Map road network matching method and device, medium, equipment and map making system

Abstract

The application discloses a kind of map road network matching method, device, medium and equipment, belong to computer technical field.Mainly include, according to the absolute position of traditional map road section in traditional map road network and the topological connection between each other, and the absolute position of the track point on each field collection track in the multiple field collection tracks obtained by field collection to each road in predetermined area, obtain the possible matching traditional map path possibly matched with each field collection track, and then obtain the possible matching field collection track possibly matched with each traditional map path in traditional map road network;And, according to the relative position between each traditional map path, from possible matching field collection track, screening obtains the matching field collection track determined matched with each traditional map path, the present application can effectively avoid the wrong and missing matching of field collection track and traditional map path.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a map road network matching method, device, medium, equipment and map making system. BACKGROUND

[0002] In the prior art, when high-precision maps are made based on traditional map road networks, field collection trajectories need to be matched with traditional map paths in the traditional map road networks. Usually, each traditional map path and the absolute position of each trajectory point on the field collection trajectory are matched. In the matching process, the positioning of some trajectory points is inaccurate due to poor satellite signals of some road segments, so that the field collection trajectory for collecting some paths cannot be correctly matched to the corresponding road segment. Therefore, a scheme for obtaining a correct matching path from multiple traditional map paths close to the matching position of the field collection trajectory is urgently needed. SUMMARY

[0003] In view of the problems in the prior art, the present application mainly provides a map road network matching method, device, medium, equipment and map making system. The possible matching field collection trajectories of the traditional map paths are obtained first, and then the trajectory segments matched with each divided road segment are obtained according to the relative position trajectories of the divided road segments of the traditional paths and the corresponding field collection trajectory segments, so that the field collection trajectories matched with each traditional map path are obtained, which can effectively avoid the incorrect and missed matching of the field collection trajectories and the traditional map paths.

[0004] In a first aspect, an embodiment of the present application provides a map road network matching method, which includes:

[0005] According to the absolute positions of each traditional map road segment in the traditional map road network of the predetermined area and the topological connection relationship therebetween, and the absolute positions of the track points on each field collection track in the plurality of field collection tracks obtained by collecting each road of the predetermined area one or more times in the field, one or more possible matching traditional map paths possibly matched with each field collection track is obtained according to a preset rule, and one or more possible matching field collection tracks possibly matched with each traditional map path in the traditional map road network is further obtained. Each matching field collection track in the one or more matching field collection tracks of each traditional map path is segmented according to a plurality of traditional map road segmentation units obtained by segmenting the corresponding traditional map path in advance, and a plurality of field collection track cut packages corresponding to each traditional map road segmentation unit is obtained. A field collection track cut package with a repeated track segment is searched and obtained from the plurality of field collection track cut packages, and a repeated field collection track cut package group is obtained by using a plurality of field collection track cut packages with the same repeated track segment. According to the relative positions between each repeated track segment in each repeated field collection track cut package group and the relative position relationship of the traditional map road segments in the traditional map road segmentation package corresponding to each repeated track segment, a matching track segment matched with the corresponding traditional map road segment is screened from the repeated track segment.

[0006] In a second aspect, an embodiment of the present application provides a map road network matching device, which comprises:

[0007] The possible matching fieldwork collection track acquisition module is configured to: according to the absolute positions of each traditional map path in a traditional map road network of a predetermined area and the topological connection relationship between the traditional map paths, and the absolute positions of the track points on each fieldwork collection track in a plurality of fieldwork collection tracks acquired through one or more fieldwork collections of each road in the predetermined area, obtain one or more possible matching traditional map paths that can be matched with each fieldwork collection track according to a preset rule, and then obtain one or more possible matching fieldwork collection tracks that can be matched with each traditional map path in the traditional map road network; the cutting module is configured to cut each matching fieldwork collection track in one or more matching fieldwork collection tracks of each traditional map path according to a plurality of traditional map road segmentation units obtained by previously segmenting the corresponding traditional map path, to obtain a plurality of fieldwork collection track cut packages corresponding to each traditional map road segmentation unit one by one; the repeated fieldwork collection track cut package grouping acquisition module is configured to find and acquire fieldwork collection track cut packages with repeated track segments from the plurality of fieldwork collection track cut packages, and obtain repeated fieldwork collection track cut package groups by using a plurality of fieldwork collection track cut packages with the same repeated track segments; and the screening module is configured to screen matching track segments matched with corresponding traditional map path segments from the repeated track segments according to the relative positions between each repeated track segment in each repeated fieldwork collection track cut package grouping and the relative position relationship of the traditional map path segments in the traditional map road segmentation package corresponding to each repeated track segment.

[0008] In a third aspect, an embodiment of the present application provides a map making system, which comprises the map road network matching device.

[0009] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are operated to perform the map road network matching method in the above scheme.

[0010] In a fifth aspect, an embodiment of the present application provides a computer device, which comprises a processor and a memory, and the memory stores computer instructions, and the computer instructions are operated to perform the map road network matching method in the above scheme.

[0011] The technical scheme of the present application can achieve the following beneficial effects: by first acquiring possible matching fieldwork collection tracks of traditional map paths, and then screening track segments matched with each cut path segment according to the relative position of the cut path segment of the traditional path and the corresponding fieldwork collection track segment, and further obtaining fieldwork collection tracks matched with each traditional map path, the efficient mapping can be performed while effectively avoiding the wrong and missing matching of the fieldwork collection tracks and the traditional map paths. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description merely show some embodiments of the present application.

[0013] Figure 1 is a specific embodiment flowchart of a map path matching method of the present application;

[0014] Figure 2 is a specific embodiment schematic diagram of a field collection trajectory and a possible matching traditional map path of a map path matching method of the present application;

[0015] Figure 3 is a specific embodiment schematic diagram of a field collection trajectory and a possible matching traditional map path of a map path matching method of the present application;

[0016] Figure 4 is a specific embodiment schematic diagram of a field collection trajectory and a possible matching traditional map path of a map path matching method of the present application;

[0017] Figure 5 is a specific embodiment schematic diagram of a map path matching device of the present application;

[0018] The above drawings have shown the explicit embodiments of the present disclosure, and the following will have a more detailed description. These drawings and the text description are not intended to limit the scope of the concept of the present disclosure by any means, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present application will be described in detail below with reference to the drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application can be more clearly defined.

[0020] It should be noted that, in this document, relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a... " does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0021] In the prior art, when a high-precision map is made based on a traditional map road network, the field collection trajectory needs to be matched with the traditional map path in the traditional map road network. Usually, the matching is performed according to the absolute position of each trajectory point on each traditional map path and the field collection trajectory. In the matching process, due to poor satellite signals of part of the road sections, the positioning of part of the trajectory points is inaccurate, so that the field collection trajectory for collecting part of the path cannot be correctly matched to the corresponding road section. For example, for traditional map paths respectively including mutually parallel main and auxiliary roads or respectively including expressways and expressway ramps, it is relatively easy to match the field collection trajectory of one road to a nearby road or match the field collection trajectory of an auxiliary road to a main road, and therefore there is an urgent need for a scheme for obtaining a correctly matched path from a plurality of traditional map paths with similar matching positions of the field collection trajectory.

[0022] The present application mainly provides a map road network matching method, device, medium, equipment and map making system. The method comprises the following steps: acquiring a possible matching field collection trajectory of a traditional map path; and screening a trajectory segment matched with each divided road section according to the relative position trajectory of the divided road section and the corresponding field collection trajectory segment, and then obtaining a field collection trajectory matched with each traditional map path. The method can effectively avoid the incorrect and missed matching of the field collection trajectory and the traditional map path.

[0023] The technical solutions of the present application will be described in detail below with reference to specific embodiments and the accompanying drawings. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0024] Figure 1 A specific embodiment of a map road network matching method of the present application is shown

[0025] In Figure 1In the embodiment of the map road network matching method of the present application, the process S101 comprises: obtaining, according to the absolute positions of each traditional map road segment in the traditional map road network of a predetermined area and the topological connection relationship between the traditional map road segments, and the absolute positions of the track points on each field collection track in a plurality of field collection tracks obtained by field collection of each road in the predetermined area one or more times, one or more possible matching traditional map paths that can be matched with each field collection track according to a preset rule, and then obtaining one or more possible matching field collection tracks that can be matched with each traditional map path in the traditional map road network; the process S102 comprises: dividing each matching field collection track of each traditional map path according to a plurality of traditional map road division units obtained by pre-segmenting the corresponding traditional map path, to obtain a plurality of field collection track cut packages corresponding to each traditional map road division unit one by one; the process S103 comprises: searching and obtaining field collection track cut packages with repeated track segments from the plurality of field collection track cut packages, and obtaining repeated field collection track cut package groups by using a plurality of field collection track cut packages with the same repeated track segments; and according to the relative positions between each repeated track segment in each repeated field collection track cut package group and the relative position relationship of the traditional map road segments in the traditional map road division package corresponding to each repeated track segment, filtering the matching track segments matched with the corresponding traditional map road segments from the repeated track segments.

[0026] The present application can effectively avoid the mismatching between the field collection track and the traditional map path, and efficiently build a high-precision map by first obtaining the possible matching field collection track of the traditional map path, then filtering the track segments matched with each segmented road segment according to the relative positions of the segmented road segments of the traditional path and the corresponding field collection track segments, and further obtaining the field collection track matched with each traditional map path.

[0027] The process S101 represents a process of obtaining one or more possible matching traditional map paths that can be matched with each field collection track according to the absolute positions of each traditional map road segment in the traditional map road network of a predetermined area and the topological connection relationship between the traditional map road segments, and the absolute positions of the track points on each field collection track in a plurality of field collection tracks obtained by field collection of each road in the predetermined area one or more times, and then obtaining one or more possible matching field collection tracks that can be matched with each traditional map path in the traditional map road network, which can obtain at least one field collection track that can be matched with the traditional path, avoid the missing matching of some path segments, and improve the mapping precision of the high-precision map.

[0028] In one embodiment of the present application, the process of obtaining one or more possible matching traditional map paths possibly matching each field collection trajectory according to the absolute positions of each traditional map road segment in the traditional map road network of the predetermined area, and the absolute positions of the trajectory points on each field collection trajectory obtained by one or more field collection of each road in the predetermined area, comprises: obtaining one or more possible matching traditional map road segments possibly matching each trajectory point according to the absolute positions of each traditional map road segment in the traditional map road network of the predetermined area, and the absolute positions of the trajectory points on each field collection trajectory obtained by one or more field collection of each road in the predetermined area; and obtaining one or more possible matching traditional map paths possibly matching each field collection trajectory according to the direction of each field collection trajectory, the relative position relationship of all the trajectory points on each field collection trajectory, and the topological connection relationship between each possible matching traditional map road segment, so as to obtain all the traditional map paths possibly matching the field trajectory and avoid missing matching.

[0029] In one embodiment of the present application, the traditional map road segment with a distance not greater than a preset distance threshold from each trajectory point is determined as the possible matching traditional map road segment of the corresponding trajectory point. Specifically, the preset distance threshold can be set according to an empirical value. In this way, all the traditional map paths possibly matching the field trajectory within the predetermined range can be obtained, and missing matching can be avoided.

[0030] In one embodiment of the present application, the process of obtaining one or more possible matching traditional map paths possibly matching each field collection trajectory according to the direction of each field collection trajectory, the relative position relationship of all the trajectory points on each field collection trajectory, and the topological connection relationship between each possible matching traditional map road segment, comprises: judging whether each possible matching traditional map road segment of the (N+1)th trajectory point adjacent to the Nth trajectory point on each field collection trajectory has a topological connection relationship with the possible matching traditional map road segment of the Nth trajectory point, if yes, determining the possible matching traditional map road segment of the (N+1)th trajectory point as a possible matching traditional map road segment continuous with the possible matching traditional map road segment of the Nth trajectory point, and obtaining a possible matching traditional map path by using the continuous possible matching traditional map road segments, wherein N is a non-zero natural number.

[0031] Specifically, the next road segment continuous with each road segment should be firstly the possible matching road segment of the track point after the possible matching track point of the road segment, and secondly the road segment having a topological connection relationship with the road segment.

[0032] For example Figure 2 As shown, firstly, the possible matching traditional map road segments possibly matched with the track point 1-8 on the field collection track 1 are acquired, as shown in the following table:

[0033]

[0034] Secondly, the traditional map road segments topologically connected with the possible matching traditional map road segments of the previous track point are obtained from the possible matching traditional map road segments of the next track point, so that the possible matching traditional map paths of the field collection track 1 are obtained, which are path a and path b.

[0035] Preferably, if one of the possible matching traditional map road segments of the N+1th track point adjacent to the Nth track point on each field collection track has no topological connection relationship with the possible matching traditional map road segment of the Nth track point, the acquisition of the possible matching traditional map path including the possible matching traditional map road segment of the N+1th track point is stopped.

[0036] For example Figure 2 The possible matching traditional road segment c1 of the track point 2 has no topological connection relationship with the possible matching traditional road segments a1 and b1 of the track point 1, so the acquisition of the possible matching traditional map path including the possible matching traditional road segment c1 is stopped.

[0037] In one embodiment of the present application, if the topological connection relationship exists between the possible matching traditional map road segments, the possible matching traditional map road segment of the N+1th trajectory point is determined to be the possible matching traditional map road segment continuous to the possible matching traditional map road segment of the Nth trajectory point, and the process of obtaining a possible matching traditional map path using the multiple possible matching traditional map road segments continuous to each other includes: if the Nth trajectory point has multiple possible matching traditional map road segments, and the Mth possible matching traditional map road segment of the Nth trajectory point and the M+i th possible matching traditional map road segment of the Nth trajectory point have the topological connection relationship with the same possible matching traditional map road segment of the N+1th trajectory point, after obtaining one or more possible matching traditional map paths including the Mth possible matching traditional map road segment of the Nth trajectory point and the same possible matching traditional map road segment of the N+1th trajectory point, the part of the possible matching traditional map path after the Mth possible matching traditional map road segment of the Nth trajectory point in the one or more possible matching traditional map paths is intercepted, and the part of the possible matching traditional map path is used to obtain the possible matching traditional map path including the M+i th possible matching traditional map road segment of the Nth trajectory point and the same possible matching traditional map road segment of the N+1th trajectory point, wherein M and i are non-zero natural numbers.

[0038] Specifically, because the present application performs similar matching, multiple possible paths are reserved, resulting in a large number of scenarios. If multiple similar matching traditional map road segments appear in a path continuous to multiple trajectory points, the calculation amount is very large. The present embodiment uses the idea of recursive backtracking to plan search the possible matching traditional path, which can greatly reduce the calculation amount.

[0039] For example Figure 3 As shown in the table, the possible matching traditional map road segments possibly matching the trajectory points 1-8 on the field collection trajectory 1 are as follows:

[0040]

[0041] The possible matching traditional map road segment a2 of the second trajectory point has the topological connection relationship with the two possible matching traditional map road segments a1 and b1 of the first trajectory point, so after obtaining the possible matching traditional map path a1-a2-a3-a4-a5 including a1 and a2, the part after a1, a2-a3-a4-a5, is intercepted, and a2-a3-a4-a5 is used to obtain the possible matching traditional map path b1-a2-a3-a4-a5 including b1 and a2.

[0042] The process S102 represents that for each matched field collection track of one or more matched field collection tracks of each traditional map path, the multiple traditional map road segmentation units obtained by pre-segmenting the corresponding traditional map path are segmented, and multiple field collection track cut packages corresponding to each traditional map road segmentation unit are obtained, which can facilitate subsequent acquisition of repeated field collection track cut package groups.

[0043] Specifically, the high-precision map contains more element information, and the data quantity is much larger than that of the traditional map. Therefore, when mapping based on the traditional map, due to the limitation of computer resource computing capability, it is necessary to segment the traditional map to obtain multiple traditional map road segmentation units, and then segment the field collection track according to the traditional map road segmentation unit, match, and then perform high-precision map mapping.

[0044] The process S103 represented by the process S103 represents that according to the relative position relationship between each traditional map path, one or more matched field collection tracks matched with each traditional map path are screened from one or more possible matched field collection tracks. The process includes searching for a field collection track cut package with repeated track segments from multiple field collection track cut packages, and obtaining a repeated field collection track cut package group by using multiple field collection track cut packages with the same repeated track segments, which can facilitate screening of a track segment matched with a corresponding traditional road segment according to the relative positions between repeated track segments in each field collection track group, and further obtaining a matched track segment matched with a corresponding traditional map road segment.

[0045] Specifically, usually each field collection track cut package corresponds to a road segment, and there is no repeated track. However, in the present application, when acquiring possible matched field collection tracks of the traditional map path, more track segments of other paths than actual field collection tracks are acquired, so that repeated field collection tracks appear in different field collection track cut packages. Therefore, it is necessary to search for a field collection track cut package with repeated track segments, so as to screen a correct matched field collection track segment of each road segment according to the relative positions between each repeated track and the relative positions of the corresponding road segment.

[0046] The process S104 represents that according to the relative positions between each repeated track segment in each repeated field collection track cut package group and the relative position relationship of the traditional map road segment in the traditional map road segmentation package corresponding to each repeated track segment, a matched track segment matched with a corresponding traditional map road segment is screened from the repeated track segment. According to the relative positions between each repeated track and the relative positions of the corresponding road segment, a correct matched field collection track segment of each road segment is screened, and further a field collection track matched with each path in the traditional map road network of a predetermined area composed of all road segments is obtained.

[0047] In one specific embodiment of the present application, the plurality of field collection track cut packages corresponding to each traditional map road segmentation unit includes a no-buffer matching field collection track cut package and a buffer matching field collection track cut package; the no-buffer matching field collection track cut package includes a field collection track with a length equal to the length of the road in the corresponding traditional map road segmentation unit; the buffer matching field collection track cut package includes a field collection track with a length equal to the length of the road in the corresponding traditional map road segmentation unit, and a connection buffer field collection track segment extending by a predetermined length on both sides; the process of searching for a field track cut package with repeated track segments from the plurality of field collection track cut packages includes searching for a field track cut package with other repeated track segments except the connection buffer field collection track segment from the plurality of field collection track cut packages.

[0048] Specifically, when the traditional map road network is segmented, sensitive road segments prone to errors during merging are segmented into one segmentation unit, and then mapping is completed in one mapping task to avoid errors when merging multiple mapping tasks to obtain a total map. When the segmentation unit of the sensitive road segment is divided, the field collection track is cut by extending by a predetermined length to both ends to further ensure that the merging process can be efficiently and accurately performed. In this scenario, the repeated track segments included in different field track cut packages include connection buffer field collection track segments, so it is necessary to exclude the case where the repeated track segment tail connects the buffer field collection track segment.

[0049] In one specific embodiment of the present application, according to the relative position relationship between each traditional map path, one or more matching field collection tracks that are determined to match each traditional map path are filtered from one or more possible matching field collection tracks. This process can efficiently and accurately filter the field collection track that matches each traditional map path according to the relative position relationship between the traditional map paths with low computing power.

[0050] In one specific embodiment of the present application, there is only one possible matching field collection track that can match each traditional map path. Then, the one field collection track is directly determined as the matching field collection track of the corresponding traditional map path.

[0051] In one embodiment of the present application, the possible matching field collection tracks that can match each conventional map path are multiple, and the map road network matching method of the present application further comprises determining the multiple possible matching conventional map paths that can match each field collection track as multiple similar paths, and the process of screening one or more matching field collection tracks that match each conventional map path from one or more possible matching field collection tracks according to the relative position relationship between each conventional map path comprises obtaining the matching field collection tracks that match each similar path according to the relative position relationship between the multiple similar paths and the relative position relationship between the possible matching field collection tracks of the multiple similar paths.

[0052] Specifically, generally if the relative positions of two similar paths are the same as the similar positions of the field collection tracks obtained by field collection, therefore, the matching field collection tracks that match the two similar paths can be obtained according to the relative positions of the two similar paths.

[0053] In Figure 4 In one embodiment of the present application, the relative positions of two similar paths 1 and path 2 are shown in the figure, path 1 is located at the left side of path 2, and therefore the possible matching field collection tracks gathered at the left side are determined as the matching field collection tracks of path 1, and the possible matching field collection tracks gathered at the right side are determined as the matching field collection tracks of path 2.

[0054] Figure 5 An embodiment of a map road network matching device of the present application is shown.

[0055] In Figure 5 In one embodiment of the map road network matching device of the present application, the device comprises,

[0056] The possible matching fieldwork collection track acquisition module 501 is configured to: according to the absolute positions of each traditional map path in the traditional map road network of the predetermined area and the topological connection relationship between the traditional map paths, and the absolute positions of the track points on each fieldwork collection track in the plurality of fieldwork collection tracks obtained through one or more fieldwork collections of each road in the predetermined area, obtain one or more possible matching traditional map paths that are possibly matched with each fieldwork collection track according to a preset rule, and then obtain one or more possible matching fieldwork collection tracks that are possibly matched with each traditional map path in the traditional map road network.

[0057] The device provided in the present application can effectively avoid the mismatching between the fieldwork collection tracks and the traditional map paths by first obtaining the possible matching fieldwork collection tracks of the traditional map paths, then screening the track segments matched with each segmented path segment according to the relative position of the segmented path segment of the traditional path and the corresponding fieldwork collection track segment, and further obtaining the fieldwork collection tracks matched with each traditional map path.

[0058] The possible matching fieldwork collection track acquisition module 501 is configured to: according to the absolute positions of each traditional map path in the traditional map road network of the predetermined area and the topological connection relationship between the traditional map paths, and the absolute positions of the track points on each fieldwork collection track in the plurality of fieldwork collection tracks obtained through one or more fieldwork collections of each road in the predetermined area, obtain one or more possible matching traditional map paths that are possibly matched with each fieldwork collection track according to a preset rule, and then obtain one or more possible matching fieldwork collection tracks that are possibly matched with each traditional map path in the traditional map road network.

[0059] The cutting module 502 is used for cutting each matched field collection track of one or more matched field collection tracks of each traditional map path according to a plurality of traditional map road segmentation units obtained by pre-segmenting the corresponding traditional map path, so as to obtain a plurality of field collection track cut packages corresponding to each traditional map road segmentation unit, so as to obtain the repeated field collection track cut package group for subsequent acquisition.

[0060] Specifically, the high-precision map contains more element information, and the data quantity is much larger than that of the traditional map. Therefore, when mapping based on the traditional map, due to the limitation of computer resource computing capability, it is necessary to segment the traditional map to obtain a plurality of traditional map road segmentation units, and then cut the field collection track according to the traditional map road segmentation unit, match, and then perform high-precision map mapping.

[0061] The repeated field collection track cut package group acquisition module 503 is used for acquiring the repeated field collection track cut package with repeated track segments from a plurality of field collection track cut packages, and obtaining the repeated field collection track cut package group with repeated field collection track cut packages by using a plurality of field collection track cut packages with the same repeated track segments, so as to obtain the repeated field collection track cut package, and facilitate screening of the track segment matched with the corresponding traditional road segment according to the relative position between the repeated track segments in each field collection track group, and then obtain the matched track segment matched with the corresponding traditional map road segment.

[0062] The screening module 504 is used for screening the matched track segment matched with the corresponding traditional map road segment from the repeated track segment according to the relative position between each repeated track segment in each repeated field collection track cut package group and the relative position relationship of the traditional map road segment in the traditional map road segmentation package corresponding to each repeated track segment, so as to screen the correct matched field collection track segment of each road segment according to the relative position between each repeated track and the relative position of the corresponding road segment, and then obtain the field collection track matched with each path in the traditional map road network of the predetermined area composed of all road segments.

[0063] The map road network matching device provided in the application can be used to execute the map road network matching method described in any of the embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0064] In one specific embodiment of the application, the functional modules in the map road network matching device of the application can be directly in hardware, in a software module executed by a processor, or in a combination of both.

[0065] The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium.

[0066] The processor can be a central processing unit (CPU), a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, etc. The general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In alternative embodiments, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In alternative embodiments, the processor and the storage medium can reside as discrete components in a user terminal.

[0067] In another embodiment of the present application, a map making system, wherein the driving system comprises a map matching device, optionally, the image perception display device comprises a processor and a memory, the processor and the memory are coupled; the map matching device is configured to perform the map road network matching method in any of the above embodiments.

[0068] In another embodiment of the present application, a computer readable storage medium stores computer instructions, the computer instructions are configured to perform the map road network matching method in any of the above embodiments.

[0069] In another embodiment of the present application, a computer device comprises a processor and a memory, the memory stores computer instructions, the computer instructions are configured to perform the map road network matching method in any of the above embodiments.

[0070] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the division of the units is only a logical function division, and there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0071] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0072] The above are only some embodiments of the present application, and do not limit the patent scope of the present application, and any equivalent structure transformation made by using the contents of the present application specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A map road network matching method, characterized by, The method comprises the following steps: According to the absolute position of each traditional map road segment in the traditional map road network of the predetermined area and the topological connection relationship between each other, and the absolute position of the track points on each field collection track in the plurality of field collection tracks obtained by one or more field collection of each road in the predetermined area, one or more possible matching traditional map paths possibly matched with each field collection track are obtained according to a preset rule, and then one or more possible matching field collection tracks possibly matched with each traditional map path in the traditional map road network are obtained. Each possible matching field collection track in one or more possible matching field collection tracks of each traditional map path is cut according to a plurality of traditional map road segmentation units obtained by pre-segmenting the corresponding traditional map path, and a plurality of field collection track cut packages corresponding to each traditional map road segmentation unit are obtained. From the plurality of field collection track cut packages, a field collection track cut package with a repeated track segment is obtained, and a repeated field collection track cut package group is obtained by using a plurality of field collection track cut packages with the same repeated track segment. According to the relative position relationship between each repeated track segment in each repeated field collection track cut package group and the relative position relationship of the traditional map road segment in the traditional map road segmentation package corresponding to each repeated track segment, a matching track segment matched with the corresponding traditional map road segment is screened from the repeated track segment. The plurality of field collection track cut packages corresponding to each traditional map road segmentation unit comprises a no-buffer matching field collection track cut package and a buffer-containing matching field collection track cut package. The no-buffer matching field collection track cut package comprises a field collection track with a length equal to the length of the road in the corresponding traditional map road segmentation unit, and the buffer-containing matching field collection track cut package comprises a field collection track with a length equal to the length of the road in the corresponding traditional map road segmentation unit and a connection buffer field collection track segment extending by a predetermined length on both sides. The step of obtaining the field collection track cut package with the repeated track segment from the plurality of field collection track cut packages comprises the following steps: The field collection track cut package with the repeated track segment other than the connection buffer field collection track segment is obtained from the plurality of field collection track cut packages.

2. The map-matching method of claim 1, wherein, The method further comprises the following steps: The plurality of possible matching traditional map paths possibly matched with each field collection track are determined as a plurality of similar paths. According to the relative position relationship between the plurality of similar paths and the relative position relationship between the possible matching field collection tracks of the plurality of similar paths, a matching field collection track matched with each similar path is screened from one or more possible matching field collection tracks. ​ 3. The map-matching method of claim 1, wherein, The absolute position of each traditional map road segment in the traditional map road network of the predetermined area and the topological connection relationship between each other, and the absolute position of the track point on each field collection track in the plurality of field collection tracks obtained by field collection of each road of the predetermined area one or more times, according to the preset rule, obtain one or more possible matching traditional map paths possibly matched with each field collection track, and then obtain one or more possible matching field collection tracks possibly matched with each traditional map path in the traditional map road network, comprising: The absolute position of each traditional map road segment in the traditional map road network of the predetermined area, and the absolute position of the track point on each field collection track in the plurality of field collection tracks obtained by field collection of each road of the predetermined area one or more times, obtain one or more possible matching traditional map paths possibly matched with each track point; and According to the direction of each field collection track and the relative position relationship of all the track points on each field collection track, and the topological connection relationship between each possible matching traditional map road segment, obtain one or more possible matching traditional map paths possibly matched with all the possible matching traditional map road segments.

4. The map-matching method of claim 3, wherein, The absolute position of each traditional map road segment in the traditional map road network of the predetermined area, and the absolute position of the track point on each field collection track in the plurality of field collection tracks obtained by field collection of each road of the predetermined area one or more times, obtain one or more possible matching traditional map paths possibly matched with each track point, Including, The traditional map road segment with a distance not greater than a preset distance threshold from the track point is determined as the possible matching traditional map road segment of the corresponding track point.

5. A map road network matching apparatus characterized by comprising: Including, The possible matching field collection track acquisition module is configured to obtain one or more possible matching traditional map paths possibly matched with each field collection track according to the absolute position of each traditional map road segment in the traditional map road network of the predetermined area and the topological connection relationship between each other, and the absolute position of the track point on each field collection track in the plurality of field collection tracks obtained by field collection of each road of the predetermined area one or more times, and then obtain one or more possible matching field collection tracks possibly matched with each traditional map path in the traditional map road network. The cutting module is configured to cut each possible matching field collection track in the one or more possible matching field collection tracks of each traditional map path according to a plurality of traditional map road segmentation units obtained by pre-segmenting the corresponding traditional map path, to obtain a plurality of field collection track cutting packages corresponding to each traditional map road segmentation unit. The repeated field collection trajectory cut package grouping acquisition module is configured to search for a field collection trajectory cut package with repeated trajectory segments from the plurality of field collection trajectory cuts, and obtain a repeated field collection trajectory cut package grouping by using a plurality of field collection trajectory cuts with the same repeated trajectory segments. The screening module is configured to screen a matching trajectory segment that matches a corresponding traditional map road segment from the repeated trajectory segments according to a relative position between each repeated trajectory segment in each repeated field collection trajectory cut package grouping and a relative position relationship of a traditional map road segment in a traditional map road segment package corresponding to each repeated trajectory segment. The plurality of field collection trajectory cuts corresponding to each traditional map road segment unit includes a no-buffer matching field collection trajectory cut package and a buffer matching field collection trajectory cut package. The no-buffer matching field collection trajectory cut package includes a field collection trajectory with a length equal to a length of a road in the corresponding traditional map road segment unit, and the buffer matching field collection trajectory cut package includes a field collection trajectory with a length equal to a length of a road in the corresponding traditional map road segment unit and a connection buffer field collection trajectory segment extending by a predetermined length on both sides. The searching for a field collection trajectory cut package with repeated trajectory segments from the plurality of field collection trajectory cuts includes: The searching for a field collection trajectory cut package with repeated trajectory segments from the plurality of field collection trajectory cuts includes:

6. The map-matching device according to claim 5, wherein The searching for a field collection trajectory cut package with repeated trajectory segments from the plurality of field collection trajectory cuts includes: The searching for a field collection trajectory cut package with repeated trajectory segments from the plurality of field collection trajectory cuts includes: The similar path determination module is configured to determine a plurality of possible matching traditional map paths that can be matched with each field collection trajectory as a plurality of similar paths.

7. A map making system characterized by comprising: The screening module is further configured to screen a matching field collection trajectory that matches each similar path from one or more possible matching field collection trajectories according to a relative position relationship between the plurality of similar paths and a relative position relationship between possible matching field collection trajectories of the plurality of similar paths.

8. A computer-readable storage medium having stored computer instructions, the computer instructions comprising: The map making system includes the map road network matching device of claim 5.

9. A computer device comprising a processor and a memory, the memory storing computer instructions, wherein, The computer instructions, when executed, cause the computer to perform the map road network matching method of any one of claims 1-4. The computer instructions, when executed by the processor, implement the map road network matching method of any one of claims 1-4. The computer instructions, when executed by the processor, implement the map road network matching method of any one of claims 1-4.

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