Map segmentation method and device, computer device and storage medium thereof

Abstract

The application relates to the technical field of automatic driving, in particular to a map segmentation method and device, computer equipment and a storage medium thereof. The method comprises the following steps: determining an ROI map according to a region of interest (ROI) of a user and a global map; determining a target position point and a target edge from the ROI map; and segmenting the ROI map according to the target position point and the target edge to obtain a segmented local map. The application prevents the flexibility of the ROI map from being lost due to segmentation, guarantees the continuity of the segmented ROI map used by the user, reduces the situation that the local map frequently switches, and prevents the traffic elements from being split when the ROI map is segmented, so that the structural integrity of the traffic elements in the ROI map is guaranteed.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a map segmentation method, apparatus, computer device and its storage medium. Background Technology

[0002] Electronic maps play a crucial role in the field of autonomous driving. Due to their large overall area, electronic maps need to be segmented into multiple local maps in practical applications. When displaying an electronic map to a user, it is typically necessary to determine the corresponding local map based on the user's location.

[0003] Currently, when segmenting electronic maps, existing technologies typically divide the entire electronic map into several local maps of fixed size. The resulting ROI (region of interest) maps are not very flexible, and when the user is located at the boundary of a local map, there will be frequent switching between different local maps, which urgently needs improvement. Summary of the Invention

[0004] Therefore, it is necessary to provide a map segmentation method, apparatus, computer equipment, and storage medium that can improve the flexibility of ROI maps in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a map segmentation method. The method includes:

[0006] The ROI map is determined based on the user's region of interest (ROI) and the global map.

[0007] From the ROI map, determine the target location points and target edges;

[0008] The ROI map is segmented based on the target location point and the target edge to obtain a segmented local map.

[0009] In one embodiment, determining the target location point and target edge from the ROI map includes:

[0010] Based on the connectivity between different roads in the ROI map, determine the internal location points of the target location points in the ROI map;

[0011] Based on the connectivity between each road and the map boundary in the ROI map, determine the boundary location points among the target location points in the ROI map;

[0012] The target edge is determined based on the connection relationship between the target location points.

[0013] In one of the embodiments, the segmentation of the ROI map according to the target position point and the target edge comprises:

[0014] simplifying the ROI map according to the target position point and the target edge to obtain a point-edge plane map;

[0015] segmenting the point-edge plane map according to the target position point and the target edge to obtain a plane sub-region;

[0016] segmenting the ROI map based on the plane sub-region.

[0017] In one of the embodiments, the segmentation of the point-edge plane map according to the target position point and the target edge to obtain a plane sub-region comprises:

[0018] converting the target edge into two directed edges, and determining the start point and the end point of each directed edge from the target position point;

[0019] determining at least one group of region segmentation points according to the start point of each directed edge and the included angle between each directed edge and a preset reference direction;

[0020] determining the plane sub-region corresponding to each group of region segmentation points in the point-edge plane map, wherein each group of region segmentation points corresponds to a closed loop plane sub-region.

[0021] In one of the embodiments, the determination of at least one group of region segmentation points according to the start point of each directed edge and the included angle between each directed edge and a preset reference direction comprises:

[0022] for each directed edge, adding the start point of the directed edge and the start point of the reverse edge of the directed edge to a group of region segmentation points;

[0023] taking the reverse edge as a current comparison edge and taking the start point of the reverse edge as a current comparison point;

[0024] determining a next comparison edge according to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction, and adding the end point of the next comparison edge to the group of region segmentation points; wherein each directed edge corresponding to the current comparison point is each directed edge with the current comparison point as the start point;

[0025] determining a next alignment edge based on the angle between each directed edge corresponding to the current alignment point and the reference direction, and the angle between the current alignment edge and the reference direction, and adding the end point of the next alignment edge to the set of region segmentation points until the end point of the next alignment edge is included in the set of region segmentation points.

[0026] In one embodiment, after determining the plane sub-regions corresponding to each set of region segmentation points in the point-edge plane graph, the method further comprises:

[0027] determining a predicted number of plane sub-regions based on the number of target position points and the number of target edges;

[0028] determining whether there is a missing plane sub-region based on the actual number of plane sub-regions and the predicted number of plane sub-regions;

[0029] if there is, determining an unvisited edge in the directed edge, the unvisited edge being a directed edge whose start point or end point is not stored in any region segmentation point;

[0030] completing the plane sub-regions based on the unvisited edge.

[0031] In one embodiment, the segmenting the ROI map based on the plane sub-regions comprises:

[0032] determining a connection relationship between the target position points and the target edges based on the plane sub-regions;

[0033] segmenting the ROI vector map based on the connection relationship.

[0034] In a second aspect, the present application also provides a map segmentation device. The device comprises:

[0035] a first determining module configured to determine an ROI map based on a user's ROI region of interest and a global map;

[0036] a second determining module configured to determine target position points and target edges from the ROI map;

[0037] a segmentation module configured to segment the ROI map based on the target position points and the target edges to obtain a segmented local map.

[0038] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the map segmentation method as described in any of the embodiments of the first aspect above.

[0039] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the map segmentation method as described in any of the embodiments of the first aspect above.

[0040] According to the technical solution of this application, by determining the ROI map, the global map is initially processed based on the user's region of interest, obtaining map information within the ROI and providing an information foundation for subsequent ROI map segmentation, ensuring the smooth progress of subsequent processes. By determining the target location point and target edge, road data within the ROI map is obtained, ensuring that the ROI map can be segmented based on the road data, guaranteeing the uniqueness of the ROI map data. By segmenting the ROI map, a segmented local map is obtained, preventing the loss of flexibility due to segmentation, ensuring the continuity of the user's use of the segmented ROI map, reducing frequent switching of local maps, and preventing the fragmentation of traffic elements during ROI map segmentation, thus ensuring the structural integrity of traffic elements in the ROI map. Attached Figure Description

[0041] Figure 1 An application environment diagram of a map segmentation method provided in this application embodiment;

[0042] Figure 2 A flowchart illustrating a map segmentation method provided in this application embodiment;

[0043] Figure 3 A flowchart illustrating the steps for determining a target location point and a target edge is provided in this embodiment of the application.

[0044] Figure 4 An example diagram showing the position of a point edge in a map, provided as an embodiment of this application;

[0045] Figure 5 A flowchart illustrating the steps for segmenting a ROI map, as provided in this application embodiment;

[0046] Figure 6 A flowchart illustrating the steps for determining a planar sub-region provided in this application embodiment;

[0047] Figure 7A planar sub-region schematic diagram provided for an embodiment of the present application;

[0048] Figure 8 A flow chart of another map segmentation method provided for an embodiment of the present application;

[0049] Figure 9 A structure block diagram of a first map segmentation device provided for an embodiment of the present application;

[0050] Figure 10 A structure block diagram of a second map segmentation device provided for an embodiment of the present application;

[0051] Figure 11 A structure block diagram of a third map segmentation device provided for an embodiment of the present application;

[0052] Figure 12 A structure block diagram of a fourth map segmentation device provided for an embodiment of the present application;

[0053] Figure 13 An internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0055] It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application. In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0056] Electronic map plays a very important role in the field of automatic driving. The electronic map provides direct and accurate direction guidance for the automatic driving vehicle, and in the daily life of the user, the electronic map also plays a very important role. However, due to the large area of the electronic map, the electronic map needs to be divided into multiple local maps in the actual application process. When the electronic map needs to be displayed to the user, the corresponding local map needs to be displayed according to the positioning of the user.

[0057] At present, when the prior art divides the electronic map, the electronic map is usually divided in the form of a tile map. The division method divides the electronic map into a plurality of local maps in a rectangular structure according to a fixed size. The plurality of local maps obtained by the division method have the following technical problems:

[0058] (1) If the electronic map is divided, a certain traffic element in the electronic map will be cut into two different elements, which destroys the structural integrity of the traffic element in the electronic map. (The traffic element refers to the relevant element in the electronic map that can play a marking role, which can include but is not limited to: roads, tunnels, bridges and the like).

[0059] (2) When the user drives to the division line of the two local maps, due to the difficulty in ensuring the accuracy of the positioning data of the user, the local map presented to the user will frequently switch.

[0060] The map division method provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 In one embodiment, a computer device is provided, which can be a server, and the internal structure diagram thereof can be as shown in Figure 1 The computer device includes a processor, a memory and a network interface connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the acquisition data of the map division. The network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement a map division method.

[0061] The application discloses a map segmentation method and device, a computer device and a storage medium thereof. The computer device of a staff member determines an ROI map according to a global map and a region of interest of a user; and segments the ROI map according to a target position point and a target edge of the ROI map to obtain a segmented local map. The map segmentation method will be described in detail below.

[0062] In one embodiment, as shown in Figure 2 , Figure 2 A flowchart of a map segmentation method provided by an embodiment of the application provides a map segmentation method, Figure 1 The map segmentation method executed by the computer device in the embodiment can include the following steps:

[0063] Step 201: determining an ROI map according to a region of interest of a user and a global map.

[0064] The determination method of the region of interest of the user can be determined according to user demand, and it can be understood that the determination method of the region of interest of the user is different in different user demand; the method of determining the region of interest of the user in different user demand can refer to the following examples:

[0065] As an example, when the user demand is to navigate to a destination, the destination can be taken as a center, and the distance between the position of the user and the destination can be taken as a radius, and the circular region determined according to the center and the radius is the region of interest of the user, and further, when the distance between the user and the destination changes, the radius of the region of interest of the user changes synchronously.

[0066] As another example, when the user demand is to obtain a map within a target distance around the user, the position of the user can be taken as a center, and the target distance in the user demand can be taken as a radius, and the circular region determined according to the center and the radius is the region of interest of the user.

[0067] As another example, when the user demand is to obtain a map within a target distance around the user, the position of the user can be taken as a center, and the target distance in the user demand can be taken as a radius, and the circular region determined according to the center and the radius is the region of interest of the user.

[0068] It is to be supplemented that the shape of the region of interest of the user can be changed according to different user demand, and the shape of the region of interest of the user is not limited herein, for example, the region of interest of the user can be a rhombus, a rectangle and a circle.

[0069] In an embodiment of the present application, when the ROI map needs to be determined, the user's region of interest (ROI) is mapped in the corresponding position of the global map; and the global map is segmented according to the region boundary of the user's ROI in the global map, and the segmented map is the ROI map.

[0070] Further, if the global map is a vector map, the user's ROI can be mapped in the corresponding position of the global vector map; and the global vector map is segmented according to the region boundary of the user's ROI in the global vector map, and the segmented map is the ROI map; if the global map is a three-dimensional map, the global three-dimensional map is simplified and vectorized to obtain a global vector map corresponding to the global three-dimensional map, and then the above method is combined to determine the ROI map according to the user's ROI and the global map.

[0071] Step 202, determining the target position point and the target edge from the ROI map.

[0072] It should be noted that the target edge is used to represent the center line of each road in the ROI map and the map boundary of the ROI map; therefore, when the target edge in the ROI map needs to be determined, the center line of each road in the ROI map and the map boundary of the ROI map can be determined to realize the determination of the target edge.

[0073] It should be noted that the target position point is used to represent the intersection of different target edges in the ROI map; therefore, when the target position point in the ROI map needs to be determined, the intersection of different target edges in the ROI map can be determined to realize the determination of the target position point; and the target position point also includes the inflection point after a single target edge is bent and the same intersection point of multiple target edges.

[0074] Step 203, segmenting the ROI map according to the target position point and the target edge to obtain the segmented local map.

[0075] It should be noted that in order to ensure that the segmented local map does not cause the traffic elements to be split, the ROI map can be segmented according to the center line of each road in the ROI map and the intersection relationship of each road, that is, the ROI map is segmented according to the connection relationship of the target position point and the target edge; specifically, the ROI map can be segmented into multiple closed-loop sub-regions through the connection relationship of the target position point and the target edge; the ROI map is segmented according to the boundary line of the multiple closed-loop sub-regions to obtain the segmented local map; wherein the boundary line of the closed-loop sub-region is the target edge, and the intersection point of the boundary line of the closed-loop sub-region is the target position point.

[0076] According to the map segmentation method of the present application, by determining the ROI map, the global map is preliminarily processed according to the user's interested region, the map information in the user's interested region ROI is obtained, which provides an information basis for subsequent segmentation of the ROI map, and ensures the smooth progress of the subsequent process; by determining the target position point and the target edge, the road data in the ROI map is obtained, which ensures that the ROI map can be segmented according to the road data, ensures that the segmented ROI map has the road data before segmentation, and ensures the data uniqueness of the ROI map; by segmenting the ROI map, the segmented local map is obtained, which prevents the loss of flexibility of the ROI map due to segmentation, ensures the coherence of the user when using the segmented ROI map, reduces the frequent switching of local maps, and prevents the traffic elements from being split when the ROI map is segmented, ensuring the structural integrity of the traffic elements in the ROI map.

[0077] It should be noted that the boundary position point and the target edge can be determined according to the connection relationship between different roads. Alternatively, as shown in Figure 3 Figure 3 A step flow chart for determining a target position point and a target edge is provided for an embodiment of the present application. Specifically, determining a target position point and a target edge can include the following steps:

[0078] Step 301: According to the connection relationship between different roads in the ROI map, the internal position points in the target position points in the ROI map are determined.

[0079] Among them, the internal position point refers to: the target position point located inside the ROI map and not in contact with the boundary of the ROI map.

[0080] It should be noted that since the target position points in the ROI map are used to represent the intersection points of different roads in the ROI map and the inflection points after the bending of a single road, in order to obtain the internal position points in the ROI map, it is necessary to determine the connection relationship between different roads in the ROI map; according to the connection relationship between different roads, the intersection points of different roads and the inflection points after the bending of a single road are determined, and the determined intersection points and inflection points are the internal position points in the ROI map; further, since the internal position points are not in contact with the boundary of the ROI map, if the intersection points of different roads or the inflection points after the bending of a single road in the ROI map are in contact with the boundary of the ROI map, the intersection points or the inflection points cannot be used as the internal position points in the ROI map.

[0081] Step 302: According to the connection relationship between each road and the map boundary in the ROI map, the boundary position points in the target position points in the ROI map are determined.

[0082] ​Here, the boundary location point refers to the point on the boundary of the ROI map that intersects with the road within the ROI map; to be further explained, the boundary location point must be located on the boundary of the ROI map.

[0083] In one embodiment of this application, when it is necessary to determine the boundary location point of the ROI map, a search can be conducted on the boundary of the ROI map to see if there are any points that intersect with roads within the ROI map. If there are any points on the boundary of the ROI map that intersect with roads within the ROI map, then those points are the boundary location points. Further, if a point on the boundary of the ROI map intersects with a road within the ROI map, it can simultaneously serve as the intersection point of different roads or the turning point after a single road bends. However, since the point is located on the boundary of the ROI map, it serves as a boundary location point, but cannot serve as an internal location point.

[0084] Step 303: Determine the target edges based on the connection relationships between the target location points.

[0085] It should be noted that the connection relationships between different target locations can include: connections between internal locations, connections between internal locations and boundary locations, and connections between boundary locations. Therefore, when it is necessary to determine target edges based on the connection relationships between target locations, the above three cases can be included. The methods for determining target edges will be described below for each of these three cases:

[0086] In one embodiment of this application, when determining the target edge based on the connection relationship between internal location points, the internal location points can be connected in pairs according to the connectivity relationship of each road in the ROI map; further, when determining the target edge based on the connection relationship between internal location points, it is necessary to ensure that both ends of the connected target edge are connected to the corresponding internal location points.

[0087] For example, such as Figure 4 As shown, Figure 4 An example diagram of the location of a point edge in a map is provided for an embodiment of this application; when the target edge is determined based on the connection relationship between internal location points, the target edge of the ROI map can be obtained as follows: S1, S2, S3, S4, S5, S6, S7 and S8.

[0088] In another embodiment of this application, when determining the target edge based on the connection relationship between the internal location and the boundary location point, the internal location point and the boundary location point can be connected in pairs according to the connectivity relationship between each road in the ROI map and the map boundary; further, when determining the target edge based on the connection relationship between the internal location and the boundary location point, it is necessary to ensure that the two ends of the target edge are connected to the internal location and the boundary location point respectively.

[0089] For example, such as Figure 4 As shown, when the target edge is determined based on the connection relationship between the internal location and the boundary location point, the target edges of the ROI map can include: S9, S10, S11, S12, S13, S14, S15 and S16.

[0090] In another embodiment of this application, when determining the target edge based on the connection relationship between boundary position points, adjacent boundary position points can be connected pairwise according to the map boundary of the ROI map; further, when determining the target edge based on the connection relationship between boundary position points, it is necessary to ensure that both ends of the target edge are connected to boundary position points.

[0091] For example, such as Figure 4 As shown, when the target edges are determined based on the connection relationship between the boundary location points, the target edges of the ROI map can be obtained as follows: S17, S18, S19, S20, S21, S22, S23 and S24.

[0092] According to the map segmentation method of this application, internal location points are determined based on the connectivity between different roads in the ROI map. This ensures that the internal location points in the target location point effectively reflect the connectivity between different roads in the ROI map, guaranteeing the structural integrity of the ROI map during subsequent segmentation and preventing the fragmentation of traffic elements. Boundary location points are determined through the connectivity between each road in the ROI map and the map boundary, ensuring that the boundary location points in the target location point effectively reflect the connectivity between each road in the ROI map and the map boundary. This further improves the structural integrity of the ROI map, ensuring its continued usability after segmentation. Finally, target edges are determined through the connectivity between target location points, effectively representing the positions of different roads within the ROI map and the ROI map boundary, providing a segmentation basis for subsequent segmentation and ensuring the successful acquisition of local maps.

[0093] It should be noted that planar sub-regions can be obtained based on the target location point and target edges; the ROI map can then be segmented based on these planar sub-regions. Optionally, such as... Figure 5 As shown, Figure 5 This application provides a flowchart of steps for segmenting a Region of Interest (ROI) map. Specifically, segmenting an ROI map may include the following steps:

[0094] Step 501, simplifying the ROI map according to the target position point and the target edge to obtain a point-edge plane map.

[0095] It should be noted that, since the ROI map contains a large amount of map information (the map information may include, but is not limited to, street-side house information, street width information, etc.), a large amount of computing resources is consumed when the ROI map is segmented, and the segmentation efficiency is low. In order to reduce the occupation of a large amount of computing resources when the ROI map is segmented in the subsequent process and improve the segmentation efficiency, the ROI map needs to be simplified to obtain a simplified point-edge plane map. Compared with segmenting the ROI map, the computing resources consumed by segmenting the simplified point-edge plane map are less, and the segmentation efficiency is higher. After the segmentation of the point-edge plane map is completed, the segmentation result can be mapped back to the ROI map, so as to realize the segmentation of the ROI map.

[0096] In an embodiment of the present application, when the ROI map needs to be simplified, the following operations can be included: the target edge can be used to replace each road in the ROI map; the internal position points in the target position point are displayed at the intersection points of different roads and the inflection points after the single road is bent; the boundary position points in the target position point are displayed at the intersection points of the roads in the ROI map and the boundary of the ROI map. After the above operations are completed, other information in the ROI map except the target position point and the target edge is deleted to obtain a point-edge plane map containing only the target position point and the target edge, as shown in Figure 4 .

[0097] Step 502, segmenting the point-edge plane map according to the target position point and the target edge to obtain a plane sub-region.

[0098] The plane sub-region refers to a plurality of closed loop regions obtained by segmenting the point-edge plane map according to the target position point and the target edge. Further, it is explained that the point-edge plane map before the plane sub-region is segmented can be restored by splicing the plurality of plane sub-regions segmented.

[0099] It should be noted that, when the point-edge plane map needs to be segmented, the point-edge plane map can be regionally divided according to the target position point and the target edge to divide the point-edge plane map into a plurality of sub-regions, and the sub-region is the plane sub-region.

[0100] In an embodiment of the present application, when the point-edge plane map needs to be regionally divided according to the target position point and the target edge, a polygon sub-region with the target edge as a boundary and the target position point as a vertex can be obtained according to the connection relationship between the target position point and the target edge, and the sub-region is the plane sub-region. As shown in Figure 4 , if Figure 4The point-edge planar graph that needs to be segmented is defined by V1 to V15, which are the target location points. The lines connecting the target location points are the target edges. When the point-edge planar graph is segmented based on the target location points and target edges to obtain planar sub-regions, these sub-regions may include: [V1—V8—V10] ([V1—V8—V10] represents a planar sub-region with target location points V1, V8, and V10 as vertices and target edges S17, S10, and S9 as boundaries), [V1—V2—V9—V8], and [V2—V9—V11], etc.

[0101] Step 503: Segment the ROI map based on planar sub-regions.

[0102] It should be noted that when it is necessary to segment the ROI map based on planar sub-regions, the following can be included: determining the connection relationship between the target location point and the target edge based on the planar sub-region; and segmenting the ROI map based on the connection relationship.

[0103] It should be noted that the connection between the target location point and the target edge can be understood as the boundary of the corresponding planar sub-region; for example... Figure 4 As shown, with Figure 4 Taking the [V1—V8—V10] planar sub-region as an example, the connection relationship between the identifiable target location points and target edges in the [V1—V8—V10] planar sub-region is the target edge connecting V1, V8, and V10. When segmenting the ROI vector map, the target edge connecting V1, V8, and V10 can be used as the segmentation boundary for the ROI map.

[0104] According to the map segmentation method of this application, by simplifying the ROI map, the computational resources required for subsequent ROI map segmentation are reduced, improving segmentation efficiency and ensuring the smooth progress of the segmentation process. By obtaining planar sub-regions, the smooth segmentation of the ROI map is ensured. The ROI map is divided into several planar sub-regions based on target edges and target location points, thereby enabling ROI map segmentation based on planar sub-regions. This ensures the continuity of the ROI map after segmentation for users, reduces frequent switching of local maps, and prevents the fragmentation of traffic elements during ROI map segmentation, ensuring the structural integrity of traffic elements in the ROI map.

[0105] It should be noted that at least one set of region segmentation points can be determined based on the target location point and the target edge; planar sub-regions are obtained based on these region segmentation points. Optionally, such as... Figure 6 As shown, Figure 6 This application provides a flowchart of steps for determining a planar sub-region. Specifically, determining a planar sub-region may include the following steps:

[0106] Step 601, converting the target edge into two directed edges, and determining the start point and end point of each directed edge from the target position point.

[0107] It should be noted that, since the target edge determined according to the target position point is an undirected edge, it can be understood that the target edge is a line segment without direction; therefore, in order to ensure that the subsequent target edge can be determined according to the target edge to determine the planar sub-region bounded by the target edge, it is necessary to convert the target edge into a directed edge, so as to ensure that the planar sub-region can be determined according to the direction of the directed edge according to the connection mode of the target edge.

[0108] Further, converting the target edge into two directed edges means that the two end points of the target edge are respectively taken as the start points, and the line extending from the start point along the direction of the target edge is taken as the directed edge corresponding to the target edge. Among them, the directed edge refers to the edge with direction characteristics extending from one point to another point, so the point where the directed edge starts to extend is the start point, and the point where the directed edge ends to extend is the end point.

[0109] For example, if the target edge is S1 (S1 refers to the target edge with target position point V1 and target position point V2 as end points), the two end points of the target edge are respectively taken as the start points, that is, the target position point V1 and the target position point V2 are taken as the end points, and the line extending along the direction of the target edge is taken as the directed edge corresponding to the target edge, that is, the directed edge (V1, V2) and the directed edge (V2, V1) corresponding to the target edge S1 are obtained, wherein (V1, V2) refers to the directed edge with V1 as the start point and V2 as the end point, and (V2, V1) refers to the directed edge with V2 as the start point and V1 as the end point.

[0110] Step 602, determining at least one group of region division points according to the start point of each directed edge and the included angle between each directed edge and the preset reference direction.

[0111] It should be noted that the method of determining the region division point can specifically include the following contents:

[0112] For each directed edge, the start point of the directed edge and the start point of the reverse edge of the directed edge are added to a set of region split points; the reverse edge is taken as a current comparison edge, and the start point of the reverse edge is taken as a current comparison point; according to the angles between the directed edges corresponding to the current comparison point and the reference direction and the angle between the current comparison edge and the reference direction, a next comparison edge is determined, and the end point of the next comparison edge is added to the set of region split points; wherein the directed edges corresponding to the current comparison point are the directed edges with the current comparison point as the start point; the next comparison edge is taken as the current comparison edge, and the end point of the next comparison edge is taken as the current comparison point, and the operation of determining the next comparison edge according to the angles between the directed edges corresponding to the current comparison point and the reference direction and the angle between the current comparison edge and the reference direction, and adding the end point of the next comparison edge to the set of region split points is executed until the end point of the next comparison edge is included in the set of region split points.

[0113] Wherein, the reverse edge refers to the edge opposite to the extension direction of the directed edge; it is further explained that the start point of the reverse edge is the terminal of the corresponding directed edge, and the end point of the reverse edge is the start point of the corresponding directed edge; for example, if the directed edge is (V1, V2), the reverse edge corresponding to the directed edge is (V2, V1).

[0114] It is further explained that the above embodiment "determining the next comparison edge according to the angles between the directed edges corresponding to the current comparison point and the reference direction and the angle between the current comparison edge and the reference direction" means: an polar coordinate system is established by taking the current comparison point as the pole and the positive east direction as the reference direction; the angles between the multiple directed edges with the pole as the start point and the reference direction are determined, and are sequentially sorted in ascending order of the angles; the angle between the current comparison edge and the reference direction is included in the sorting result, so according to the sorting result, the next directed edge of the comparison edge is selected, that is, the directed edge adjacent to the comparison edge and having an angle greater than the angle between the comparison edge and the reference direction in the sorting result is taken as the next comparison edge.

[0115] For example, when it is necessary to determine the region split point, a directed edge can be selected as an initial directed edge, such as Figure 4As shown, the directed edge can be (V1, V2), first, the starting target position point V1 and the ending target position point V2 of the directed edge (V1, V2) are added to a set of region segmentation points; the reverse edge (V2, V1) corresponding to the directed edge (V1, V2) is determined, and (V2, V1) is taken as the current comparison edge; the polar coordinate system is established with the target position point V2 as the pole and the positive east direction as the reference direction, then the directed edges with the target position point V2 as the starting point are sequentially sorted according to the respective angles corresponding to the reference direction and the angles from small to large, and the sorting result is (V2, V11), (V2, V9), (V2, V1) and (V2, V7), then it can be determined that the angle between the directed edge (V2, V7) and the reference direction is greater than the angle corresponding to the reference direction of (V2, V1), and (V2, V7) is adjacent to (V2, V1), so (V2, V7) is the next comparison edge, and the ending target position point V7 of the next comparison edge is added to the above-mentioned region segmentation points. The reverse edge (V7, V2) of (V2, V7) is taken as the current comparison edge, then according to the above-mentioned steps, it can be determined that the next comparison edge is (V7, V6), and the ending target position point V6 of the next comparison edge is added to the above-mentioned region segmentation points. The reverse edge (V6, V7) of (V7, V6) is taken as the current comparison edge, then according to the above-mentioned steps, it can be determined that the next comparison edge is (V6, V4), and the ending target position point V4 of the next comparison edge is added to the above-mentioned region segmentation points. The reverse edge (V4, V6) of (V6, V4) is taken as the current comparison edge, then according to the above-mentioned steps, it can be determined that the next comparison edge is (V4, V3), and the ending target position point V3 of the next comparison edge is added to the above-mentioned region segmentation points. The reverse edge (V3, V4) of (V4, V3) is taken as the current comparison edge, then according to the above-mentioned steps, it can be determined that the next comparison edge is (V3, V1), and the ending target position point V1 of the next comparison edge is added to the above-mentioned region segmentation points. Since the ending point of the next comparison edge is included in the set of region segmentation points, the addition of the region segmentation points is stopped; the region segmentation points obtained according to the above-mentioned operation include: the target position point V1, the target position point V2, the target position point V7, the target position point V6, the target position point V4 and the target position point V3.

[0116] In step 603, the plane sub-regions corresponding to each set of region segmentation points in the point-edge plane graph are determined, wherein each set of region segmentation points corresponds to a closed loop plane sub-region.

[0117] It should be noted that when it is necessary to determine the corresponding planar sub-region of the region division point in the point-edge planar graph, all target position points contained by the region division point can be taken as the end points of the planar sub-region, and a closed polygon region is connected according to the target edge connection method of adjacent target position points contained by the region division point, and the region is the planar sub-region. For example, according to the above embodiment, it is known that the region division point includes target position point V1, target position point V2, target position point V7, target position point V6, target position point V4 and target position point V3, and the corresponding planar sub-region of the region division point is as shown in Figure 7 Figure 7 A planar sub-region schematic diagram provided for an embodiment of the present application.

[0118] In an embodiment of the present application, when the corresponding planar sub-region in the point-edge planar graph is determined, the number of planar sub-regions can be verified according to the number of target position points and the number of target edges, and then it is determined whether there is an undetermined planar sub-region in the point-edge planar graph; specifically, the method for verifying the number of planar sub-regions is as follows: the predicted number of planar sub-regions is determined according to the number of target position points and the number of target edges; whether there is a missing planar sub-region is determined according to the actual number and the predicted number of planar sub-regions; if there is, the unvisited edge in the directed edge is determined, and the unvisited edge is the directed edge whose starting point or ending point is not stored in any region division point; the planar sub-region is completed based on the unvisited edge.

[0119] Wherein, whether there is a missing planar sub-region can be determined according to the following formula (1), specifically, the number of target edges and the number of target position nodes are substituted into the following formula (1), and it is judged whether the result of formula (1) is the same as the actual number of planar sub-regions, if the same, it indicates that there is no missing planar sub-region; if not, it indicates that there is a missing planar sub-region; wherein, formula (1) is as follows:

[0120] F=E-V+1……(1)

[0121] Wherein, F refers to the actual number of planar sub-regions, E refers to the number of target edges, and V refers to the number of target position nodes.

[0122] Further, when it is necessary to complete the planar sub-region based on the unvisited edge, according to the above embodiment, the starting point and the ending point of the unvisited edge can be stored in a new region division point, and the reverse edge of the unvisited edge is taken as the current comparison edge, and the steps for determining the region division point in the above embodiment are executed, so that the new region division point of the target position point addition is completed; the new planar sub-region is determined according to the new region division point, so that the planar sub-region is completed. ​

[0123] According to the map segmentation method of this application, determining the directed edge corresponding to the target edge provides the basis for subsequent determination of region segmentation points, ensuring the smooth progress of subsequent processes, guaranteeing that the region segmentation points can contain all target location points of the planar sub-region, and ensuring the accuracy of determining the planar sub-region. Determining the region segmentation point by using the angle between the directed edge and the preset reference direction further improves the accuracy of determining the region segmentation point, ensuring that the planar sub-region can be accurately obtained based on the region segmentation point, and guaranteeing the smooth progress of the subsequent ROI map segmentation process; determining the planar sub-region corresponding to the region segmentation point ensures the accuracy of the subsequent ROI map segmentation process.

[0124] In one embodiment of this application, such as Figure 8 As shown, Figure 8 A flowchart of another map segmentation method provided in this application embodiment, when segmenting a map:

[0125] Step 801: Determine the ROI map based on the user's Region of Interest (ROI) and the global map.

[0126] Step 802: Based on the connectivity between different roads in the ROI map, determine the internal location points of the target location points in the ROI map.

[0127] Step 803: Based on the connectivity between each road and the map boundary in the ROI map, determine the boundary location points among the target location points in the ROI map.

[0128] Step 804: Determine the target edge based on the connection relationship between different target location points.

[0129] Step 805: Based on the target location point and target edge, simplify the ROI map to obtain a point-edge planar map.

[0130] Step 806: Convert the target edge into two directed edges, and determine the start and end points of each directed edge from the target location point.

[0131] Step 807: Determine at least one set of region segmentation points based on the starting point of each directed edge and the angle between each directed edge and the preset reference direction.

[0132] Step 808: Determine the planar sub-regions corresponding to each group of region segmentation points in the point-edge planar graph, wherein each group of region segmentation points corresponds to a closed-loop planar sub-region.

[0133] It should be noted that, for each directed edge, the starting point of the directed edge and the starting point of the reverse edge of the directed edge are added to a set of region segmentation points; the reverse edge is taken as the current comparison edge, and the starting point of the reverse edge is taken as the current comparison point; according to the angles between the directed edges corresponding to the current comparison point and the reference direction and the angle between the current comparison edge and the reference direction, the next comparison edge is determined, and the end point of the next comparison edge is added to the set of region segmentation points; wherein the directed edges corresponding to the current comparison point are the directed edges starting from the current comparison point; the next comparison edge is taken as the current comparison edge, and the end point of the next comparison edge is taken as the current comparison point, and the operation of determining the next comparison edge according to the angles between the directed edges corresponding to the current comparison point and the reference direction and the angle between the current comparison edge and the reference direction, and adding the end point of the next comparison edge to the set of region segmentation points is returned until the end point of the next comparison edge is included in the set of region segmentation points.

[0134] In an embodiment of the present application, the predicted number of plane sub-regions is determined according to the number of target position points and the number of target edges; whether there is a missing plane sub-region is determined according to the actual number and the predicted number of plane sub-regions; if there is, the unvisited edge in the directed edge is determined, the unvisited edge being the directed edge whose starting point or end point is not stored in any region segmentation point; and the plane sub-regions are completed based on the unvisited edge.

[0135] In step 809, the connection relationship between the target position points and the target edges is determined according to the plane sub-regions.

[0136] In step 810, the ROI map is segmented according to the connection relationship to obtain the segmented local map.

[0137] According to the map segmentation method of the present application, by determining the ROI map, the global map is preliminarily processed according to the user's interested region, the map information in the user's interested region ROI is obtained, which provides an information basis for subsequent segmentation of the ROI map, and ensures the smooth progress of the subsequent process; by determining the target position points and the target edges, the road data in the ROI map is obtained, which ensures that the ROI map can be segmented according to the road data, ensures that the segmented ROI map has the road data before segmentation, and ensures the data uniqueness of the ROI map; by segmenting the ROI map, the segmented local map is obtained, which prevents the loss of flexibility of the ROI map due to segmentation, ensures the coherence of the user when using the segmented ROI map, reduces the situation of frequent switching of local maps, and prevents the traffic elements from being split when the ROI map is segmented, ensuring the structural integrity of the traffic elements in the ROI map.

[0138] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0139] According to the same inventive concept, the embodiments of the present application also provide a map segmentation device for implementing the above-mentioned map segmentation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more map segmentation device embodiments provided below can refer to the limitations of the map segmentation method in the above text, and will not be repeated here.

[0140] In one embodiment, as shown in Figure 9 Figure 9 The structure block diagram of the first map segmentation device provided by the embodiments of the present application provides a map segmentation device, which comprises a first determination module 100, a second determination module 200 and a segmentation module 300, wherein:

[0141] The first determination module 100 is configured to determine an ROI map according to the ROI region of interest of the user and the global map.

[0142] The second determination module 200 is configured to determine a target position point and a target edge from the ROI map.

[0143] The segmentation module 300 is configured to segment the ROI map according to the target position point and the target edge to obtain a segmented local map.

[0144] ​According to the map segmentation device provided in the application, the global map is preliminarily processed according to the region of interest of the user by determining the ROI map, the map information in the region of interest of the user is obtained, an information basis is provided for subsequent segmentation of the ROI map, and the subsequent process is ensured to be carried out smoothly; the road data in the ROI map is obtained by determining the target position point and the target edge, the ROI map is ensured to be segmented according to the road data, the segmented ROI map is ensured to be based on the road data before segmentation, the data uniqueness of the ROI map is ensured; the segmented local map is obtained by segmenting the ROI map, the flexibility of the ROI map is prevented from being lost due to segmentation, the coherence of the segmented ROI map is ensured for the user, the situation that the local map is frequently switched is reduced, and the traffic elements are prevented from being split when the ROI map is segmented, and the structural integrity of the traffic elements in the ROI map is ensured.

[0145] In one embodiment, as shown in Figure 10 , Figure 10 The structure block diagram of the second map segmentation device provided in the embodiment of the application provides a map segmentation device, the second determination module 200 in the map segmentation device includes: a first determination unit 210, a second determination unit 220 and a third determination unit 230, wherein:

[0146] The first determination unit 210 is configured to determine the internal position point in the target position point in the ROI map according to the connection relationship between different roads in the ROI map.

[0147] The second determination unit 220 is configured to determine the boundary position point in the target position point in the ROI map according to the connection relationship between each road in the ROI map and the map boundary.

[0148] The third determination unit 230 is configured to determine the target edge according to the connection relationship between different target position points.

[0149] According to the map segmentation device, the internal position points are determined according to the connection relationship between different roads in the ROI map, so that the internal position points in the target position points can effectively reflect the connection relationship between different roads in the ROI map, and the structural integrity of the ROI map can be ensured when the ROI map is segmented subsequently, and the traffic elements are prevented from being split when the ROI map is segmented; the boundary position points are determined according to the connection relationship between each road in the ROI map and the map boundary, so that the boundary position points in the target position points can effectively reflect the connection relationship between each road in the ROI map and the map boundary; the structural integrity of the ROI map is further improved, and the ROI map can still be normally used after the ROI map is segmented subsequently; the target edges are determined according to the connection relationship between the target position points, so that the different roads in the ROI map and the boundary positions of the ROI map can be effectively reflected, a segmentation basis for subsequent segmentation of the ROI map is provided, and the local map can be successfully obtained subsequently.

[0150] In one embodiment, as shown in Figure 11 , Figure 11 The third map segmentation device provided by the embodiment of the present application is provided with a structure block diagram, and the map segmentation device comprises a simplification unit 310, a processing unit 320 and a segmentation unit 330.

[0151] The simplification unit 310 is configured to perform simplification processing on the ROI map according to the target position points and the target edges, and obtain a point-edge planar graph.

[0152] The processing unit 320 is configured to perform segmentation processing on the point-edge planar graph according to the target position points and the target edges, and obtain a planar sub-region.

[0153] The segmentation unit 330 is configured to segment the ROI map based on the planar sub-region.

[0154] In one embodiment of the present application, the connection relationship between the target position points and the target edges is determined according to the planar sub-region, and the ROI map is segmented according to the connection relationship.

[0155] According to the map segmentation device, the ROI map is simplified, so that subsequent segmentation of the ROI map can occupy less computing resources, improve the segmentation efficiency, and ensure the smooth progress of the segmentation process; the planar sub-regions are obtained, so that the ROI map can be segmented smoothly; the ROI map is divided into a plurality of planar sub-regions by the target edge and the target position point, so that the ROI map is segmented according to the planar sub-regions, the continuity of the segmented ROI map is ensured, the situation of frequent switching of local maps is reduced, and the traffic elements are prevented from being split during segmentation of the ROI map, so that the structural integrity of the traffic elements in the ROI map is ensured.

[0156] In one embodiment, as shown in Figure 12 , Figure 12 The fourth map segmentation device provided in the embodiment of the present application is shown in a structural block diagram, and the map segmentation device includes a processing unit 320, which includes a first determination sub-unit 321, a second determination sub-unit 322, and a third determination sub-unit 323.

[0157] The first determination sub-unit 321 is configured to convert the target edge into two directed edges, and determine the start point and the end point of each directed edge from the target position point.

[0158] The second determination sub-unit 322 is configured to determine at least one group of region segmentation points according to the start point of each directed edge and the included angle between each directed edge and a preset reference direction.

[0159] In one embodiment of the present application, for each directed edge, the start point of the directed edge and the start point of the reverse edge of the directed edge are added to a group of region segmentation points; the reverse edge is taken as a current comparison edge, and the start point of the reverse edge is taken as a current comparison point; the next comparison edge is determined according to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction, and the end point of the next comparison edge is added to the group of region segmentation points; wherein each directed edge corresponding to the current comparison point is each directed edge with the current comparison point as the start point; the next comparison edge is taken as the current comparison edge, the end point of the next comparison edge is taken as the current comparison point, and the operation of determining the next comparison edge according to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction and adding the end point of the next comparison edge to the group of region segmentation points is returned to be executed until the end point of the next comparison edge is included in the group of region segmentation points.

[0160] The third determination sub-unit 323 is configured to determine the planar sub-regions corresponding to each group of region segmentation points in the point-edge planar graph, wherein each group of region segmentation points corresponds to a closed-loop planar sub-region.

[0161] In an embodiment of the present application, after determining the corresponding planar sub-region in the point-edge planar graph, the number of planar sub-regions can be verified according to the number of target position points and the number of target edges, so as to determine whether there is an undetermined planar sub-region in the point-edge planar graph; specifically, the method of verifying the number of planar sub-regions is as follows: according to the number of target position points and the number of target edges, the predicted number of planar sub-regions is determined; according to the actual number and the predicted number of planar sub-regions, it is determined whether there is a missing planar sub-region; if there is, the unvisited edge in the directed edge is determined, the unvisited edge is the directed edge whose starting point or ending point is not stored in any region division point; based on the unvisited edge, the planar sub-region is completed.

[0162] According to the map segmentation device of the present application, the corresponding directed edge of the target edge is determined, which provides a basis for subsequent determination of the region division point, ensures the smooth progress of the subsequent process, ensures that the region division point can contain all target position points of the planar sub-region, and ensures the accuracy of determining the planar sub-region. The angle between the directed edge and the preset reference direction is used to determine the region division point, which further improves the accuracy of determining the region division point, ensures that the planar sub-region can be accurately obtained according to the region division point, and ensures the smooth progress of the subsequent segmentation process of the ROI map; by determining the planar sub-region corresponding to the region division point, the accuracy of the subsequent segmentation process of the ROI map is ensured.

[0163] The above-mentioned modules in the map segmentation device can be all or part realized by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0164] In an embodiment, a computer device is provided, which can be a terminal, and the internal structure diagram thereof can be as shown in Figure 13As shown in the figure. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless mode can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a map segmentation method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad provided on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0165] Those skilled in the art can understand that, Figure 13 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0166] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0167] According to the region of interest (ROI) of the user and the global map, determine the ROI map;

[0168] From the ROI map, determine the target position point and the target edge;

[0169] According to the target position point and the target edge, segment the ROI map to obtain a segmented local map.

[0170] In one embodiment, the processor executing the computer program further implements the following steps:

[0171] According to the connection relationship between different roads in the ROI map, determine the internal position point in the target position point in the ROI map;

[0172] According to the connection relationship between each road in the ROI map and the map boundary, determine the boundary position point in the target position point in the ROI map;

[0173] According to the connection relationship between different target position points, determine the target edge.

[0174] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0175] According to the target position point and the target edge, a point-edge plane graph is obtained by simplifying the ROI map;

[0176] According to the target position point and the target edge, a plane sub-region is obtained by segmenting the point-edge plane graph;

[0177] The ROI map is segmented based on the plane sub-region.

[0178] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0179] The target edge is converted into two directed edges, and the start point and the end point of each directed edge are determined from the target position point;

[0180] At least one group of region segmentation points is determined according to the start point of each directed edge and the included angle between each directed edge and a preset reference direction;

[0181] The corresponding plane sub-region of each group of region segmentation points in the point-edge plane graph is determined, wherein each group of region segmentation points corresponds to a closed-loop plane sub-region.

[0182] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0183] For each directed edge, the start point of the directed edge and the start point of the reverse edge of the directed edge are added to a group of region segmentation points;

[0184] The reverse edge is taken as a current comparison edge, and the start point of the reverse edge is taken as a current comparison point;

[0185] The next comparison edge is determined according to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction, and the end point of the next comparison edge is added to the group of region segmentation points; wherein each directed edge corresponding to the current comparison point is each directed edge with the current comparison point as the start point;

[0186] The next comparison edge is taken as the current comparison edge, the end point of the next comparison edge is taken as the current comparison point, and the operation of determining the next comparison edge according to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction and adding the end point of the next comparison edge to the group of region segmentation points is returned to be executed until the end point of the next comparison edge is included in the group of region segmentation points.

[0187] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0188] determining a predicted number of planar sub-regions according to the number of target position points and the number of target edges;

[0189] determining whether there is a missing planar sub-region according to the actual number and the predicted number of planar sub-regions;

[0190] if there is, determining an unvisited edge in the directed edge, the unvisited edge being a directed edge whose start point or end point is not stored in any region division point;

[0191] completing the planar sub-regions based on the unvisited edge.

[0192] In an embodiment, the processor further implements the following steps when executing the computer program:

[0193] determining a connection relationship between the target position points and the target edges according to the planar sub-regions;

[0194] segmenting the ROI map according to the connection relationship.

[0195] In an embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0196] determining an ROI map according to a region of interest (ROI) of a user and a global map;

[0197] determining target position points and target edges from the ROI map;

[0198] segmenting the ROI map according to the target position points and the target edges to obtain a segmented local map.

[0199] In an embodiment, the computer program is further executed by the processor to implement the following steps:

[0200] determining internal position points in the target position points in the ROI map according to a connection relationship between different roads in the ROI map;

[0201] determining boundary position points in the target position points in the ROI map according to a connection relationship between each road in the ROI map and a map boundary;

[0202] determining the target edges according to a connection relationship between different target position points.

[0203] In an embodiment, the computer program is further executed by the processor to implement the following steps:

[0204] simplifying the ROI map according to the target position points and the target edges to obtain a point-edge planar map;

[0205] According to the target position point and the target edge, a point-edge planar graph is segmented to obtain a planar sub-region;

[0206] The ROI map is segmented based on the planar sub-region.

[0207] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0208] The target edge is converted into two directed edges, and the start point and the end point of each directed edge are determined from the target position point;

[0209] According to the start point of each directed edge and the included angle between each directed edge and a preset reference direction, at least one group of region segmentation points is determined;

[0210] The planar sub-region corresponding to each group of region segmentation points in the point-edge planar graph is determined, wherein each group of region segmentation points corresponds to a closed-loop planar sub-region.

[0211] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0212] For each directed edge, the start point of the directed edge and the start point of the reverse edge of the directed edge are added to a group of region segmentation points;

[0213] The reverse edge is taken as a current comparison edge, and the start point of the reverse edge is taken as a current comparison point;

[0214] According to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction, a next comparison edge is determined, and the end point of the next comparison edge is added to the group of region segmentation points; wherein the directed edges corresponding to the current comparison point are the directed edges with the current comparison point as the start point;

[0215] The next comparison edge is taken as the current comparison edge, the end point of the next comparison edge is taken as the current comparison point, and the operation of determining the next comparison edge according to the included angle between each directed edge corresponding to the current comparison point and the reference direction and the included angle between the current comparison edge and the reference direction and adding the end point of the next comparison edge to the group of region segmentation points is executed until the end point of the next comparison edge is included in the group of region segmentation points.

[0216] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0217] According to the number of target position points and the number of target edges, a predicted number of planar sub-regions is determined;

[0218] According to the actual number and the predicted number of planar sub-regions, it is determined whether there is a missing planar sub-region;

[0219] If there are, determine unvisited edges in the directed edges, the unvisited edges being directed edges whose start point or end point is not stored in any region split point;

[0220] Based on the unvisited edges, complete the planar sub-regions.

[0221] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0222] According to the planar sub-regions, determine the connection relationship between the target position point and the target edge;

[0223] According to the connection relationship, segment the ROI map.

[0224] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When executed, the computer program can include the processes of the above-mentioned embodiments. In the embodiments provided in the present application, any reference to a memory, a database or other medium can include at least one of a non-volatile and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database according to a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device according to quantum computing, etc., without being limited thereto.

[0225] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, as long as the combinations do not conflict with each other, they should be considered to be within the scope of the present disclosure.

[0226] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A map segmentation method, characterized in that, The method includes: The ROI map is determined based on the user's region of interest (ROI) and the global map. From the ROI map, determine the target location points and target edges; The ROI map is segmented based on the target location point and the target edge to obtain a segmented local map; The step of determining the target location point and target edge from the ROI map includes: Based on the connectivity between different roads in the ROI map, determine the internal location points of the target location points in the ROI map; Based on the connectivity between each road and the map boundary in the ROI map, determine the boundary location points among the target location points in the ROI map; The target edge is determined based on the connection relationship between the target location points; The step of segmenting the ROI map based on the target location point and the target edge includes: Based on the target location points and the target edges, the ROI map is simplified to obtain a point-edge planar map; Based on the target location point and the target edge, the point-edge planar graph is segmented to obtain planar sub-regions; The ROI map is segmented based on the aforementioned planar sub-regions; The step of segmenting the point-edge plane graph based on the target location point and the target edge to obtain planar sub-regions includes: The target edge is converted into two directed edges, and the start and end points of each directed edge are determined from the target position point. Based on the starting point of each directed edge and the angle between each directed edge and the preset reference direction, at least one set of region segmentation points is determined; Determine the planar sub-regions corresponding to the region segmentation points of each group in the point-edge planar diagram, wherein each group of region segmentation points corresponds to a closed-loop planar sub-region.

2. The method according to claim 1, characterized in that, The step of determining at least one set of region segmentation points based on the starting point of each directed edge and the angle between each directed edge and a preset reference direction includes: For each of the directed edges, the starting point of the directed edge and the starting point of the reverse edge of the directed edge are added to a set of the region segmentation points; The reverse edge is taken as the current comparison edge, and the starting point of the reverse edge is taken as the current comparison point; Based on the angle between each directed edge corresponding to the current comparison point and the reference direction, and the angle between the current comparison edge and the reference direction, the next comparison edge is determined, and the endpoint of the next comparison edge is added to the group of region segmentation points; wherein, each directed edge corresponding to the current comparison point is a directed edge starting from the current comparison point; The next matching edge is taken as the current matching edge, and the endpoint of the next matching edge is taken as the current matching point. The operation of determining the next matching edge based on the angle between each directed edge corresponding to the current matching point and the reference direction, and the angle between the current matching edge and the reference direction, and adding the endpoint of the next matching edge to the group of region segmentation points, continues until the endpoint of the next matching edge is included in the group of region segmentation points.

3. The method according to claim 1, characterized in that, After determining the planar sub-regions corresponding to the region segmentation points of each group in the point-edge planar diagram, the process includes: The predicted number of the planar sub-regions is determined based on the number of target location points and the number of target edges; Based on the actual number of the planar sub-regions and the predicted number, determine whether there are any missing planar sub-regions; If it exists, then determine the unvisited edge in the directed edge, which is the directed edge whose starting point or ending point is not stored in any of the region segmentation points; Based on the unvisited edges, the planar sub-region is completed.

4. The method according to claim 1, characterized in that, The segmentation of the ROI map based on the planar sub-regions includes: Based on the planar sub-region, determine the connection relationship between the target location point and the target edge; The ROI map is segmented based on the connectivity relationships.

5. The method according to any one of claims 1-4, characterized in that, The process of determining the ROI map based on the user's Region of Interest (ROI) and the global map includes: Map the region of interest (ROI) to the corresponding location on the global map; Based on the region boundaries mapped by the Region of Interest (ROI) in the global map, the global map is segmented to obtain the ROI map.

6. The method according to any one of claims 1-4, characterized in that, The step of simplifying the ROI map based on the target location point and the target edge includes: Replace each road in the ROI map with an available target edge; The intersection points of the internal location points of the target location point on different roads, as well as the turning points after a single road bends, are displayed. The intersection points of the boundary points of the target location points with the roads within the ROI map on the boundary of the ROI map are displayed.

7. The method according to any one of claims 1-4, characterized in that, The connection relationships between different target locations include: the connection relationships between internal locations, the connection relationships between internal locations and boundary locations, and the connection relationships between boundary locations.

8. A map segmentation device, characterized in that, The device includes: The first determination module is used to determine the ROI map based on the user's ROI region of interest and the global map; The second determining module is used to determine the target location point and target edge from the ROI map; The segmentation module is used to segment the ROI map based on the target location point and the target edge to obtain a segmented local map; The step of determining the target location point and target edge from the ROI map includes: Based on the connectivity between different roads in the ROI map, determine the internal location points of the target location points in the ROI map; Based on the connectivity between each road and the map boundary in the ROI map, determine the boundary location points among the target location points in the ROI map; The target edge is determined based on the connection relationship between the target location points; The step of segmenting the ROI map based on the target location point and the target edge includes: Based on the target location points and the target edges, the ROI map is simplified to obtain a point-edge planar map; Based on the target location point and the target edge, the point-edge planar graph is segmented to obtain planar sub-regions; The ROI map is segmented based on the aforementioned planar sub-regions; The step of segmenting the point-edge plane graph based on the target location point and the target edge to obtain planar sub-regions includes: The target edge is converted into two directed edges, and the start and end points of each directed edge are determined from the target position point. Based on the starting point of each directed edge and the angle between each directed edge and the preset reference direction, at least one set of region segmentation points is determined; Determine the planar sub-regions corresponding to the region segmentation points of each group in the point-edge planar diagram, wherein each group of region segmentation points corresponds to a closed-loop planar sub-region.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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