lines at the second intersection node is calculated based on the azimuth angle of the projection points. The matching probability is calculated based on the distance between the road lines at the first intersection node and the road lines at the second intersection node, and the angle between the road lines at the first intersection node and the road lines at the second intersection node. The matching probability represents the matching degree of each matching scheme of the road lines at the first intersection node and the road lines at the second intersection node. Match the road lines in the first road network and the road lines in the second road network according to the matching relationship of the intersection nodes.

2. The road network matching method according to claim 1, characterized in that, Also includes: Establish spatial indexes for the first road network and the second road network; Simplify the intersection nodes of the first road network and the intersection nodes of the second road network; Based on the two spatial indices within the road network, determine the set of candidate intersection nodes for the first intersection node within the first road network.

3. The road network matching method according to claim 2, characterized in that, Also includes: Calculate the first in-degree and out-degree of the first intersection node and the second in-degree and out-degree of the second intersection node; The second intersection node is an intersection node in the second road network that is combined with the first intersection node; Based on the first in-degree and the second in-degree, the road lines on the first intersection node and the road lines on the second intersection node are arranged and combined to obtain multiple matching schemes for the road lines on the first intersection node and the road lines on the second intersection node.

4. The road network matching method according to claim 3, characterized in that, Based on the first in-degree and the second in-degree, the road lines on the first intersection node and the road lines on the second intersection node are arranged and combined to obtain multiple matching schemes for the road lines on the first intersection node and the road lines on the second intersection node, specifically including: When the first in-degree is greater than the second in-degree, multiple sets of matching road lines are selected from the road lines connected by the first intersection node according to the permutation and combination method. For each set of matched road lines, the road lines connecting each set of matched road lines to the second intersection node are arranged and combined in a permutation and combination manner to obtain multiple matching schemes of road lines on the first intersection node and road lines on the second intersection node; or When the first in-degree is less than the second in-degree, multiple sets of matching road lines are selected from the road lines connected by the second intersection node according to the permutation and combination method; For each set of matched road lines, the road lines connecting each set of matched road lines to the first intersection node are arranged and combined in a permutation and combination manner to obtain multiple matching schemes for the road lines on the first intersection node and the road lines on the second intersection node.

5. The road network matching method according to claim 2, characterized in that, Simplifying the intersection nodes of the first road network and the second road network specifically includes: Within the first or second road network, multiple intersection nodes with a distribution area smaller than a preset area are simplified into one intersection node, and the connecting road lines on the multiple intersection nodes are connected to the simplified intersection node.

6. The road network matching method according to claim 1, characterized in that, Matching road lines within the first road network and road lines within the second road network based on the matching relationship of the intersection nodes, specifically including: Match the road line connected to the third intersection node in the first road network with the road line connected to the fourth intersection node in the second road network that matches the third intersection node; Match the road lines in the first road network that connect the two third intersection nodes with the road lines in the second road network that connect the fourth intersection nodes that match the two third intersection nodes; Perform road line matching on the extension relationships of road lines in the first road network and the extension relationships of road lines in the second road network; Fuzzy matching is performed on the remaining road lines in the first road network and the remaining road lines in the second road network.

7. The road network matching method according to claim 6, characterized in that, Matching the road lines connected to the third intersection node in the first road network with the road lines connected to the fourth intersection node in the second road network that matches the third intersection node specifically includes: Based on the distance between road lines and the angle between road lines, calculate the matching degree of the matching scheme between the road lines at the third intersection node and the road lines at the fourth intersection node in each group; The matching scheme with the highest matching degree will be used as the final matching scheme for the road lines on the third intersection node and the road lines on the fourth intersection node.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the road network matching method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the road network matching method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the road network matching method according to any one of claims 1 to 7.

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