Road network model generation method, device and equipment

Abstract

Embodiments of the present application provide a kind of road network model generation method, device and equipment, the method can include: obtaining initial road network data;According to initial road network data, the at least two simulation road networks corresponding to first geographic area are generated, and the elements included in at least two simulation road networks are different;Determine the road network mapping relationship between at least two simulation road networks;According to at least two simulation road networks and road network mapping relationship, generate target simulation road network.The efficiency of generating road network model is improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus and device for generating road network models. Background Technology

[0002] In some traffic scenarios, road network models can be used to simulate traffic conditions in order to analyze traffic management measures and improve traffic management.

[0003] In related technologies, road network models are typically constructed manually in simulation software. However, the road network models constructed in this process have limited simulation effects on traffic scenarios, and the efficiency of constructing large-scale road network models is low. Summary of the Invention

[0004] This application provides a method, apparatus, and device for generating road network models, thereby improving the efficiency of generating road network models.

[0005] In a first aspect, embodiments of this application provide a method for generating a road network model, the method comprising:

[0006] Obtain initial road network data;

[0007] Based on the initial road network data, at least two simulated road networks corresponding to the first geographical region are generated, wherein the at least two simulated road networks include different elements;

[0008] Determine the road network mapping relationship between the at least two simulated road networks;

[0009] A target simulated road network is generated based on the at least two simulated road networks and the road network mapping relationship.

[0010] In one possible implementation, the at least two simulated road networks include a macroscopic simulated road network and a microscopic simulated road network. The macroscopic simulated road network includes road elements and intersection elements, and the microscopic simulated road network includes at least road segment elements and lane elements.

[0011] Based on the initial road network data, at least two simulated road networks corresponding to the first geographical region are generated, including:

[0012] The initial road network data is transformed to obtain the target road network data, wherein the target road network data uses an inertial coordinate system.

[0013] In the target road network data, multiple road node data, multiple road segment data, and multiple lane data are determined;

[0014] The macroscopic simulation road network is generated based on the data of the multiple road nodes;

[0015] The system generates multiple road segment elements based on the multiple road segment data, and generates multiple lane elements based on the multiple lane data, and generates the microscopic simulated road network based on the multiple road segment elements and the multiple lane elements.

[0016] In one possible implementation, the road node data includes road node coordinates, road node connection relationships, and driving directions between two road nodes with a road node connection relationship; generating the macroscopic simulation road network based on the plurality of road node data includes:

[0017] The multiple intersection elements are generated based on the road node coordinates in the multiple road node data;

[0018] Based on the road node connection relationship and the driving direction between two road nodes with a road node connection relationship, the multiple intersection elements are processed by one-way or two-way connection to obtain the multiple road elements.

[0019] In one possible implementation, the road segment data includes a sequence of road segment centerline coordinates and a road segment width; for any given road segment data, generating the road segment element based on the road segment data includes:

[0020] The centerline of the road segment is determined based on the coordinate sequence of the road segment centerline.

[0021] The edge line of the road segment is determined based on the center line of the road segment and the width of the road segment;

[0022] The road segment element is generated based on the road segment centerline and the road segment edgeline.

[0023] In one possible implementation, the lane data includes a sequence of lane centerline coordinates and a lane width; for any given lane data, generating the lane element based on the lane data includes:

[0024] The lane centerline is determined based on the lane centerline coordinate sequence.

[0025] The lane edge line is determined based on the lane center line and the lane width;

[0026] The lane element is generated based on the lane edge line.

[0027] In one possible implementation, the road segment element includes a straight road segment element and a connecting road segment element, the connecting road segment element being used to connect different road segment elements; the lane element includes a straight lane element and a connecting lane element, the connecting lane element being used to connect different lane elements.

[0028] The microscopic simulated road network is generated based on the plurality of road elements and the plurality of lane elements, including:

[0029] Determine at least one set of connecting road segment elements from multiple connecting road segment elements, wherein the connecting road segment elements in the set of connecting road segment elements correspond to the same intersection;

[0030] Determine at least one set of connecting lane elements from a plurality of connecting lane elements, wherein the connecting lane elements in the set of connecting lane elements correspond to the same intersection element;

[0031] Traffic flow conflict information is determined based on the at least one set of connecting road segment elements and the at least one set of connecting lane elements;

[0032] The microscopic simulated road network is generated based on multiple straight road segment elements, multiple straight lane elements, and the traffic flow conflict information, wherein the microscopic simulated road network also includes the traffic flow conflict information.

[0033] In one possible implementation, determining traffic flow conflict information based on the at least one set of connecting road segment elements and the at least one set of connecting lane elements includes:

[0034] For any set of connecting road segment elements, determine the polygons corresponding to each connecting road segment element in the set of connecting road segment elements to obtain multiple polygons; the union of the multiple polygons is determined as the traffic flow conflict zone;

[0035] For any set of connecting lane elements, determine the driving direction corresponding to each connecting lane element in the set of connecting lane elements, as well as the intersection point between different connecting lane elements in the set of connecting lane elements, and generate conflict point information based on the driving direction corresponding to each connecting lane element and the intersection point between different connecting lane elements.

[0036] The traffic flow conflict information includes the traffic flow conflict zone and the conflict point information.

[0037] In one possible implementation, the initial road network data is subjected to coordinate transformation to obtain target road network data, including:

[0038] Determine the first geographical region corresponding to the initial road network data;

[0039] Determine the projection center in the first geographic region;

[0040] Based on the projection center, the initial road network data is transformed using the equidistant azimuth projection method to obtain the target road network data.

[0041] In one possible implementation, the microscopic simulated road network further includes multiple traffic flow conflict information; determining the road network mapping relationship between the at least two simulated road networks includes:

[0042] Determine the first mapping relationship between the plurality of intersection elements and the plurality of traffic flow conflict zones;

[0043] Determine a second mapping relationship between the plurality of road elements and the plurality of road segment elements;

[0044] The road network mapping relationship includes the first mapping relationship and the second mapping relationship.

[0045] In one possible implementation, generating a target simulated road network based on the at least two simulated road networks and the road network mapping relationship includes:

[0046] Supplementary elements are constructed in the microscopic simulated road network, and the supplementary elements include at least one of traffic facility elements, traffic control elements, dynamic routing elements, and data collection elements;

[0047] The target simulated road network is generated based on the macroscopic simulated road network, the microscopic simulated road network, the road network mapping relationship, and the supplementary elements.

[0048] In one possible implementation, the initial road network data is high-precision road network data.

[0049] Secondly, embodiments of this application provide a road network model generation device, the device comprising: an acquisition module, a first generation module, a determination module, and a second generation module, wherein...

[0050] The acquisition module is used to acquire initial road network data;

[0051] The first generation module is used to generate at least two simulated road networks corresponding to the first geographical region based on the initial road network data, wherein the at least two simulated road networks include different elements;

[0052] The determining module is used to determine the road network mapping relationship between the at least two simulated road networks;

[0053] The second generation module is used to generate a target simulated road network based on the at least two simulated road networks and the road network mapping relationship.

[0054] In one possible implementation, the at least two simulated road networks include a macroscopic simulated road network and a microscopic simulated road network. The macroscopic simulated road network includes road elements and intersection elements, and the microscopic simulated road network includes at least road segment elements and lane elements. The first generation module is specifically used for:

[0055] The initial road network data is transformed to obtain the target road network data, wherein the target road network data uses an inertial coordinate system.

[0056] In the target road network data, multiple road node data, multiple road segment data, and multiple lane data are determined;

[0057] The macroscopic simulation road network is generated based on the data of the multiple road nodes;

[0058] The system generates multiple road segment elements based on the multiple road segment data, and generates multiple lane elements based on the multiple lane data, and generates the microscopic simulated road network based on the multiple road segment elements and the multiple lane elements.

[0059] In one possible implementation, the road node data includes road node coordinates, road node connection relationships, and driving directions between two road nodes with a road node connection relationship; the first generation module is specifically used for:

[0060] The multiple intersection elements are generated based on the road node coordinates in the multiple road node data;

[0061] Based on the road node connection relationship and the driving direction between two road nodes with a road node connection relationship, the multiple intersection elements are processed by one-way or two-way connection to obtain the multiple road elements.

[0062] In one possible implementation, the road segment data includes a sequence of road segment centerline coordinates and a road segment width; the first generation module is specifically used for:

[0063] The centerline of the road segment is determined based on the coordinate sequence of the road segment centerline.

[0064] The edge line of the road segment is determined based on the center line of the road segment and the width of the road segment;

[0065] The road segment element is generated based on the road segment centerline and the road segment edgeline.

[0066] In one possible implementation, the lane data includes a lane centerline coordinate sequence and a lane width; the first generation module is specifically used for:

[0067] The lane centerline is determined based on the lane centerline coordinate sequence.

[0068] The lane edge line is determined based on the lane center line and the lane width;

[0069] The lane element is generated based on the lane edge line.

[0070] In one possible implementation, the road segment element includes a straight-through road segment element and a connecting road segment element, the connecting road segment element being used to connect different road segment elements; the lane element includes a straight-through lane element and a connecting lane element, the connecting lane element being used to connect different lane elements; the first generation module is specifically used for:

[0071] Determine at least one set of connecting road segment elements from multiple connecting road segment elements, wherein the connecting road segment elements in the set of connecting road segment elements correspond to the same intersection;

[0072] Determine at least one set of connecting lane elements from a plurality of connecting lane elements, wherein the connecting lane elements in the set of connecting lane elements correspond to the same intersection element;

[0073] Traffic flow conflict information is determined based on the at least one set of connecting road segment elements and the at least one set of connecting lane elements;

[0074] The microscopic simulated road network is generated based on multiple straight road segment elements, multiple straight lane elements, and the traffic flow conflict information, wherein the microscopic simulated road network also includes the traffic flow conflict information.

[0075] In one possible implementation, the first generation module is specifically used for:

[0076] For any set of connecting road segment elements, determine the polygons corresponding to each connecting road segment element in the set of connecting road segment elements to obtain multiple polygons; the union of the multiple polygons is determined as the traffic flow conflict zone;

[0077] For any set of connecting lane elements, determine the driving direction corresponding to each connecting lane element in the set of connecting lane elements, as well as the intersection point between different connecting lane elements in the set of connecting lane elements, and generate conflict point information based on the driving direction corresponding to each connecting lane element and the intersection point between different connecting lane elements.

[0078] The traffic flow conflict information includes the traffic flow conflict zone and the conflict point information.

[0079] In one possible implementation, the first generation module is specifically used for:

[0080] Determine the first geographical region corresponding to the initial road network data;

[0081] Determine the projection center in the first geographic region;

[0082] Based on the projection center, the initial road network data is transformed using the equidistant azimuth projection method to obtain the target road network data.

[0083] In one possible implementation, the microscopic simulated road network further includes multiple traffic flow conflict information; the determining module is specifically used for:

[0084] Determine the first mapping relationship between the plurality of intersection elements and the plurality of traffic flow conflict zones;

[0085] Determine a second mapping relationship between the plurality of road elements and the plurality of road segment elements;

[0086] The road network mapping relationship includes the first mapping relationship and the second mapping relationship.

[0087] In one possible implementation, the second generation module is specifically used for:

[0088] Supplementary elements are constructed in the microscopic simulated road network, and the supplementary elements include at least one of traffic facility elements, traffic control elements, dynamic routing elements, and data collection elements;

[0089] The target simulated road network is generated based on the macroscopic simulated road network, the microscopic simulated road network, the road network mapping relationship, and the supplementary elements.

[0090] In one possible implementation, the initial road network data is high-precision road network data.

[0091] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0092] The memory stores computer-executed instructions;

[0093] The processor executes computer execution instructions stored in the memory, causing the processor to perform the road network model generation method according to any one of the first aspects.

[0094] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the road network model generation method described in any of the first aspects.

[0095] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the road network model generation method shown in any of the first aspects.

[0096] This application provides a method, apparatus, and device for generating a road network model. The electronic device can acquire initial road network data and generate at least two simulated road networks corresponding to a first geographical region based on the initial road network data. The electronic device can determine the road network mapping relationship between the at least two simulated road networks and generate a target simulated road network based on the at least two simulated road networks and the road network mapping relationship. Since the target simulated road network can include at least two simulated road networks at different levels, it can effectively and comprehensively represent the road network, improving the representation effect of traffic scenarios; and the electronic device can automatically generate the target simulated road network based on the initial road network data, improving the efficiency of generating the road network model. Attached Figure Description

[0097] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0098] Figure 1 A schematic diagram illustrating an application scenario provided for an exemplary embodiment of this application;

[0099] Figure 2 A flowchart illustrating a road network model generation method provided for an exemplary embodiment of this application;

[0100] Figure 3A A schematic diagram of a macroscopic simulated road network provided for an exemplary embodiment of this application;

[0101] Figure 3B A schematic diagram of a microscopic simulated road network provided for an exemplary embodiment of this application;

[0102] Figure 4 A flowchart illustrating another road network model generation method provided for an exemplary embodiment of this application;

[0103] Figure 5 A schematic diagram of the projection center provided for an exemplary embodiment of this application;

[0104] Figure 6 A schematic diagram of generated road segment elements provided for an exemplary embodiment of this application;

[0105] Figure 7 A schematic diagram of generated lane elements provided for an exemplary embodiment of this application;

[0106] Figure 8A Schematic diagram of connecting road segment elements and connecting lane elements provided for exemplary embodiments of this application Figure 1 ;

[0107] Figure 8BSchematic diagram of connecting road segment elements and connecting lane elements provided for exemplary embodiments of this application Figure 2 ;

[0108] Figure 9A A schematic diagram of a set of connecting road segment elements provided for an exemplary embodiment of this application;

[0109] Figure 9B A schematic diagram of a set of connecting lane elements provided for an exemplary embodiment of this application;

[0110] Figure 10 A schematic diagram of a traffic flow conflict zone provided for an exemplary embodiment of this application;

[0111] Figure 11 A schematic diagram illustrating conflict point information provided for an exemplary embodiment of this application;

[0112] Figure 12 Explanatory diagrams of supplementary elements provided for exemplary embodiments of this application;

[0113] Figure 13 A schematic diagram illustrating the process of a road network model generation method provided as an exemplary embodiment of this application;

[0114] Figure 14 A schematic diagram of the structure of a road network model generation device provided as an exemplary embodiment of this application;

[0115] Figure 15 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application. Detailed Implementation

[0116] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0117] Figure 1 This is a schematic diagram illustrating an application scenario provided for an exemplary embodiment of this application. Please refer to [link / reference]. Figure 1 The electronic device can acquire initial road network data and generate a target simulated road network corresponding to the first geographic region based on the initial road network data. For example, the electronic device can generate a target simulated road network for city 1 based on the initial road network data for city 1.

[0118] The target simulated road network may include at least two simulated road networks. These two simulated road networks may be at different levels. For example, the target simulated road network may include simulated road network 1 and simulated road network 2, and simulated road network 2 may be at a different level than simulated road network 1. For example, compared to simulated road network 1, simulated road network 2 may have higher road accuracy and more comprehensive road information.

[0119] In related technologies, road network models are typically constructed manually in simulation software. However, the road network models constructed in this process have limited simulation effects on traffic scenarios, and the efficiency of constructing large-scale road network models is low.

[0120] In this embodiment, the electronic device can acquire initial road network data and generate at least two simulated road networks based on the initial road network data. Then, it can generate a target simulated road network based on the at least two simulated road networks and the road network mapping relationship between them. Since the target simulated road network can include at least two simulated road networks at different levels, it can effectively and comprehensively represent the road network, improving the representation of traffic scenarios. Furthermore, the electronic device can automatically generate the target simulated road network based on the initial road network data, improving the efficiency of generating the road network model.

[0121] The technical solutions shown in this application will now be described in detail through specific embodiments. It should be noted that the following embodiments may exist independently or in combination with each other; for identical or similar content, the description will not be repeated in different embodiments.

[0122] Figure 2 This is a flowchart illustrating a road network model generation method provided as an exemplary embodiment of this application. Please refer to [link / reference]. Figure 2 The method may include:

[0123] S201. Obtain initial road network data.

[0124] The execution subject of this application embodiment can be an electronic device or a road network model generation device installed in an electronic device. The road network model generation device can be implemented by software or by a combination of software and hardware. The road network model generation device can be a processor in an electronic device. For ease of understanding, the following description will use an electronic device as the execution subject.

[0125] The initial road network data can be the road network data corresponding to the first geographic region. For example, if the first geographic region is city 1, then the initial road network data can be the road network data corresponding to city 1.

[0126] Optionally, the initial road network data can be high-precision road network data. High-precision road network data is road network data with high-precision geometric and attribute information on road networks, lane networks, and road facilities. Using high-precision road network data can make the simulation data for building the road network model more accurate.

[0127] Optionally, the electronic device can obtain the initial road network data file in the Geography Information System – Transportation (GIS-T) through an application programming interface or offline download, and parse the initial road network data file to obtain the initial road network data.

[0128] S202. Based on the initial road network data, generate at least two simulated road networks corresponding to the first geographical region.

[0129] In one alternative embodiment, at least two simulated road networks may include a macroscopic simulated road network and a microscopic simulated road network.

[0130] A macroscopic road network simulation can be the result of a simplified simulation of a road network over a large area. For example, a macroscopic road network simulation could be the result of a simulation of the main roads in a city.

[0131] A microscopic road network simulation can be the result of a detailed simulation of a road network over a relatively small area. For example, a microscopic road network simulation can be the result of a simulation of a specific street.

[0132] To generate multi-level, multi-resolution road network models while balancing generation efficiency and accuracy, macroscopic and microscopic simulation road networks can be generated based on high-precision road network data. This allows for the use of macroscopic simulation road networks across the entire simulation area and microscopic simulation road networks in key simulation areas.

[0133] Below, in conjunction with Figure 3A The macroscopic simulation road network is explained; combined with Figure 3B The microscopic simulated road network is explained.

[0134] Figure 3A This is a schematic diagram of a macroscopically simulated road network provided for an exemplary embodiment of this application. Please refer to... Figure 3A The macroscopic simulation of the road network can include road elements and intersection elements.

[0135] Road elements can have corresponding travel directions, road types, and traffic capacity. Road types can include national highways, provincial highways, county roads, township roads, expressways, and urban roads. Traffic capacity indicates the number of vehicles that can pass through per hour. For example, the traffic capacity of road 1 can be 500 vehicles / hour.

[0136] Figure 3B This is a schematic diagram of a microscopic simulated road network provided for an exemplary embodiment of this application. Please refer to [link / reference]. Figure 3B The microscopic simulated road network can include road segment elements, lane elements, sidewalk elements, and signalized stop line elements, etc.

[0137] The road segment element can be used to indicate that the road segment is a slow-down section, a congested section, etc.

[0138] Lane elements can have corresponding lane types. Lane types can include left lane, right lane, middle lane, etc.

[0139] A road segment element can include multiple lane elements. For example... Figure 3B In this context, a road segment element can include four lane elements.

[0140] Depend on Figure 3A and Figure 3B As can be seen, the microscopic simulated road network is a refinement of the macroscopic simulated road network. Compared with the macroscopic simulated road network, the microscopic simulated road network has higher road accuracy and more comprehensive road information.

[0141] In one optional embodiment, at least two simulated road networks corresponding to a first geographical region can be generated by: performing coordinate transformation on initial road network data to obtain target road network data, wherein the target road network data uses an inertial coordinate system; determining multiple road node data, multiple road segment data, and multiple lane data in the target road network data; generating a macroscopic simulated road network based on the multiple road node data; generating multiple road segment elements based on the multiple road segment data and multiple lane elements based on the multiple lane data; and generating a microscopic simulated road network based on the multiple road segment elements and multiple lane elements.

[0142] Since the initial road network data typically uses a geographic coordinate system, usually latitude and longitude coordinates, and traffic simulation calculations extensively involve parameters such as distance, speed, and acceleration, calculating these parameters using geographic coordinate systems like WGS84 (World Geodetic System 1984) is very difficult. Therefore, it is necessary to transform the initial road network data to obtain the target road network data. The target road network data can use an inertial coordinate system, i.e., a coordinate system suitable for simulation.

[0143] For example, if the coordinates of road node 1 in the initial road network data are (107.40°E, 33.42°N), then coordinate transformation can be performed on coordinate 1 to obtain target coordinate 1 using the inertial coordinate system (x, y). Assume that the obtained target coordinate 1 can be (6, 4).

[0144] After obtaining the target road network data, the electronic device can determine multiple road node data, multiple road segment data, and multiple lane data from the target road network data.

[0145] Electronic devices can generate macroscopic simulation road networks based on multiple road node data. For example, if multiple road node data are road node data 1, road node data 2, ..., road node data 800, then the electronic device can generate a macroscopic simulation road network based on these 800 road node data.

[0146] Electronic devices can generate road segment elements from multiple road segment data and multiple lane elements from multiple lane data, and then generate a microscopic simulated road network based on these road segment elements and lane elements. For example, if the multiple road segment data are road segment data 1, road segment data 2, ..., road segment data 100, and the multiple lane data are lane data 1, lane data 2, ..., lane data 400, then the electronic device can generate 100 corresponding road segment elements from the 100 road segment data and 100 corresponding lane elements from the 400 lane data. The electronic device can then generate a microscopic simulated road network based on these 100 road segment elements and 400 lane elements.

[0147] S203. Determine the road network mapping relationship between at least two simulated road networks.

[0148] Road network mapping relationship refers to the mapping relationship between elements in at least two simulated road networks.

[0149] If at least two simulated road networks include both micro-simulated road networks and macro-simulated road networks, since the micro-simulated road network is a refinement of the macro-simulated road network, the elements in the micro-simulated road network have a certain mapping relationship with the elements in the macro-simulated road network. Electronic devices can determine the road network mapping relationship between the macro-simulated road network and the micro-simulated road network, i.e., the road network mapping relationship between at least two simulated road networks, based on the mapping relationship between the elements in the micro-simulated road network and the elements in the macro-simulated road network.

[0150] For example, if at least two simulated road networks include a micro-simulated road network and a macro-simulated road network, and if the macro-simulated road network includes road 1 and road 2, and the micro-simulated road network includes road segment 1, road segment 2, road segment 3, and road segment 4, and if the road segment corresponding to road 1 includes road segment 1 and road segment 2, and the road segment corresponding to road 2 includes road segment 3 and road segment 4, then it can be determined that the road network mapping relationship includes road 1 corresponding to road segment 1 and road segment 2, and road 2 corresponding to road segment 3 and road segment 4.

[0151] S204. Generate the target simulated road network based on at least two simulated road networks and road network mapping relationships.

[0152] Once at least two simulated road networks and their mapping relationships are determined, the target simulated road network can be generated based on these at least two simulated road networks and their mapping relationships.

[0153] Optionally, a target simulated road network can be displayed on the screen to simulate traffic flow, analyze traffic management measures, and improve the level of traffic management.

[0154] In this embodiment, the electronic device can acquire initial road network data and generate at least two simulated road networks based on the initial road network data. The electronic device can determine the road network mapping relationship between the at least two simulated road networks and generate a target simulated road network based on the at least two simulated road networks and the road network mapping relationship. Since the target simulated road network can include at least two simulated road networks at different levels, it can effectively and comprehensively represent the road network, improving the representation effect of traffic scenarios; and the electronic device can automatically convert the initial road network data to generate target road network data, thereby generating the target simulated road network, improving the efficiency of generating the road network model.

[0155] Below, in Figure 2 Based on the illustrated embodiments, combined with Figure 4 Taking at least two simulated road networks, including both macroscopic and microscopic simulated road networks, as an example, the above road network model generation method will be explained in further detail.

[0156] Figure 4 A flowchart illustrating another road network model generation method provided for an exemplary embodiment of this application. Please refer to... Figure 4 The method may include:

[0157] S401. Obtain initial road network data.

[0158] It should be noted that the execution process of step S401 can be found in step S201, and will not be repeated here.

[0159] S402. Perform coordinate transformation on the initial road network data to obtain the target road network data.

[0160] In an optional embodiment, the initial road network data can be transformed to obtain the target road network data by: determining the first geographical region corresponding to the initial road network data; determining the projection center in the first geographical region; and transforming the initial road network data by using the equidistant azimuth projection method based on the projection center to obtain the target road network data.

[0161] Below, in conjunction with Figure 5 The projection center will be explained.

[0162] Figure 5 A schematic diagram of the projection center provided for an exemplary embodiment of this application. Please refer to... Figure 5If the first geographic region corresponding to the initial road network data is as follows: Figure 5 As shown, the projection center of the first geographic region can be determined. Optionally, the electronic device can determine the minimum bounding rectangle corresponding to the first geographic region, and the four vertices of the minimum bounding rectangle. Based on the four vertices, diagonals 1 and 2 can be determined, and the intersection of diagonals 1 and 2 can be determined as the center point C of the minimum bounding rectangle. The electronic device can then determine the center point C as the projection center.

[0163] After determining the projection center, the electronic equipment can use the equidistant projection method to perform coordinate transformation on the initial road network data, converting the initial road network data using the geographic coordinate system into the target road network data using the inertial coordinate system.

[0164] For example, if the coordinates of road node 1 in the initial road network data are (107.40°E, 33.42°N), then coordinate transformation can be performed on coordinate 1 to obtain target coordinate 1 using the inertial coordinate system (x, y). Assume that the obtained target coordinate 1 can be (6, 4).

[0165] It should be noted that the use of equidistant azimuth projection method can ensure the equidistance before and after projection, that is, the distance from the projection center to any point remains consistent. This can avoid the problems of excessively large coordinate values ​​and different twisting, stretching and deformation in different areas, and ensure that the deformation of the target simulated road network is minimized.

[0166] S403. In the target road network data, determine multiple road node data, multiple road segment data, and multiple lane data.

[0167] The road node data may include the road node coordinates, the road node connection relationships, and the driving direction between two road nodes that are connected.

[0168] For example, road node data 1 may include road node coordinates 1 (21, 49), and the road node connection relationship is as follows: the road nodes connected to road node 1 include road node 2 and road node 3. The driving direction between road node 1 and road node 2 is one-way, that is, you can drive from road node 1 to road node 2; the driving direction between road node 1 and road node 3 is two-way, that is, you can drive from road node 1 to road node 3, or you can drive from road node 3 to road node 1.

[0169] The road segment data may include the road segment centerline coordinate sequence and the road segment width. The road segment centerline coordinate sequence may be a coordinate sequence determined based on the coordinates of multiple road segments.

[0170] For example, road segment data 1 may include a road segment center coordinate sequence 1, which may be determined based on the coordinates of 8 road segments, namely (2,10), (4,10), (6,10), (8,10), (10,10), (12,10), (14,10), and (16,10). The road segment width may be 8 meters.

[0171] Lane data can include a sequence of lane centerline coordinates and lane width. The lane centerline coordinate sequence can be a coordinate sequence determined based on multiple lane coordinates.

[0172] For example, lane data 1 may include lane center coordinate sequence 1, which may be determined based on 5 lane coordinates, namely (2,14), (6,14), (10,14), (14,14), and (18,14). The lane width may be 4 meters.

[0173] Optionally, the electronic device can identify multiple road node data, multiple road segment data, and multiple lane data from the target road network data. For example, the electronic device can identify 300 road node data, 450 road segment data, and 560 lane data from the target road network data.

[0174] S404. Generate a macroscopic simulation road network based on data from multiple road nodes.

[0175] In an optional embodiment, a macroscopic simulation road network can be generated based on multiple road node data in the following manner: multiple intersection elements are generated based on the road node coordinates in the multiple road node data; the multiple intersection elements are processed by one-way or two-way connection according to the road node connection relationship and the driving direction between two road nodes with road node connection relationship to obtain multiple road elements.

[0176] For example, if road node data 1 includes road node coordinates 1 as (21, 49), road node 1 can connect to road node 2, and the travel direction is from road node 1 to road node 2, and if road node data 2 includes road node coordinates 2 as (21, 80), then intersection element 1 can be generated based on road node coordinates 1 (21, 49), and intersection element 2 can be generated based on road node coordinates 2 (21, 80). Since the road node connection relationship is that road node 1 can connect to road node 2, and the travel direction between road node 1 and road node 2 is from road node 1 to road node 2, then based on the road node connection relationship and the travel direction between road nodes, a one-way connection is performed on intersection element 1 and intersection element 2 to obtain the road element between intersection element 1 and intersection element 2.

[0177] After generating multiple intersection elements and multiple road elements, a macroscopic simulation road network can be generated based on these elements.

[0178] S405, generate multiple road segment elements based on multiple road segment data, and generate multiple lane elements based on multiple lane data.

[0179] Since the road segment data includes the road segment centerline coordinate sequence and the road segment width, for any road segment data, road segment elements can be generated based on the road segment data in the following way: determine the road segment centerline based on the road segment centerline coordinate sequence; determine the road segment edge line based on the road segment centerline and the road segment width; generate road segment elements based on the road segment centerline and the road segment edge line.

[0180] Below, in conjunction with Figure 6 The generated road segment elements are explained.

[0181] Figure 6 This is a schematic diagram illustrating the generation of road segment elements provided for an exemplary embodiment of this application. Please refer to [link / reference]. Figure 6 If road segment data 1 includes a road segment centerline coordinate sequence 1, and the road segment coordinates included in the road segment centerline coordinate sequence 1 are: (2,10), (4,10), (6,10), (8,10), (10,10), (12,10), (14,10), (16,10), and if the road segment width is 8 meters, then the coordinates of each road segment in the road segment centerline coordinate sequence can be connected to determine the road segment centerline. Since the road segment width is 8 meters, the road segment centerline is 4 meters away from each of the two road segment edge lines. Therefore, the road segment centerline can be shifted 4 meters to each side to obtain road segment edge line 1 and road segment edge line 2. The coordinate sequence corresponding to road segment edge line 1 includes: (2,6), (4,6), (6,6), (8,6), (10,6), (12,6), (14,6), (16,6); the coordinate sequence corresponding to road segment edge line 2 includes: (2,14), (4,14), (6,14), (8,14), (10,14), (12,14), (14,14), (16,14). The electronic device can generate road segment element 1 based on the road segment centerline 1, road segment edge line 1, and road segment edge line 2.

[0182] Since lane data includes lane centerline coordinate sequence and lane width, lane elements can be generated from any lane data in the following way: determine the lane centerline based on the lane centerline coordinate sequence; determine the lane edge line based on the lane centerline and lane width; and generate lane elements based on the lane edge line.

[0183] Below, in conjunction with Figure 7 The generated lane elements are explained.

[0184] Figure 7 This is a schematic diagram illustrating the generation of lane elements as provided in an exemplary embodiment of this application. Please refer to [link / reference]. Figure 7 If lane data 1 can include lane center coordinate sequence 1, and the lane coordinates included in lane center coordinate sequence 1 can be (2,12), (6,12), (10,12), (14,12), and (18,12), and if the lane width is 3.5 meters, then the lane coordinates in the lane center coordinate sequence can be connected to determine the lane centerline. Since the lane width is 3.5 meters, the lane centerline is 1.75 meters away from each of the two lane edge lines. Therefore, the lane centerline can be shifted 1.75 meters to each side to obtain lane edge line 1 and lane edge line 2. The coordinate sequence corresponding to lane edge line 1 includes: (2, 13.75), (6, 13.75), (10, 13.75), (14, 13.75), (18, 13.75); the coordinate sequence corresponding to lane edge line 2 includes: (2, 10.25), (6, 10.25), (10, 10.25), (14, 10.25), (18, 10.25). The electronic device can generate lane element 1 based on lane edge line 1 and lane edge line 2.

[0185] Electronic devices can generate multiple road segment elements based on multiple road segment data, and multiple lane elements based on multiple lane data.

[0186] S406. Generate a microscopic simulated road network based on multiple road segment elements and multiple lane elements.

[0187] Multiple road segment elements can include straight-through road segment elements and connecting road segment elements. Among them, connecting road segment elements can be used to connect different road segment elements.

[0188] Multiple lane elements can include straight-ahead lane elements and connecting lane elements. Connecting lane elements are used to connect different lane elements.

[0189] Below, in conjunction with Figure 8A and Figure 8B This section provides an explanation of the elements connecting road segments and connecting lanes.

[0190] Figure 8A Schematic diagram of connecting road segment elements and connecting lane elements provided for exemplary embodiments of this application Figure 1 Please see. Figure 8AIf there is a turning road segment element between road segment element 1 and road segment element 2, connecting road segment 1 and road segment 2, then this turning road segment element can be called a connecting road segment element. The starting road segment element of this connecting road segment element can be road segment element 1, and the ending road segment element can be road segment element 2. Similarly, if there is a turning lane element between lane element 1 and lane element 2, connecting lane element 1 and lane element 2, then this turning lane element can be called a connecting lane element. The starting lane element of this connecting lane element can be lane element 1, and the ending lane element can be lane element 2.

[0191] Figure 8B Schematic diagram of connecting road segment elements and connecting lane elements provided for exemplary embodiments of this application Figure 2 Please see. Figure 8B There is a horizontal road segment element between road segment element 1 and road segment element 2. This horizontal road segment element connects road segment 1 and road segment 2. This horizontal road segment element can also be called a connecting road segment element. The starting road segment element of this connecting road segment element can be road segment element 1, and the ending road segment element can be road segment element 2. Similarly, there is a horizontal lane element between lane element 1 and lane element 2. This horizontal lane element connects lane element 1 and lane element 2. This horizontal lane element can also be called a connecting lane element. The starting lane element of this connecting lane element can be lane element 1, and the ending lane element can be lane element 2.

[0192] In an optional embodiment, a micro-simulated road network can be generated based on multiple road elements and multiple lane elements as follows: at least one set of connecting road segment elements is determined from multiple connecting road segment elements, where each connecting road segment element in the set corresponds to the same intersection; at least one set of connecting lane elements is determined from multiple connecting lane elements, where each connecting lane element in the set corresponds to the same intersection; traffic flow conflict information is determined based on at least one set of connecting road segment elements and at least one set of connecting lane elements; and a micro-simulated road network is generated based on multiple straight-ahead road segment elements, multiple straight-ahead lane elements, and the traffic flow conflict information.

[0193] Below, in conjunction with Figure 9A This section describes the set of elements connecting road segments; combined with... Figure 9B The set of elements connecting lanes is described.

[0194] Figure 9A This is a schematic diagram of a set of connecting road segment elements provided for an exemplary embodiment of this application. Please refer to [link to relevant documentation]. Figure 9AThis includes road segment element 1, road segment element 2, road segment element 3, and road segment element 4, which are straight-through road segment elements. The turning road segment element between road segment element 1 and road segment element 2 can be called connecting road segment element 1; the turning road segment element between road segment element 1 and road segment element 3 can be called connecting road segment element 2; the turning road segment element between road segment element 2 and road segment element 4 can be called connecting road segment element 3; the turning road segment element between road segment element 4 and road segment element 3 can be called connecting road segment element 4; the longitudinal road segment element between road segment element 1 and road segment element 4 can be called connecting road segment element 5; and the lateral road segment element between road segment element 2 and road segment element 3 can be called connecting road segment element 6 (connecting road segment element 5 and connecting road segment element 6 are not shown in the diagram). Since connecting road segment element 1, connecting road segment element 2, connecting road segment element 3, connecting road segment element 4, connecting road segment element 5 and connecting road segment element 6 correspond to the same intersection element, these 6 connecting road segment elements can be identified as a set of connecting road segment elements.

[0195] Optionally, the electronic device can determine at least one set of connecting road segment elements from multiple connecting road segment elements. Specifically, the electronic device can determine to establish a spatial index based on each connecting road segment element. Starting from any connecting road segment element, it can traverse the connecting road segment elements to find other connecting road segment elements that have spatial intersection with the current connecting road segment element, and determine at least one set of connecting road segment elements based on the current connecting road segment element and the other connecting road segment elements that have spatial intersection with the current connecting road segment element. Using the spatial index, multiple sets of connecting road segment elements with spatial intersection can be retrieved quickly, that is, multiple sets of connecting road segment elements corresponding to the same intersection.

[0196] Figure 9B This is a schematic diagram of a set of connecting lane elements provided for an exemplary embodiment of this application. Please refer to [link to relevant documentation]. Figure 9BThis includes lane elements 1, 2, 3, 4, 5, 6, 7, and 8. These eight lane elements are straight-ahead lanes. The longitudinal straight-ahead lane element between lane element 1 and lane element 7 can be called connecting lane element 1; the longitudinal straight-ahead lane element between lane element 2 and lane element 8 can be called connecting lane element 2; the transverse straight-ahead lane element between lane element 3 and lane element 5 can be called connecting lane element 3; the transverse straight-ahead lane element between lane element 4 and lane element 6 can be called connecting lane element 4; the turning lane element between lane element 4 and lane element 2 can be called connecting lane element 5; the turning lane element between lane element 3 and lane element 8 can be called connecting lane element 6; the turning lane element between lane element 7 and lane element 5 can be called connecting lane element 7; and the turning lane element between lane element 1 and lane element 6 can be called connecting lane element 8. Since connecting lane element 1, connecting lane element 2, connecting lane element 3, connecting lane element 4, connecting lane element 5, connecting lane element 6, connecting lane element 7, and connecting lane element 8 correspond to the same intersection element, these 8 connecting lane elements can be identified as a set of connecting lane elements.

[0197] Optionally, the electronic device can generate traffic conflict information based on at least one set of connecting road segments and at least one set of connecting lane elements.

[0198] In an optional embodiment, traffic flow conflict information can be generated as follows: for any set of connecting road segment elements, determine the polygons corresponding to each connecting road segment element in the set of connecting road segment elements to obtain multiple polygons; determine the union of the multiple polygons as the traffic flow conflict zone; for any set of connecting lane elements, determine the driving direction corresponding to each connecting lane element in the set of connecting lane elements, as well as the intersection points between different connecting lane elements in the set of connecting lane elements, and generate conflict point information based on the driving direction corresponding to each connecting lane element and the intersection points between different connecting lane elements.

[0199] Traffic flow conflict information can include conflict zones and conflict points. A conflict zone is an area where different traffic flows intersect, merge, or diverge.

[0200] Below, in conjunction with Figure 10 Explain the traffic flow conflict zone; combine Figure 11 Provide information about the points of conflict.

[0201] Figure 10 A schematic diagram of a traffic flow conflict zone provided for an exemplary embodiment of this application. Please refer to... Figure 10This includes road segment element 1, road segment element 2, road segment element 3, and road segment element 4. Electronic devices can connect the two endpoints of each of road segment element 1, road segment element 2, road segment element 3, and road segment element 4. If the set of connected road segment elements includes connected road segment element 1, connected road segment element 2, connected road segment element 3, connected road segment element 4, connected road segment element 5, and connected road segment element 6, then connected road segment element 1 can correspond to polygon ABCD, connected road segment element 2 can correspond to polygon ABHG, connected road segment element 3 can correspond to polygon CDEF, connected road segment element 4 can correspond to polygon EFGH, connected road segment element 5 can correspond to polygon ABEF, and connected road segment element 6 can correspond to polygon CDGH. Therefore, the union of these six polygons can be defined as the traffic conflict zone. Figure 10 As shown.

[0202] Figure 11 A schematic diagram illustrating conflict point information provided for an exemplary embodiment of this application. Please refer to... Figure 11 If the connecting lane set includes Figure 9B The connecting lane elements 1, 2, 3, 4, 5, 6, 7, and 8 described above can determine the driving direction corresponding to each connecting lane element and the intersection points between different connecting lane elements, such as... Figure 11 As shown, conflict point information can be generated based on the driving direction corresponding to each connecting lane element and the intersection points between different connecting lane elements. Conflict point information can include the coordinates of the conflict points.

[0203] Alternatively, the electronic device can be based on Figure 10 Traffic conflict zones shown Figure 11 The conflict point information shown is used to generate traffic conflict information. The microscopic simulated road network can include multiple traffic flow conflict information.

[0204] S407. Determine the road network mapping relationship between the macroscopic simulation road network and the microscopic simulation road network.

[0205] In an optional embodiment, the road network mapping relationship can be determined by: determining a first mapping relationship between multiple intersection elements and multiple traffic flow conflict information; and determining a second mapping relationship between multiple road elements and multiple road segment elements.

[0206] Since the macroscopic simulated road network includes multiple intersection elements and the microscopic simulated road network includes multiple traffic flow conflict information, the electronic device can determine the first mapping relationship between the multiple intersection elements and the multiple traffic flow conflict information, as shown in Table 1:

[0207] Table 1

[0208]

[0209] As shown in Table 1, intersection element 1 in the macroscopic simulated road network can correspond to traffic flow conflict information 1 in the microscopic simulated road network, intersection element 2 can correspond to traffic flow conflict information 2, ..., intersection element n can correspond to traffic flow conflict information n.

[0210] Since a road element can include multiple road segment elements, the electronic device can determine a second mapping relationship between multiple road elements and road segment elements, as shown in Table 2:

[0211] Table 2

[0212]

[0213] As shown in Table 2, road element 1 in the macroscopic simulation road network can correspond to straight road segment element 1 and straight road segment element 2 in the microscopic simulation road network. Road element 2 can correspond to straight road segment element 3, connecting road segment element 1 and straight road segment element 4, ..., and road element m can correspond to straight road segment element k.

[0214] Optionally, the electronic device can determine the road network mapping relationship based on the first mapping relationship and the second mapping relationship. The road network mapping relationship includes the first mapping relationship and the second mapping relationship.

[0215] S408. Construct supplementary elements in the microscopic simulated road network.

[0216] Supplementary elements may include at least one of the following: traffic equipment elements, traffic control elements, dynamic routing elements, and data collection elements.

[0217] Below, in conjunction with Figure 12 The supplementary elements in the microscopic simulated road network are explained in detail.

[0218] Figure 12 Explanatory diagrams of supplementary elements provided for exemplary embodiments of this application. Please refer to... Figure 12 In a microscopic simulated road network, elements can include road network topology elements, traffic facility elements, traffic control elements, dynamic routing elements, and data acquisition elements. Among these, traffic facility elements, traffic control elements, dynamic routing elements, and data acquisition elements are supplementary elements.

[0219] Road network topology elements can include straight road segment elements, connecting road segment elements, straight lane elements, and connecting lane elements.

[0220] Transportation infrastructure elements can include bus stops and parking lots, among others.

[0221] Traffic control elements can include traffic lights and road closures.

[0222] Dynamic routing elements can include traffic generation points, path decision points, paths, and bus routes.

[0223] Data acquisition elements can include elements such as single-point detectors and multi-point detectors.

[0224] Figure 12 The supplementary elements shown are merely examples and do not constitute a limitation on supplementary elements in actual work.

[0225] Optionally, multiple supplementary elements can be constructed in the micro-simulated road network as needed to enrich the micro-simulated road network.

[0226] S409. Generate the target simulation road network based on the macroscopic simulation road network, the microscopic simulation road network, the road network mapping relationship, and supplementary elements.

[0227] After constructing multiple supplementary elements in the micro-simulated road network, the electronic device can generate a target simulated road network based on the macro-simulated road network, the micro-simulated road network, the road network mapping relationship, and the supplementary elements. This target simulated road network can effectively and comprehensively express the physical topology (spatial connectivity) and logical topology (traffic rules carried by the road network) of the road network, improving the ability to express real-world traffic conditions.

[0228] Optionally, the electronic device can generate a target road network file corresponding to the target simulated road network. The target road network file may include entity set packages, entity relationship packages, and traffic rule packages.

[0229] In this embodiment, the electronic device can acquire initial road network data and perform coordinate transformation on the initial road network data to obtain target road network data. The electronic device can determine multiple road node data, multiple road segment data, and multiple lane data from the target road network data, and generate a macroscopic simulation road network based on the multiple road node data. The electronic device can generate multiple road segment elements based on multiple road segment data, and multiple lane elements based on multiple lane data, and generate a microscopic simulation road network based on the multiple road segment elements and multiple lane elements. The electronic device can determine the road network mapping relationship between the macroscopic and microscopic simulation road networks, and construct supplementary elements in the microscopic simulation road network to generate the target simulation road network based on the macroscopic simulation road network, the microscopic simulation road network, the road network mapping relationship, and the supplementary elements. Since the target simulation road network can include both macroscopic and microscopic simulation road networks, it can effectively and comprehensively represent the road network, improving the representation effect of traffic scenarios; and the electronic device can automatically transform the initial road network data to generate target road network data, thereby generating the target simulation road network, improving the efficiency of generating the road network model.

[0230] Below, based on any of the above embodiments, combined with Figure 13 The above road network model generation method will be further explained in detail through specific examples.

[0231] Figure 13 This is a schematic diagram illustrating a road network model generation method provided for an exemplary embodiment of this application. Please refer to [link / reference]. Figure 13 The steps include ①②③④⑤⑥⑦⑧.

[0232] In step ①, the electronic device can acquire initial road network data and perform coordinate transformation on the initial road network data to obtain target road network data. Specifically, the electronic device can determine the geographical region corresponding to the initial road network data and determine the projection center of that geographical region. Based on the projection center, the electronic device can perform coordinate transformation on the initial road network data using the equidistant azimuth projection method to obtain the target road network data.

[0233] In step ②, the electronic device can determine multiple road node data from the target road network data and generate a macroscopic simulation road network based on this data. Since the road node data includes road node coordinates, road node connection relationships, and the driving direction between two connected road nodes, the electronic device can generate multiple intersection elements based on the road node coordinates. Furthermore, based on the road node connection relationships and the driving direction between two connected road nodes, the electronic device performs unidirectional or bidirectional connection processing on these intersection elements to obtain multiple road elements. Therefore, the macroscopic simulation road network includes multiple intersection elements and multiple road elements.

[0234] In step ③, the electronic device can determine multiple road segment data and multiple lane data in the target road network data, and generate multiple road segment elements based on the multiple road segment data and multiple lane elements based on the multiple lane data.

[0235] It should be noted that the execution order of steps ② and ③ is not important.

[0236] Since multiple road segment elements can include straight-ahead road segment elements and connecting road segment elements, and multiple lane elements can include straight-ahead lane elements and connecting lane elements, in step ④, the electronic device can determine multiple connecting road segment elements corresponding to the same intersection as a set of connecting road segment elements, and obtain multiple polygons based on the polygons corresponding to each connecting road segment element in the set. The union of these multiple polygons can be determined as the traffic conflict zone. The electronic device can determine the driving direction corresponding to each connecting lane element in the set of connecting lane elements, as well as the intersection points between different connecting lane elements in the set of connecting lane elements, and generate conflict point information based on the driving direction corresponding to each connecting lane element and the intersection points between different connecting lane elements. The electronic device can generate multiple traffic flow conflict information based on multiple traffic conflict zones and multiple conflict point information.

[0237] Since the microscopic simulated road network is a refinement of the macroscopic simulated road network, the elements in the microscopic simulated road network have a certain mapping relationship with the elements in the macroscopic simulated road network. In step ⑤, the electronic device can determine the second mapping relationship between multiple road elements and multiple road segment elements. In step ⑥, the electronic device can determine the first mapping relationship between multiple intersection elements and multiple traffic flow conflict information. The electronic device can determine the road network mapping relationship between the macroscopic simulated road network and the microscopic simulated road network based on the first and second mapping relationships.

[0238] It should be noted that the execution order of steps ⑤ and ⑥ is not important.

[0239] In step ⑦, the electronic device can construct supplementary elements in the micro-simulated road network, that is, it can add at least one of the following elements: traffic equipment, traffic control, dynamic routing, and data acquisition.

[0240] In step ⑧, the electronic device can generate a target simulated road network based on the macroscopic simulated road network, the microscopic simulated road network, the road network mapping relationship, and supplementary elements.

[0241] In this embodiment, the electronic device can acquire initial road network data and perform coordinate transformation on the initial road network data to obtain target road network data. The electronic device can determine multiple road node data, multiple road segment data, and multiple lane data from the target road network data, and generate a macroscopic simulation road network based on the multiple road node data. The electronic device can generate multiple road segment elements based on multiple road segment data, and multiple lane elements based on multiple lane data, and generate a microscopic simulation road network based on the multiple road segment elements and multiple lane elements. The electronic device can determine the road network mapping relationship between the macroscopic and microscopic simulation road networks, and construct supplementary elements in the microscopic simulation road network to generate the target simulation road network based on the macroscopic simulation road network, the microscopic simulation road network, the road network mapping relationship, and the supplementary elements. Since the target simulation road network can include both macroscopic and microscopic simulation road networks, it can effectively and comprehensively represent the road network, improving the representation effect of traffic scenarios; and the electronic device can automatically transform the initial road network data to generate target road network data, thereby generating the target simulation road network, improving the efficiency of generating the road network model.

[0242] Figure 14 This is a schematic diagram of a road network model generation device provided as an exemplary embodiment of this application. Please refer to [link / reference]. Figure 14 The road network model generation device 10 includes: an acquisition module 11, a first generation module 12, a determination module 13, and a second generation module 14, wherein...

[0243] The acquisition module 11 is used to acquire initial road network data;

[0244] The first generation module 12 is used to generate at least two simulated road networks corresponding to the first geographical region based on the initial road network data, wherein the at least two simulated road networks include different elements.

[0245] The determining module 13 is used to determine the road network mapping relationship between the at least two simulated road networks;

[0246] The second generation module 14 is used to generate a target simulated road network based on the at least two simulated road networks and the road network mapping relationship.

[0247] The road network model generation device provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0248] In one possible implementation, the at least two simulated road networks include a macroscopic simulated road network and a microscopic simulated road network. The macroscopic simulated road network includes road elements and intersection elements, and the microscopic simulated road network includes at least road segment elements and lane elements. The first generation module 12 is specifically used for:

[0249] The initial road network data is transformed to obtain the target road network data, wherein the target road network data uses an inertial coordinate system.

[0250] In the target road network data, multiple road node data, multiple road segment data, and multiple lane data are determined;

[0251] The macroscopic simulation road network is generated based on the data of the multiple road nodes;

[0252] The system generates multiple road segment elements based on the multiple road segment data, and generates multiple lane elements based on the multiple lane data, and generates the microscopic simulated road network based on the multiple road segment elements and the multiple lane elements.

[0253] In one possible implementation, the road node data includes road node coordinates, road node connection relationships, and driving directions between two road nodes with a road node connection relationship; the first generation module 12 is specifically used for:

[0254] The multiple intersection elements are generated based on the road node coordinates in the multiple road node data;

[0255] Based on the road node connection relationship and the driving direction between two road nodes with a road node connection relationship, the multiple intersection elements are processed by one-way or two-way connection to obtain the multiple road elements.

[0256] In one possible implementation, the road segment data includes a sequence of road segment centerline coordinates and a road segment width; the first generation module 12 is specifically used for:

[0257] The centerline of the road segment is determined based on the coordinate sequence of the road segment centerline.

[0258] The edge line of the road segment is determined based on the center line of the road segment and the width of the road segment;

[0259] The road segment element is generated based on the road segment centerline and the road segment edgeline.

[0260] In one possible implementation, the lane data includes a lane centerline coordinate sequence and a lane width; the first generation module 12 is specifically used for:

[0261] The lane centerline is determined based on the lane centerline coordinate sequence.

[0262] The lane edge line is determined based on the lane center line and the lane width;

[0263] The lane element is generated based on the lane edge line.

[0264] In one possible implementation, the road segment element includes a straight road segment element and a connecting road segment element, the connecting road segment element being used to connect different road segment elements; the lane element includes a straight lane element and a connecting lane element, the connecting lane element being used to connect different lane elements; the first generation module 12 is specifically used for:

[0265] Determine at least one set of connecting road segment elements from multiple connecting road segment elements, wherein the connecting road segment elements in the set of connecting road segment elements correspond to the same intersection;

[0266] Determine at least one set of connecting lane elements from a plurality of connecting lane elements, wherein the connecting lane elements in the set of connecting lane elements correspond to the same intersection element;

[0267] Traffic flow conflict information is determined based on the at least one set of connecting road segment elements and the at least one set of connecting lane elements;

[0268] The microscopic simulated road network is generated based on multiple straight road segment elements, multiple straight lane elements, and the traffic flow conflict information, wherein the microscopic simulated road network also includes the traffic flow conflict information.

[0269] In one possible implementation, the first generation module 12 is specifically used for:

[0270] For any set of connecting road segment elements, determine the polygons corresponding to each connecting road segment element in the set of connecting road segment elements to obtain multiple polygons; the union of the multiple polygons is determined as the traffic flow conflict zone;

[0271] For any set of connecting lane elements, determine the driving direction corresponding to each connecting lane element in the set of connecting lane elements, as well as the intersection point between different connecting lane elements in the set of connecting lane elements, and generate conflict point information based on the driving direction corresponding to each connecting lane element and the intersection point between different connecting lane elements.

[0272] The traffic flow conflict information includes the traffic flow conflict zone and the conflict point information.

[0273] In one possible implementation, the first generation module 12 is specifically used for:

[0274] Determine the first geographical region corresponding to the initial road network data;

[0275] Determine the projection center in the first geographic region;

[0276] Based on the projection center, the initial road network data is transformed using the equidistant azimuth projection method to obtain the target road network data.

[0277] In one possible implementation, the microscopic simulated road network further includes multiple traffic flow conflict information; the determining module 13 is specifically used for:

[0278] Determine the first mapping relationship between the plurality of intersection elements and the plurality of traffic flow conflict zones;

[0279] Determine a second mapping relationship between the plurality of road elements and the plurality of road segment elements;

[0280] The road network mapping relationship includes the first mapping relationship and the second mapping relationship.

[0281] In one possible implementation, the second generation module 14 is specifically used for:

[0282] Supplementary elements are constructed in the microscopic simulated road network, and the supplementary elements include at least one of traffic facility elements, traffic control elements, dynamic routing elements, and data collection elements;

[0283] The target simulated road network is generated based on the macroscopic simulated road network, the microscopic simulated road network, the road network mapping relationship, and the supplementary elements.

[0284] In one possible implementation, the initial road network data is high-precision road network data.

[0285] The road network model generation device provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0286] An exemplary embodiment of this application provides a structural schematic diagram of an electronic device. Please refer to [link / reference]. Figure 15 The electronic device 20 may include a processor 21 and a memory 22. Exemplarily, the processor 21 and the memory 22 are interconnected via a bus 23.

[0287] The memory 22 stores computer-executed instructions;

[0288] The processor 21 executes the computer execution instructions stored in the memory 22, causing the processor 21 to execute the road network model generation method as shown in the above method embodiment.

[0289] Accordingly, 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 model generation method described in the above method embodiments.

[0290] Accordingly, embodiments of this application may also provide a computer program product, including a computer program, which, when executed by a processor, can implement the road network model generation method shown in the above method embodiments.

[0291] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0292] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0293] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0294] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0295] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0296] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0297] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0298] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0299] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for generating a road network model, characterized in that, include: Obtain initial road network data; Based on the initial road network data, at least two simulated road networks corresponding to the first geographical region are generated, and the elements included in the at least two simulated road networks are different; the at least two simulated road networks include a macro-simulated road network and a micro-simulated road network; In the target road network data corresponding to the initial road network data, multiple road node data, multiple road segment data, and multiple lane data are determined; The macroscopic simulation road network is generated based on the data of the multiple road nodes; The macroscopic simulated road network includes road elements and intersection elements; Multiple road segment elements are generated based on the multiple road segment data, and multiple lane elements are generated based on the multiple lane data. The road segment elements include straight road segment elements and connecting road segment elements, and the connecting road segment elements are used to connect different road segment elements. The lane elements include straight lane elements and connecting lane elements, and the connecting lane elements are used to connect different lane elements; at least one set of connecting road segment elements is determined from multiple connecting road segment elements, and the connecting road segment elements in the set of connecting road segment elements correspond to the same intersection; Determine at least one set of connecting lane elements from a plurality of connecting lane elements, wherein the connecting lane elements in the set of connecting lane elements correspond to the same intersection element; Among multiple connecting road segment elements, multiple connecting road segment elements corresponding to the same intersection are identified as a set of connecting road segment elements. Based on the polygons corresponding to each connecting road segment element in the set of connecting road segment elements, multiple polygons are obtained, and the union of the multiple polygons is identified as the traffic conflict zone. Among multiple connecting lane elements, the driving direction corresponding to each connecting lane element in the set of connecting lane elements and the intersection points between different connecting lane elements in the set of connecting lane elements are identified. Based on the driving direction corresponding to each connecting lane element and the intersection points between different connecting lane elements, conflict point information is generated. Based on information from multiple traffic conflict zones and multiple conflict points, multiple traffic flow conflict information is generated; The micro-simulated road network is generated based on multiple straight road segment elements, multiple straight lane elements, and the traffic flow conflict information, wherein the micro-simulated road network also includes the traffic flow conflict information; Determine the road network mapping relationship between the at least two simulated road networks; Generate a target simulated road network based on the at least two simulated road networks and the road network mapping relationship; Determining the road network mapping relationship between the at least two simulated road networks includes: Determine the initial mapping relationship between multiple intersection elements and multiple traffic flow conflict zones; Determine a second mapping relationship between multiple road elements and the multiple road segment elements; The road network mapping relationship includes the first mapping relationship and the second mapping relationship.

2. The method according to claim 1, characterized in that, The method further includes: The initial road network data is transformed to obtain the target road network data, and the target road network data uses an inertial coordinate system.

3. The method according to claim 2, characterized in that, The road node data includes road node coordinates, road node connection relationships, and driving directions between two road nodes that are connected. Based on the multiple road node data, the macroscopic simulation road network is generated, including: The multiple intersection elements are generated based on the road node coordinates in the multiple road node data; Based on the road node connection relationship and the driving direction between two road nodes with a road node connection relationship, the multiple intersection elements are processed by one-way or two-way connection to obtain the multiple road elements.

4. The method according to claim 2, characterized in that, The road segment data includes the road segment centerline coordinate sequence and the road segment width; For any given road segment data, generate the road segment element based on the road segment data, including: The centerline of the road segment is determined based on the coordinate sequence of the road segment centerline. The edge line of the road segment is determined based on the center line of the road segment and the width of the road segment; The road segment element is generated based on the road segment centerline and the road segment edgeline.

5. The method according to claim 2, characterized in that, The lane data includes the lane centerline coordinate sequence and lane width; For any given lane data, generate the lane element based on the lane data, including: The lane centerline is determined based on the lane centerline coordinate sequence. The lane edge line is determined based on the lane center line and the lane width; The lane element is generated based on the lane edge line.

6. The method according to claim 2, characterized in that, The initial road network data is transformed to obtain the target road network data, including: Determine the first geographical region corresponding to the initial road network data; Determine the projection center in the first geographic region; Based on the projection center, the initial road network data is transformed using the equidistant azimuth projection method to obtain the target road network data.

7. The method according to any one of claims 1-6, characterized in that, Based on the at least two simulated road networks and the road network mapping relationship, a target simulated road network is generated, including: Supplementary elements are constructed in the microscopic simulated road network, and the supplementary elements include at least one of traffic facility elements, traffic control elements, dynamic routing elements, and data collection elements; The target simulated road network is generated based on the macroscopic simulated road network, the microscopic simulated road network, the road network mapping relationship, and the supplementary elements.

8. The method according to any one of claims 1-6, characterized in that, The initial road network data is high-precision road network data.

9. An electronic device, characterized in that, include: Memory and processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the road network model generation method as described in any one of claims 1 to 8.

10. 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 model generation method according to any one of claims 1 to 8.

11. A computer program product comprising a computer program that, when executed by a processor, implements the road network model generation method according to any one of claims 1 to 8.

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