Road network data processing method, medium and computer device

Abstract

A road network data processing method, medium and computer device, the method comprising: extracting a non-ground road section and a plurality of ground road sections based on original road network data; the non-ground road section has an elevation difference between the ground; determining a buffer area corresponding to the non-ground road section, determining a target ground road section located in the buffer area from the plurality of ground road sections based on the positional relationship between a plurality of first target points on each ground road section in the plurality of ground road sections and the buffer area; the buffer area is an area including the non-ground road section and having a width greater than the non-ground road section; determining a road section type of the target ground road section, the road section type including a main road section and a secondary road section.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent transportation technology, and in particular to methods, media and computer equipment for processing road network data. Background Technology

[0002] Currently, in addition to being used for vehicle navigation, road network data is also expected to be used for traffic planning. However, the road network data in related technologies fails to accurately identify the road segment types of ground road segments near non-ground road segments such as overpasses and tunnels. To accurately obtain the road segment types of these ground road segments near non-ground road segments, it is necessary to manually filter out these ground road segments near non-ground road segments and then correct them one by one, which is a low-efficiency method. Summary of the Invention

[0003] In a first aspect, embodiments of this disclosure provide a method for processing road network data, the method comprising: extracting non-ground road segments and multiple ground road segments based on original road network data; wherein there is an elevation difference between the non-ground road segments and the ground; determining a buffer zone corresponding to the non-ground road segments; and determining a target ground road segment located within the buffer zone from the multiple ground road segments based on the positional relationship between multiple first target points on each of the multiple ground road segments and the buffer zone; wherein the buffer zone is an area including the non-ground road segments and having a width greater than that of the non-ground road segments; and determining the road segment type of the target ground road segment, wherein the road segment type includes main road segments and auxiliary road segments.

[0004] In a second aspect, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in any embodiment of this disclosure.

[0005] Thirdly, embodiments of this disclosure provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the methods described in any embodiment of this disclosure.

[0006] In this embodiment, the non-ground road segment is expanded into a planar buffer zone. The location of the ground road segment within the buffer zone is determined by analyzing the positional relationship between multiple first target points on the ground road segment and the buffer zone. This process identifies the target ground road segment corresponding to the non-ground road segment and then divides the target ground road segment into main road segments and auxiliary road segments. This method automatically finds the ground road segment corresponding to the non-ground road segment, eliminating the need for manual searching and improving the efficiency of finding the corresponding ground road segment, thereby increasing the efficiency of road segment type classification.

[0007] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0008] The accompanying drawings, which are incorporated in and form part of this disclosure, illustrate embodiments consistent with this disclosure and, together with the description, serve to illustrate the technical solutions of this disclosure.

[0009] Figure 1 This is a schematic diagram of road network data in related technologies.

[0010] Figure 2 This is a flowchart of a method for processing road network data according to an embodiment of this disclosure.

[0011] Figure 3 This is a schematic diagram of a buffer according to an embodiment of the present disclosure.

[0012] Figure 4 This is a schematic diagram of the first target point in an embodiment of this disclosure.

[0013] Figure 5 This is a schematic diagram illustrating the process of determining the positional relationship between the first target point and the buffer zone according to an embodiment of this disclosure.

[0014] Figure 6 This is a schematic diagram illustrating the process of determining the main road and the auxiliary road according to an embodiment of this disclosure.

[0015] Figure 7 This is a schematic diagram of the matching process between the main road and the auxiliary road in an embodiment of this disclosure.

[0016] Figure 8 This is a schematic diagram of the road segment merging process according to an embodiment of this disclosure.

[0017] Figure 9 This is a flowchart of the road segment merging process according to an embodiment of this disclosure.

[0018] Figure 10 This is a schematic diagram of the target road network data according to an embodiment of this disclosure.

[0019] Figure 11 This is a schematic diagram of the functional modules of an embodiment of this disclosure.

[0020] Figure 12 This is a schematic diagram of a computer device according to an embodiment of the present disclosure. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0022] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items. Additionally, the term “at least one” herein means any combination of at least two of any one or more of a plurality.

[0023] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0024] To enable those skilled in the art to better understand the technical solutions in the embodiments of this disclosure, and to make the above-mentioned objectives, features and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings.

[0025] A link is a connecting line segment between intersections in road network data. It is the basic unit of the road model in a navigation system, and the topological structure of roads on a map is composed of these links. Non-ground road segments refer to road segments such as viaducts, tunnels, and bridges that have an elevation difference from the ground. These road segments often have one or more ground-level road segments nearby. In related technologies, road network data has low accuracy in identifying the road segment type of ground-level road segments near non-ground-level road segments. For example... Figure 1 As shown, R1 represents the elevated bridge, and R2 and R3 represent the ground-level road sections near the elevated bridge. Ground-level road section R2 is classified as a main road, while ground-level road section R3 is classified as an auxiliary road. However, in the road network data of related technologies, both ground-level road sections R2 and R3 are labeled as auxiliary roads. Correcting the road type of the ground-level road sections requires manually filtering out the ground-level road sections near the non-ground-level sections and then correcting them one by one, which is inefficient.

[0026] Based on this, the present disclosure provides a method for processing road network data. The following is in conjunction with... Figure 1 The embodiments shown illustrate examples of the methods of this disclosure. It can be understood that... Figure 1 This is for illustrative purposes only and is not intended to limit this disclosure. See also Figure 2 The method in this disclosure includes:

[0027] Step S202: Extract non-ground road sections and multiple ground road sections based on the original road network data; there is an elevation difference between the non-ground road sections and the ground.

[0028] Step S204: Determine the buffer zone S corresponding to the non-ground road segment. Based on the positional relationship between multiple first target points on each of the multiple ground road segments and the buffer zone S, determine the target ground road segment located within the buffer zone S from the multiple ground road segments. The buffer zone S is an area that includes the non-ground road segment and has a width greater than that of the non-ground road segment.

[0029] Step S206: Determine the road segment type of the target ground road segment. The road segment type includes main road segments and auxiliary road segments.

[0030] This embodiment expands the non-ground road segment into a planar buffer zone S. It determines whether the ground road segment is within the buffer zone S by determining the positional relationship between multiple first target points on the ground road segment and the buffer zone S, thereby finding the target ground road segment corresponding to the non-ground road segment. The target ground road segment is then divided into main road segments and auxiliary road segments. This method automatically finds the ground road segment corresponding to the non-ground road segment, eliminating the need for manual searching and improving the efficiency of finding the corresponding ground road segment, thus improving the efficiency of road segment type classification.

[0031] In step S202, the original road network data may include the road segment type for each road segment, used to determine whether the road segment is a surface road segment or a non-surface road segment. For example, the road segment type may include surface road segments, as well as road segments with elevation differences from the ground, such as tunnel segments, viaduct segments, and bridge segments. These road segments with elevation differences from the ground can be collectively referred to as non-surface road segments. Specifically, the original road network data may include road segment attribute information for each road segment. Based on the road segment attribute information, one or more non-surface road segments and multiple surface road segments can be extracted. The road segment attribute information includes, but is not limited to, road segment identification information, road segment geometric information, road segment level, road segment type, and / or road segment location information. Road segment identification information may include road segment ID and road segment name; road segment geometric information may include road segment length, road segment width, and the number of lanes included in the road segment; road segment classification may include expressway segment, arterial road segment, secondary arterial road segment, and local road segment; road segment type may include main road segment and auxiliary road segment; road segment location information may include the starting location of the road segment (including the starting longitude and starting latitude), the ending location of the road segment (including the ending longitude and ending latitude), the longitude and latitude sequence of the road segment, the area code to which the road segment belongs, and the city code of the road segment. Among these, a main road segment refers to the road segment included in a main road, and an auxiliary road segment refers to the road segment included in an auxiliary road. A main road, also known as a main artery, is the main artery within a city, primarily for traffic purposes, with a high design speed, generally separated by a central median, and has a relatively wide road width. An auxiliary road refers to a road located on one or both sides of a main road, for vehicles not permitted to enter or intending to enter the road from entrances or exits. Each field in the road segment attribute information can be a string, a double, or a bigint. The road segment attribute information can be denoted as linkBaseInfo, as shown in Table 1.

[0032] Table 1. Road segment attribute information (linkBaseInfo)

[0033]

[0034]

[0035] When extracting non-ground road segments, all non-ground road segments can be extracted, or only those with specific road segment attribute information can be extracted. For example, segments with a specified name or a specified number of lanes can be extracted, or non-ground road segments corresponding to a specified area code can be extracted; this disclosure does not impose any limitations on this. When extracting multiple ground road segments, only ground road segments that have a specific relationship with non-ground road segments can be extracted. For example, multiple ground road segments located in the same target area (e.g., the same district of a city, or the same latitude and longitude range) as non-ground road segments can be extracted, thereby reducing the amount of data in the road network data processing process and improving the efficiency of road network data processing.

[0036] In addition to road segment attribute information, the raw road network data can also include intersection (node) attribute information to store intersection objects. These intersection objects include those without intersecting vehicle flows (such as road segment start / end points, merging / diverging zones) and those with intersecting vehicle flows (such as crossroads, T-junctions, etc.). Intersection attribute information may include, but is not limited to, intersection identification information, intersection type, intersection location information, signal control type at the intersection, and / or junction type. Intersection identification information may include intersection ID and intersection name; intersection type indicates whether there is intersecting vehicle flows at the intersection; intersection location information includes the longitude and latitude of the intersection center point; signal control type indicates whether the intersection is a signalized intersection (i.e., whether there are traffic lights or other traffic signal controls at the intersection); junction types include crossroads, T-junctions, merging / diverging zones, etc. Each field in the intersection attribute information can be string data, and the intersection attribute information can be denoted as `crossInfo`, as shown in Table 2.

[0037] Table 2 Cross-Info Attribute Information for Intersections

[0038]

[0039]

[0040] While extracting non-ground road segments, at least one road segment attribute information and / or at least one intersection attribute information of the intersection where the non-ground road segment is located can be extracted.

[0041] In related technologies, a node-arc segment model is generally used to represent road segments, where nodes represent intersections and arc segments between nodes represent road segments between intersections. In step S204, based on the above node-arc segment model, the non-ground road segments are expanded into a planar buffer zone S to determine the ground road segments near the non-ground road segments, which will be explained in detail below.

[0042] like Figure 3As shown, assume R1 represents a non-ground road segment (e.g., an elevated bridge, as shown by the thick solid line in the figure), and R2 to R9 represent ground road segments. R2, R4, R6, and R8 (as shown by the thin solid lines in the figure) represent main road segments in the actual scenario, while R3, R5, R7, and R9 (as shown by the dashed lines in the figure) represent auxiliary road segments in the actual scenario. A parallelogram-shaped buffer zone S can be obtained by extending a buffer radius to the left and right sides of the elevated bridge R1 as the center, as shown by the gray area in the figure. The buffer radius can be set according to actual needs, for example, a length of 30 to 40 meters. In some embodiments, the buffer radius can be set to 35 meters. It is understood that the above is only one possible way to generate the buffer zone S. In other embodiments, buffer zones S of other shapes can also be generated in other ways. For example, the buffer zone S can be generated according to the shape of the road segment. When the road segment is an arc (not a straight line), a fan-shaped buffer zone S can be generated. For example, a polygonal buffer zone S with more than 4 sides can also be generated, or an irregularly shaped buffer zone S can be generated. Other methods can also be used to generate the buffer zone S, which will not be listed in this disclosure. The key is that the buffer zone S includes the non-ground road segment R1, and the width of the buffer zone S is greater than the width of the non-ground road segment R1. For ease of understanding, the following description uses a parallelogram-shaped buffer zone S as an example to illustrate the solution of this disclosure.

[0043] In some embodiments, multiple first target points can be determined on ground road segment R2. For example... Figure 4 As shown, a first target point can be determined at preset distances d along the extension direction of ground road segment R2. Specifically, the extension direction of ground road segment R2 can be determined based on the starting point W1 and ending point W2, which is the direction corresponding to vector W1W2. Then, starting from the starting point W1, the preset distance d is extended along the direction corresponding to vector W1W2 to obtain the first target point W3; then, starting from the first target point W3, the preset distance d is extended along the direction corresponding to vector W1W2 to obtain the first target point W4; and so on, to obtain each first target point. Of course, other methods can also be used to determine multiple first target points. For example, the distances between the first target points can be unequal. For another example, the vectors corresponding to two first target points can not be completely consistent with the extension direction of ground road segment R2. In some embodiments, the distance between two adjacent first target points is greater than a preset distance threshold. In other embodiments, the angle difference between the vectors corresponding to any two first target points and the extension direction of ground road segment R2 is less than a preset angle threshold.

[0044] After determining multiple first target points, the intersection points between the boundary of buffer S and the straight line passing through the first target points can be determined; based on the positional relationship between the first target point and the intersection point, the positional relationship between the first target point and buffer S can be determined; wherein, the positional relationship between the first target point and buffer S is used to indicate whether the first target point is within buffer S. Combining Figure 3 , Figure 4 and Figure 5 , taking the right boundary of buffer S as an example, assuming that the straight line where any side of buffer S (the horizontal side of buffer S shown in the figure) is located is the x-axis, and the direction perpendicular to the x-axis is the y-axis, the straight line R0 where the right boundary of buffer S is located can be determined based on point P1 with coordinates (x1, y1) and point P2 with coordinates (x2, y2) on the right boundary of buffer S. Taking the first target point W3 on the ground section R2 as an example, its coordinates are denoted as (x0, y0), then a straight line passing through the first target point W3 can be determined along the x-axis direction (as shown by the dotted line in the figure). Substituting the ordinate y0 of W3 into the straight line R0 where the right boundary of buffer S is located, the intersection point Q2 between the straight line passing through the first target point W3 and the straight line R0 where the right boundary of buffer S is located can be obtained. Among them, the ordinate of the intersection point Q2 is the same as the ordinate of the first target point W3, both being y0, and the abscissa xr of the intersection point Q2 is:

[0045] xr = (y0 - y1) * (x2 - x1) / (y2 - y1) + x1.

[0046] Similarly, the abscissa xt of the intersection point Q1 between the straight line passing through the first target point W3 and the straight line where the left boundary of buffer S is located can be obtained. Then, if the abscissa x0 of the first target point W3 satisfies xt < x0 < xr, it indicates that the first target point W3 is within buffer S, otherwise, it indicates that the first target point W3 is not within buffer S.

[0047] It is understood that the above is merely an exemplary method for determining whether the first target point W3 is within the buffer S. Other methods can also be used to determine whether the first target point W3 is within the buffer S. For example, a ray passing through the first target point W3 can be identified, and the number of intersections between this ray and the boundary of the buffer S can be obtained. Based on the number of intersections, the positional relationship between the first target point and the buffer S can be determined. If the number of intersections is odd, then the first target point W3 is determined to be within the buffer S; otherwise, the first target point W3 is determined not to be within the buffer S. For example, determine the two intersection points Q1 and Q2 of the straight line passing through the first target point W3 and the boundary of the buffer S. Based on the coordinates of intersection point Q1 and the coordinates of the first target point W3, determine the first direction of the vector W3Q1 from the first target point W3 to intersection point Q1. Based on the coordinates of intersection point Q2 and the coordinates of the first target point W3, determine the second direction of the vector W3Q2 from the first target point W3 to intersection point Q2. If the first direction and the second direction are opposite, the first target point W3 is determined to be inside the buffer S. The positional relationship between the first target point and the buffer S is determined based on the first and second directions. If the first direction and the second direction are the same, the first target point W3 is determined not to be inside the buffer S.

[0048] A similar method can be used to determine whether other first target points on ground segment R2 are within buffer S, which will not be elaborated here. After determining whether each first target point is within buffer S, the number of first target points on ground segment R2 within buffer S can be determined based on the positional relationship between each first target point on ground segment R2 and buffer S. The identification result of ground segment R2 is determined based on the number of first target points within buffer S, and this identification result is used to indicate whether ground segment R2 is a target ground segment within buffer S. For example, if the number of first target points within buffer S is greater than a preset threshold, then ground segment R2 is determined to be a target ground segment; otherwise, ground segment R2 is determined not to be a target ground segment. Figure 3 The same method can be used to determine whether other ground road sections R3 to R9 are the target ground road sections.

[0049] Furthermore, the location of a ground road segment within the buffer zone S can be determined based on the number of first target points within the buffer zone S and the angle difference between the ground road segment and the non-ground road segment R1. Specifically, if the number of first target points within the buffer zone S is greater than a preset threshold, and the angle difference between the ground road segment and the non-ground road segment R1 is less than a preset angle difference, then the ground road segment is determined to be a target ground road segment located within the buffer zone. If the number of first target points within the buffer zone S is less than or equal to the preset threshold, or the angle difference between the ground road segment and the non-ground road segment R1 is greater than or equal to the preset angle difference, then the ground road segment is determined not to be a target ground road segment. See also... Figure 3 As shown in the diagram, ground road segments R2 and R3 are oriented in the same direction as non-ground road segment R1, and all first target points on ground road segments R2 and R3 are located within the buffer zone S corresponding to non-ground road segment R1. Therefore, ground road segments R2 and R3 are target ground road segments. However, ground road segments R4, R5, R8, and R9 have significant angular differences from non-ground road segment R1, and no first target points on ground road segments R6 and R7 are located within the buffer zone S corresponding to non-ground road segment R1. Therefore, these ground road segments are not target ground road segments.

[0050] In step S206, the target ground road segment determined in step S204 can be classified into road segment types, that is, the main road segment and auxiliary road segment can be determined among the target ground road segments. When the number of target ground road segments is 1, the target ground road segment can be directly determined as a main road segment. For example, in practical applications, if the non-ground road segment extracted in step S202 is only a single segment, and there is only one ground road segment around this non-ground segment, then this ground segment is usually a main road segment.

[0051] When the number of target road segments is greater than one, these target road segments typically include both main road segments and auxiliary road segments. Main road segments and auxiliary road segments can be determined from the multiple target road segments based on the relative positional relationships between each pair of target road segments. The relative positional relationship between any first road segment and any second road segment among the multiple target road segments is determined as follows: obtain the second and third target points on the first road segment, and obtain the fourth target point on the second road segment; determine the first vector based on the second and third target points, and determine the second vector based on the second and fourth target points; determine the cross product between the first and second vectors, and determine the positional relationship between the first and second road segments based on the cross product.

[0052] According to urban traffic planning principles, auxiliary roads serve to merge and separate traffic from main roads, and are generally located on the right side of the main road in the direction of travel. Therefore, the relative relationship between main and auxiliary roads can be determined using vector cross product triangles. The judgment principle is: the leftmost road is the main road, and the road on the right is the auxiliary road. (3D vector) and three-dimensional vectors The cross product can be defined as:

[0053]

[0054]

[0055] For the vectors corresponding to two ground road segments, we can consider the height as 0, then we have:

[0056]

[0057]

[0058] See Figure 6 Assuming the second, third, and fourth target points are denoted as A, B, and C respectively, the first vector determined based on the second target point A and the third target point B is denoted as vector AB, and the second vector determined based on the second target point A and the fourth target point C is vector AC. The aforementioned second, third, and fourth target points can be the first target point used in the previous embodiment to determine the positional relationship between the ground road segment and the buffer zone S, or they can be other target points besides the first target point. Assuming the coordinates of the second target point A are (ax, ay), the coordinates of the third target point B are (bx, by), and the coordinates of the fourth target point C are (cx, cy), then vectors AB and AC can be denoted as:

[0059] AB = (bx - ax, by - ay);

[0060] AC = (cx - ax, cy - ay).

[0061] but:

[0062] AB×AC=[0,0,(bx-ax)(cy-ay)-(by-ay)(cx-ax)].

[0063] The sign of the non-zero term (bx-ax)(cy-ay)-(by-ay)(cx-ax) in the cross product result can be used to determine which side of vector AB the fourth target point C is on. Specifically, if the non-zero term is positive, it indicates that the fourth target point C is on the left side of vector AB (e.g., ...). Figure 6 As shown in C1), the second road segment is to the left of the first road segment; if the non-zero term is negative, it means that the fourth target point C is to the right of vector AB (as shown in C1). Figure 6As shown in C2), the second road segment is located to the right of the first road segment. Using the above method, the rightmost road segment among multiple target road segments can be found; this road segment is the auxiliary road segment, and the other road segments are the main road segments. When the number of road segments is greater than two, the above method can be used to first determine the rightmost road segment among two road segments, then determine the positional relationship between the rightmost road segment and other road segments, until the rightmost road segment is found. Similarly, in some countries and regions, the auxiliary road segment is located on the leftmost side of the road. Therefore, based on the sign of the non-zero term in the cross product AB×AC, the leftmost road segment among multiple target road segments can be determined; this road segment is the auxiliary road segment, and the other road segments are the main road segments. Specifically, when there are 2 ground road segments, the leftmost ground road segment can be determined directly based on the sign of the non-zero term in the cross product AB×AC. When there are more than 2 ground road segments, the leftmost ground road segment among the two ground road segments can be determined first using the above method, and then the positional relationship between the leftmost ground road segment and other ground road segments can be determined until the leftmost ground road segment is found.

[0064] It should be noted that "left" and "right" in the above embodiments are determined with the driving direction as the front. That is, the direction of the above vector AB is the same as the driving direction on the first road segment, with clockwise direction being right and counterclockwise direction being left. After determining the main road segment and auxiliary road segment, the road segment type of each segment can be labeled accordingly. For example, in related technologies, all main road segments and auxiliary road segments near non-ground road segments such as overpasses are labeled as auxiliary road segments. Therefore, after identifying the main road segment and auxiliary road segment using the method of this embodiment, the road segment type of the main road segment can be changed from auxiliary road segment to main road segment, while the road segment type of the auxiliary road segment remains unchanged.

[0065] After step S206, the determined main road segments and auxiliary road segments can be matched, and target road network data can be generated based on the matching results. See also Figure 7 Assuming the identified main road segments include {R21, R22, R23, R24}, and the identified auxiliary road segments include {R31, R32, R33, R34}, then the matching relationship between each main road segment and each auxiliary road segment can be determined. Assuming that auxiliary road segment R31 matches main road segment R21, auxiliary road segment R32 matches main road segment R22, auxiliary road segment R33 matches main road segment R23, and auxiliary road segment R34 matches main road segment R24, then the following matching relationships can be obtained:

[0066] {(R21,R31), (R22,R32), (R23,R33), (R24,R34)}.

[0067] The following provides an example illustrating the specific matching methods for main road segments and auxiliary road segments. In some embodiments, the first main road segment and the first auxiliary road segment can be matched first, where the starting point of the first main road segment and the starting point of the first auxiliary road segment are both the starting points of the same road (i.e., both the first main road segment and the first auxiliary road segment are road segments at the starting point of the road), or the ending point of the first main road segment and the ending point of the first auxiliary road segment are both the ending points of the same road (i.e., both the first main road segment and the first auxiliary road segment are road segments at the ending point of the road). Then, based on the topological relationship of each auxiliary road segment between the starting point and the ending point of the road, the second auxiliary road segment other than the first auxiliary road segment can be determined (this process can be called topological relationship completion), and each second auxiliary road segment and the second main road segment other than the first main road segment between the starting point and the ending point of the road can be matched.

[0068] See also Figure 7 Assuming that in the main road segment {R21, R22, R23, R24} and the auxiliary road segment {R31, R32, R33, R34}, the main road segment and auxiliary road segment at the road starting point are R21 and R31 respectively, and the main road segment and auxiliary road segment at the road ending point are R24 and R34 respectively, since the starting latitude and longitude of the main road segment and auxiliary road segment at the road starting point are the same (both are the latitude and longitude corresponding to the road starting point), similarly, the starting latitude and longitude of the main road segment and auxiliary road segment at the road ending point are the same (both are the latitude and longitude corresponding to the road ending point), therefore, we can first match the main road segment and auxiliary road segment at the road starting point and / or the road ending point. For example, in Figure 7 In the illustrated embodiment, main road segment R21 and auxiliary road segment R31 can be matched to obtain a matching relationship {(R21,R31)}; main road segment R24 and auxiliary road segment R34 can also be matched to obtain a matching relationship {(R24,R34)}. Then, based on the topological relationship between the auxiliary road segments, the auxiliary road segment connected to the auxiliary road segment R31 at the road start point is identified as R32, and the auxiliary road segment connected to the auxiliary road segment R34 at the road end point is identified as R33. Thus, auxiliary road segment R32 is matched with main road segment R22 connected to main road segment R21 at the road start point, and auxiliary road segment R33 is matched with main road segment R23 connected to main road segment R24 at the road end point, resulting in a matching relationship {(R21,R31), (R22,R32), (R23,R33), (R24,R34)}.

[0069] It is understood that the above is merely an illustrative example. In other embodiments, matching can be performed first on the main road segment and auxiliary road segment at the road starting point, and then matching can be performed on the auxiliary road segment at a non-road starting point with the main road segment at a non-road starting point based on the topological relationship of the auxiliary road segment. Alternatively, matching can be performed first on the main road segment and auxiliary road segment at the road ending point, and then matching can be performed on the auxiliary road segment at a non-road ending point with the main road segment at a non-road ending point based on the topological relationship of the auxiliary road segment.

[0070] In some embodiments, the first main road segment and the first auxiliary road segment can be matched based on the matching degree between the first main road segment and the first auxiliary road segment; wherein the matching degree is determined based on at least one of the following conditions:

[0071] The difference in position between the starting or ending point of the first main road section and the first auxiliary road section;

[0072] The angle difference between the first main road section and the first auxiliary road section.

[0073] Taking a road segment where both the first main road segment and the first auxiliary road segment are at the starting point of a road as an example, the starting points of the first main road segment and the first auxiliary road segment can be determined based on their starting longitude and latitude. If they are the same, a first matching score is added to the matching degree of the first main road segment and the first auxiliary road segment. Furthermore, it can be determined whether the angle difference between the first main road segment and the first auxiliary road segment is within a preset angle threshold (e.g., 10°). If so, a second matching score is added to the matching degree of the first main road segment and the first auxiliary road segment. Then, the matching scores obtained based on each of the above conditions are summed to obtain the total matching score. If the total matching score is greater than a preset value, the first main road segment and the first auxiliary road segment are determined to be a match; otherwise, they are determined not to be a match. The first matching score and the second matching score can be equal (e.g., both 1 or both 10) or unequal (e.g., multiplied by different weights on the same base score).

[0074] The above embodiments illustrate the identification and matching methods for main road segments and auxiliary road segments in ground road segments near non-ground road segments. In related technologies, the accuracy of road segment type labeling for other ground road segments is relatively high. Therefore, the main road segments and auxiliary road segments in other ground road segments can be determined directly based on the road segment types in the original road network data. Then, the matching degree of the main road segments and auxiliary road segments in other ground road segments is calculated according to the above method, thereby achieving the matching of main road segments and auxiliary road segments in other ground road segments. During matching, the LinkID of the main road segment can be associated with the LinkID of the auxiliary road segment; the associated main road segment and auxiliary road segment are the matched main road segment and auxiliary road segment.

[0075] In some embodiments, the target road network data includes attribute information of road cross-sections of each road. After matching main road segments with auxiliary road segments, the attribute information of the main road segments matching the auxiliary road segments can be updated based on the attribute information of the auxiliary road segments; the attribute information of the road cross-section dsecroad is generated based on the updated attribute information of each main road segment on the same road. For example, the attribute information of the road cross-section dsecroad includes the number of lanes in the cross-section (the number of lanes included in the cross-section of the road). The number of lanes in the cross-section can be obtained by summing the number of lanes in the main road segment and the number of lanes in the auxiliary road segment that matches the main road segment. Here, cross-section refers to the cross-section of an urban road, which is a collective term for the longitudinal and cross-sections of an urban road. The vertical section along the road centerline is called the longitudinal section, which reflects the vertical alignment of the road; the section perpendicular to the road centerline is called the cross-section, which reflects the road type and width characteristics. Common cross-sections include single-lane roads, two-lane roads, three-lane roads, four-lane roads, etc. In this embodiment, "section" refers to a cross-section. After generating the attribute information of the road cross-section dsecroad, the road network data of auxiliary road segments can be deleted from the original road network data, while the updated attribute information of the main road segments is retained, thereby obtaining the target road network data. Since the main road segments can reflect the road topology, retaining the updated attribute information of the main road segments does not affect the representation of the road topology; while deleting the road network data of auxiliary road segments can reduce the complexity of the target road network data, making the target road network data more intuitive and concise.

[0076] This embodiment of the disclosure determines the correspondence between main road segments and auxiliary road segments by matching them. Based on the matching results, the road segment attribute information of the auxiliary road segments and the road segment attribute information of the main road segments to which they belong are used to generate the attribute information of the road cross-section dsecroad. The generated attribute information of the road cross-section dsecroad can be used to obtain the road network model of the road cross-section, thereby achieving more accurate traffic planning.

[0077] Furthermore, in addition to removing auxiliary road sections, branch roads, suspended dead-end roads (i.e., road sections that are cut off at one end and cannot be passed), unnamed roads (i.e., roads without road names) and / or road sections with lower road classifications can also be removed from the original road network data.

[0078] After obtaining the target road network data, the target road network data can also be rendered and displayed. Figure 10 It shows Figure 3 The diagram shows the target road network data corresponding to the original road network data. It can be seen that, unlike... Figure 3 The original road network data shown is as follows: Figure 10The target road network data only includes main road segments, so the display effect is more concise.

[0079] In some embodiments, the road network data of target road segments in the target road network data can also be merged. A target road segment is a road segment connected by target intersections on the same road. Target intersections include non-signaled intersections and / or junctions. A non-signaled intersection refers to an intersection without traffic signal control such as traffic lights, while a signalized intersection refers to an intersection with traffic signal control. A junction refers to an intersection where roads branch off. Merging the road network data of target road segments means combining multiple target road segments into one road segment and generating the road network data of the merged road segment based on the road network data of the multiple target road segments. This may include deleting the crossInfo attribute information of the target intersections connecting the target road segments, changing the segment IDs of multiple adjacent target road segments to the same value, summing the segment lengths of adjacent target road segments, changing the starting latitude and longitude of adjacent target road segments to the starting latitude and longitude of the upstream segment of each adjacent target road segment, and changing the ending latitude and longitude of adjacent target road segments to the ending latitude and longitude of the downstream segment of each adjacent target road segment, etc. Road network data in related technologies focuses on detailed road mapping, resulting in short road segments, interruptions of complete roads at nodes, and massive data volumes. This leads to the loss of complete semantic features of roads, making it difficult to linearly locate and process issues such as road segmentation attributes and bus stop distribution. Its shortcomings are particularly evident when representing multimodal transportation networks. This disclosure's embodiment merges target road segments, reducing interruptions to complete roads, preserving their complete semantic features, and reconstructing the road's structural information. Furthermore, it retains the impact of signalized intersection nodes on traffic flow control.

[0080] The following is combined Figure 8 and Figure 9 Here's an example illustrating the merging method for target road segments. First, the `linkBaseInfo` and `crossInfo` attribute fields in the original road network data can be read to determine information such as road segment type and intersection type. After obtaining the intersection type from the original road network data, thus distinguishing various types of intersections such as signalized intersections, unsignalized intersections, and junctions, and filtering the road network to be merged to remove branch roads, suspended dead-end roads, unnamed roads, and auxiliary roads, the upstream and downstream road segment sequences for each intersection in the target road network data can be obtained. The upstream road segment sequence of an intersection includes all upstream road segments of that intersection, and the downstream road segment sequence includes all downstream road segments of that intersection. The upstream and downstream road segments of an intersection are determined based on the direction of vehicle flow. If vehicles flow out of a road segment and merge into an intersection, that road segment is an upstream road segment of that intersection; if vehicles flow into a road segment from an intersection, that road segment is a downstream road segment of that intersection.

[0081] For example, in Figure 8 In the illustrated embodiment, the upstream road segments of intersection K include road segments a and d, and the downstream road segments of intersection K include road segments b and c. The arrows indicate the direction of vehicle flow. Therefore, the upstream road segment sequence crossTLinklistMap and the downstream road segment sequence crossFLinklistMap of intersection K can be constructed as follows:

[0082] crossTLinklistMap={a,d};

[0083] crossFLinklistMap={b,c}.

[0084] Then, all road segments can be traversed to determine at least one target downstream road segment for each upstream road segment in the upstream road segment sequence of the intersection, and at least one target upstream road segment for each downstream road segment in the downstream road segment sequence of the intersection. Specifically, the target downstream road segment of an upstream road segment has the same road name as the road to which the upstream road segment belongs, and the angle difference is minimal; the target upstream road segment of a downstream road segment has the same road name as the road to which the downstream road segment belongs, and the angle difference is minimal.

[0085] See also Figure 8 Assume that road segments a and b both have the name XX Road, road segment c has the name YY Road, and road segment d has the name ZZ Road. Also assume that road segments a and d, a and b, b and c, and d and c are all perpendicular to each other. Then, for the upstream road segments of intersection K (i.e., road segments a and c), we can determine the target downstream road segments for each segment, resulting in road segment b as the target downstream road segment for segment a, while segment d has no target downstream road segment. Similarly, for the downstream road segments of intersection K (i.e., road segments b and c), we can determine the target upstream road segments for each segment, resulting in intersection a as the target upstream road segment for segment b, while intersection c has no target upstream road segment. For ease of processing, each upstream road segment and its target downstream road segment are updated in the upstream road segment mapping `linkEqualNameTRidMap`, and each downstream road segment and its target upstream road segment are updated in the downstream road segment mapping `linkEqualNameFRidMap`.

[0086] Then, at least one first upstream-downstream road segment pair and at least one second upstream-downstream road segment pair are determined. Each first upstream-downstream road segment pair includes an upstream road segment and a target downstream road segment with the highest matching degree with the upstream road segment. Each second upstream-downstream road segment pair includes a downstream road segment and a target upstream road segment with the highest matching degree with the downstream road segment.

[0087] Continuing with the previous example, the first upstream and downstream road segment pair can be determined from `linkEqualNameTRidMap`, and the second upstream and downstream road segment pair can be determined from `linkEqualNameFRidMap`. The matching degree between the upstream and downstream road segments in both the first and second upstream and downstream road segment pairs can be obtained based on at least one of the following:

[0088] (1) The first matching score is determined based on the road names of the upstream and downstream road segments. If the road names of the upstream and downstream road segments are the same, the first matching score is increased by 1.

[0089] (2) A second matching score is determined based on the angle difference between the endpoint angle of the upstream road segment and the starting angle of the downstream road segment, and the numerical relationship between these angles and the values ​​of each angle in a preset angle set. The preset angle set may include one or more angles, such as 10°, 30°, 60°, 90°, etc.

[0090] If the angle difference between the end angle of the upstream road segment and the starting angle of the downstream road segment is less than 10°, the second matching score is increased by 1.

[0091] If the angle difference between the end angle of the upstream road segment and the starting angle of the downstream road segment is less than 30°, the second matching score is increased by 1.

[0092] If the angle difference between the end angle of the upstream road segment and the starting angle of the downstream road segment is less than 60°, the second matching score is increased by 1.

[0093] If the angle difference between the end angle of the upstream road segment and the starting angle of the downstream road segment is less than 90°, the second matching score is increased by 1.

[0094] (3) The third matching score is determined based on the road segment grades of the upstream and downstream road segments. If the road segment grades of the upstream and downstream road segments are the same, the third matching score is increased by 1.

[0095] (4) The fourth matching score is determined based on the road segment type of the upstream and downstream road segments. If the road segment types of the upstream and downstream road segments are the same, the fourth matching score is increased by 1.

[0096] It is understood that the above is only an illustrative example. The number and value of angles in the preset angle set are not limited to the cases listed in the above embodiments. The score added by the first matching degree score, the second matching degree score, the third matching degree score and the fourth matching degree score can be 1 or other equal or unequal values.

[0097] After determining one or more matching scores, these scores can be summed to obtain a total matching score. Then, the downstream road segment with the highest matching score to the upstream road segment can be identified as the target downstream road segment with the highest matching score to that upstream road segment, and a first upstream-downstream road segment pair is determined based on the upstream road segment and its highest-matching target downstream road segment. Similarly, the upstream road segment with the highest matching score to the downstream road segment can be identified as the target upstream road segment with the highest matching score to that upstream road segment, and a second upstream-downstream road segment pair is determined based on the downstream road segment and its highest-matching target upstream road segment. Figure 8 In the illustrated embodiment, the first upstream and downstream road segment pair includes road segment a and road segment b, and the second upstream and downstream road segment pair also includes road segment a and road segment b.

[0098] After identifying at least one first upstream-downstream road segment pair and at least one second upstream-downstream road segment pair, a first target upstream-downstream road segment pair and a second target upstream-downstream road segment pair (i.e., mutually optimal matching pairs) containing the same road segment can be determined from these pairs. The road segments included in the first target upstream-downstream road segment pair are identified as target road segments to be merged and added to the roadRidList set of connected link sequences with the same name. For each road segment in the roadRidList set, for each currently traversed road segment, the upstream road segment with the same road name as the road to which the currently traversed road segment belongs and the smallest angle difference is found in the roadRidList set and stored at the head of the dsecRoadLinkList queue. Similarly, the downstream road segment with the same road name as the road to which the currently traversed road segment belongs and the smallest angle difference is found in the roadRidList set and stored at the tail of the dsecRoadLinkList queue.

[0099] Continuing with the previous example, since both the first and second upstream / downstream road segment pairs include road segment a and road segment b, the first and second upstream / downstream road segment pairs, which include road segments a and b, are respectively the first target upstream / downstream road segment pair and the second target upstream / downstream road segment pair. Therefore, road segments a and b included in these pairs can be identified as the target road segments to be merged. In this way, the road network data for road segments a and b can be merged, thereby reducing disruptions to the complete road network.

[0100] Other attribute information (dsecRoadInfo) for the road section (dsecroad) can also be generated based on the linked link sequence set (droadRidList). This includes road identification information, road geometry information, road classification information, information on road segments included in the road, information on intersections included in the road, and / or road location information. Road identification information may include the ID and name of the merged road segment; road geometry information may include the length and direction of the merged road segment; road classification information may include expressways, arterial roads, secondary arterial roads, and local roads; information on road segments included in the road may include the sequence of road segments included in the road; information on intersections included in the road may include the starting intersection ID, the ending intersection ID, and the sequence of intersections included in the road; and road location information may include the road alignment and latitude / longitude strings. Each field in the attribute information of the road section (dsecroad) can be data of type string, double, or bigint, as shown in Table 3.

[0101] Table 3. Attribute information of road cross-section dsecroad (dsecRoadInfo)

[0102]

[0103]

[0104] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0105] Figure 11 A schematic diagram of the functional modules used to implement the method of this disclosure embodiment is shown. As shown, raw road network data can be obtained from a database, including data on road segments, nodes (i.e., intersections), and attribute information such as ordinary main roads, viaducts, and bridges. Then, the raw road network data can be input to the main and auxiliary road identification and matching module for processing. This module can extract non-ground roads, divide main and auxiliary roads, and match main and auxiliary roads in the raw road network data. The output of the main and auxiliary road identification and matching module can be further input to the road cross-section information merging module, which can merge attribute information such as cross-section lane information of the matched main and auxiliary roads. The merged road network data can be output to the same-name road segment merging module, which can perform minor road filtering, topological relationship completion, and same-name link sequence merging. After the above processing, target road network data is obtained. The target road network data can be used by upper-layer applications for traffic situation assessment, traffic planning, road condition rendering, and other processing.

[0106] The embodiments disclosed herein have at least the following technical effects:

[0107] (1) By using the method of constructing a buffer zone, the line is widened into a surface, and the problem of finding ground road segments is transformed into the problem of determining whether a point is in the surface. This effectively improves the efficiency and accuracy of finding ground road segments near non-ground road segments.

[0108] (2) Based on road name, road alignment and road topology, roads with the same name in the city are merged longitudinally. At the same time, the control effect of signalized intersections on traffic flow is preserved, and unnecessary road network interruption is reduced. This restores the urban road framework information, reduces the complexity of road network data and makes it easier to carry out road modeling for traffic planning.

[0109] (3) The generated cross-section road segments are used for traffic planning and traffic control. A road matching degree evaluation system has been established. The matching degree score is used to quickly find the upstream and downstream road segment queues. Compared with other map matching algorithms, the computational overhead is reduced.

[0110] (4) By matching the main and auxiliary roads, it is possible to determine the main road to which the auxiliary road belongs, which makes it easier to create a cross-sectional road network model for traffic planning.

[0111] (5) By removing side roads, suspended dead-end roads, unnamed roads, and low-grade roads, the difficulty of analyzing traffic conditions and road status is reduced, and the interference of fragmented road segments on important road segment information is minimized. For example, in related technologies, when ranking congested road segments, some short, slow-moving road segments are ranked at the top, which is detrimental to the ranking of information on important road segments such as main roads. However, the solution adopted in this embodiment can effectively reduce this interference.

[0112] (6) Only non-signaled intersections are merged, while signaled intersections are not merged, thus preserving the influence of signaled intersections on traffic flow control and improving the accuracy of analysis of road segment operation status.

[0113] This disclosure also provides a computer device, which includes at least a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the methods described in any of the foregoing embodiments.

[0114] Figure 12 This illustration shows a more specific hardware structure diagram of a computing device provided in an embodiment of the present disclosure. The device may include: a processor 1202, a memory 1204, an input / output interface 1206, a communication interface 1208, and a bus 1210. The processor 1202, memory 1204, input / output interface 1206, and communication interface 1208 are interconnected internally via the bus 1210.

[0115] The processor 1202 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this disclosure. The processor 1202 may also include a graphics card, such as an Nvidia Titan X graphics card or a 10120Ti graphics card.

[0116] The memory 1204 can be implemented in the form of read-only memory (ROM), random access memory (RAM), static storage device, dynamic storage device, etc. The memory 1204 can store the operating system and other applications. When the technical solutions provided in the embodiments of this disclosure are implemented by software or firmware, the relevant program code is stored in the memory 1204 and is called and executed by the processor 1202.

[0117] Input / output interface 1206 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0118] The communication interface 1208 is used to connect the communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0119] Bus 1210 includes a pathway for transmitting information between various components of the device, such as processor 1202, memory 1204, input / output interface 1206, and communication interface 1208.

[0120] It should be noted that although the above-described device only shows the processor 1202, memory 1204, input / output interface 1206, communication interface 1208, and bus 1210, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this disclosure, and not necessarily all the components shown in the figures.

[0121] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in any of the foregoing embodiments.

[0122] 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.

[0123] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this disclosure.

[0124] The systems, devices, modules, or units described in the above embodiments can be implemented by computer devices or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0125] The various embodiments in this disclosure are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. When implementing the embodiments of this disclosure, the functions of each module can be implemented in one or more software and / or hardware. Alternatively, some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0126] The above description is merely a specific implementation of the embodiments of this disclosure. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles of the embodiments of this disclosure, and these improvements and modifications should also be considered within the protection scope of the embodiments of this disclosure.

Claims

1. A method for processing road network data, the method comprising: Non-ground road sections and multiple ground road sections were extracted based on the original road network data; There is an elevation difference between the non-ground road section and the ground; A buffer zone corresponding to the non-ground road segment is determined. Based on the positional relationship between multiple first target points on each of the multiple ground road segments and the buffer zone, a target ground road segment located within the buffer zone is determined from the multiple ground road segments. The buffer zone is an area that includes the non-ground road segment and has a width greater than that of the non-ground road segment. If the number of target ground road segments is greater than 1, the main road segment and the auxiliary road segment are determined from the multiple target ground road segments based on the relative positional relationship between each pair of the multiple target ground road segments. The relative positional relationship between any first road segment and any second road segment among the multiple target ground road segments is determined based on the cross product between a first vector and a second vector. The first vector is determined based on a second target point on the first road segment and a third target point on the first road segment. The second vector is determined based on a second target point and a fourth target point on the second road segment.

2. The method according to claim 1, wherein the positional relationship between the first target point and the buffer is used to indicate whether the first target point is within the buffer; the positional relationship between the first target point and the buffer is determined based on the following method: Determine the intersection point between the boundary of the buffer zone and the straight line passing through the first target point; Based on the positional relationship between the first target point and the intersection point, the positional relationship between the first target point and the buffer zone is determined; or Determine the number of intersections between the boundary of the buffer zone and the ray passing through the first target point; The positional relationship between the first target point and the buffer zone is determined based on the quantity; or Determine the first and second intersection points between the boundary of the buffer zone and the straight line passing through the first target point; The positional relationship between the first target point and the buffer is determined based on the first direction of the vector from the first target point to the first intersection point and the second direction of the vector from the first target point to the second intersection point.

3. The method according to claim 2, wherein determining the target ground road segment located within the buffer zone from the plurality of ground road segments based on the positional relationship between the plurality of first target points on each of the plurality of ground road segments and the buffer zone comprises: Based on the positional relationship between each first target point on the ground road segment and the buffer zone, determine the number of first target points on the ground road segment that are located within the buffer zone; Based on the number of first target points on the ground road segment that are within the buffer zone and the angle difference between the ground road segment and the non-ground road segment, the identification result of the ground road segment is determined, and the identification result is used to indicate whether the ground road segment is a target ground road segment located within the buffer zone.

4. The method according to claim 1, further comprising: Match the identified main road segments and auxiliary road segments; Target road network data is generated based on the matching results.

5. The method according to claim 4, wherein matching the determined main road segment and auxiliary road segment includes: Match the first main road segment and the first auxiliary road segment, where the starting point of the first main road segment and the starting point of the first auxiliary road segment are both the starting points of the same road, or the ending point of the first main road segment and the ending point of the first auxiliary road segment are both the ending points of the same road. Based on the topological relationship of each auxiliary road segment between the starting point and the ending point of the road, a second auxiliary road segment other than the first auxiliary road segment is determined between the starting point and the ending point of the road; Match each second auxiliary road segment and the second main road segment other than the first main road segment between the starting point and the ending point of the road.

6. The method according to claim 5, wherein matching the first main road segment and the first auxiliary road segment includes: Based on the matching degree between the first main road segment and the first auxiliary road segment, the first main road segment and the first auxiliary road segment are matched. The matching degree is determined based on at least one of the following conditions: The difference in position between the starting point or the ending point of the first main road segment and the first auxiliary road segment; The angle difference between the first main road section and the first auxiliary road section.

7. The method according to claim 4, wherein the target road network data includes attribute information of road cross-sections of each road; The generation of target road network data based on the matching results includes: The attribute information of the main road segment that matches the auxiliary road segment is updated based on the attribute information of the auxiliary road segment; The attribute information of the road cross section is generated based on the updated attribute information of each main road segment on the same road.

8. The method according to claim 4, further comprising: The road network data of the target road segment in the target road network data are merged; The target road segment is the road segment connected by the target intersection on the same road, and the target intersection includes unsignaled intersections and / or forks in the road.

9. The method according to claim 8, further comprising: Obtain the upstream and downstream road segment sequences for each intersection in the target road network data; The upstream road segment sequence of an intersection includes all upstream road segments of the intersection, and the downstream road segment sequence of an intersection includes all downstream road segments of the intersection; For each upstream road segment in the upstream road segment sequence of the intersection, at least one target downstream road segment is determined, and for each downstream road segment in the downstream road segment sequence of the intersection, at least one target upstream road segment is determined; The target downstream segment of the upstream road segment has the same road name as the road to which the upstream road segment belongs, and the angle difference is the smallest; the target upstream segment of the downstream road segment has the same road name as the road to which the downstream road segment belongs, and the angle difference is the smallest. Identify at least one first upstream-downstream road segment pair and at least one second upstream-downstream road segment pair. Each first upstream-downstream road segment pair includes an upstream road segment and a target downstream road segment with the highest matching degree with the upstream road segment. Each second upstream-downstream road segment pair includes a downstream road segment and a target upstream road segment with the highest matching degree with the downstream road segment. From the at least one first upstream and downstream road segment pair and the at least one second upstream and downstream road segment pair, determine a first target upstream and downstream road segment pair and a second target upstream and downstream road segment pair that include the same road segment; The road segments included in the first target upstream and downstream road segment pair are identified as the target road segments to be merged.

10. The method of claim 9, wherein the matching degree between the upstream road segment and the downstream road segment is determined based on at least one of the following: The first matching score is determined based on the road names of the upstream and downstream road segments; The second matching score is determined based on the angle difference between the end angle of the upstream road segment and the starting angle of the downstream road segment and the numerical relationship between the angle and each angle in the preset angle set. The third matching score is determined based on the segment level of the upstream and downstream segments; The fourth matching score is determined based on the road segment types of the upstream and downstream road segments.

11. A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method of any one of claims 1 to 10.

12. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method of any one of claims 1 to 10.

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