A map road network division and merging method, device, medium and equipment

Abstract

The application discloses a map road network division and merging method, device, medium and equipment, and belongs to the technical field of computers. Mainly including, according to the predetermined rule, the traditional map road network of the predetermined area is divided into a plurality of minimum road network units including at least one indivisible road network unit;A data set is maintained using a plurality of minimum road network units, the smallest road network unit in the data set and the smallest adjacent road network unit adjacent thereto are obtained and merged to obtain a new road network unit, until the length of all road network units is not less than the first predetermined length, and the value obtained by subtracting the length of the road network unit not less than the predetermined proportion in all road network units from the second predetermined length is not less than 0 and not greater than the preset length threshold value, to obtain a plurality of traditional map road network division units. The application can effectively reduce the difficulty of the merging algorithm, reduce the merging error, reduce the consumption of computer resources, and reduce the time consumption and improve the mapping efficiency.

Description

TECHNICAL FIELD

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

[0002] When producing high-precision maps based on traditional map road networks, mapping cannot be directly performed according to the tile units of the traditional maps. Because there are many elements involved in high-precision maps and the data volume is large, the length of the road network included in a tile unit of a traditional map cannot be completed in one mapping task. Therefore, the traditional map road network needs to be segmented into road network units that meet the requirements of high-precision map mapping. SUMMARY

[0003] To solve the problems in the prior art, the present application mainly provides a map road network division and merging method, device, medium, equipment and map making system. The traditional map is first cut into a plurality of minimum road network units including a plurality of non-divisible road network units, and then merged into road network units of similar size that meet the requirements of high-precision map mapping. This can ensure complete mapping of non-divisible road network units in one high-precision map segment mapping task, avoid merging of corresponding high-precision map segment task data in places where merging errors are prone to occur, reduce the difficulty of the merging algorithm, and reduce merging errors. It is also conducive to multiple segment mapping tasks being performed in high concurrency, reducing the consumption of computer resources and reducing time consumption, and improving mapping efficiency.

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

[0005] The traditional map road network of a predetermined area is divided into a plurality of minimum road network units including at least one non-divisible road network unit according to a predetermined rule; a data set is maintained using the plurality of minimum road network units, the length of the smallest road network unit in the data set and the length of the smallest adjacent road network unit adjacent to the smallest road network unit are obtained, and the smallest adjacent road network unit is merged to obtain a new road network unit, until the length of all road network units is not less than a first predetermined length, and the value obtained by subtracting the length of at least a predetermined proportion of road network units in all road network units from a second predetermined length is not less than 0 and not greater than a preset length threshold, to obtain a plurality of traditional map road network segmentation units; wherein each non-divisible road network unit includes at least one sensitive point, and merging at the sensitive point when segmenting a high-precision map based on a traditional map road network in a predetermined area is prone to errors.

[0006] In a second aspect, an embodiment of the present application provides a map road network division and merging device, which includes:

[0007] The dividing module is configured to divide a traditional map road network of a predetermined area into a plurality of minimum road network units including at least one indivisible road network unit according to a predetermined rule; and the merging module is configured to maintain a data set by using the plurality of minimum road network units, to obtain and merge a minimum road network unit in the data set and a minimum adjacent road network unit adjacent to the minimum road network unit, until a length of all the road network units is not less than a first predetermined length, and a value obtained by subtracting lengths of road network units not less than a predetermined proportion of all the road network units from a second predetermined length is not greater than a third predetermined length and not less than 0, to obtain a plurality of traditional map road network segmentation units; wherein each indivisible road network unit includes at least one sensitive point, and a high-definition map is prone to errors when being merged at the sensitive point after a plurality of high-definition map segmentation tasks are made based on traditional map road network segmentation of the predetermined area.

[0008] In a third aspect, an embodiment of the present application provides a map making system, which comprises the map road network dividing and merging 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 dividing and merging method in the above-mentioned solution.

[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 dividing and merging method in the above-mentioned solution.

[0011] The technical solution of the present application can achieve the following beneficial effects: the present application can ensure complete mapping of the indivisible road network unit in one high-definition map segmentation mapping task by first cutting the traditional map into a plurality of minimum road network units including a plurality of indivisible road network units, and then merging the indivisible road network units into road network units of a size that meets the requirements of high-definition map mapping, thereby avoiding merging errors in the corresponding high-definition map segmentation task data, reducing the difficulty of the merging algorithm, and reducing the merging error; and the present application can also facilitate high-concurrent performance of a plurality of segmentation mapping tasks, reduce the consumption of computer resources, reduce the time consumption, and improve the mapping efficiency. 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 exemplarily show some embodiments of the present application.

[0013] Figure 1 is a specific embodiment flowchart of a map road network dividing and merging method of the present application;

[0014] Figure 2 is a Y-shaped branch node schematic diagram in one specific embodiment of the map road network division and merging method of the application;

[0015] Figure 3 is a high-low confidence road intersection schematic diagram in one specific embodiment of the map road network division and merging method of the application;

[0016] Figure 4 is a schematic diagram of one specific embodiment of the map road network division and merging device of the application;

[0017] The specific embodiments of the present disclosure have been shown in the above-described drawings, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0018] The embodiments of the present application will be described in detail below with reference to the accompanying 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.

[0019] 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 further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the listed element.

[0020] In the production of high-precision maps based on traditional map road networks, the traditional map tile unit cannot be directly used to produce high-precision maps. Because the high-precision map involves many elements and has a large amount of data, each mapping task cannot complete the mapping of the road network length included in the traditional map tile unit at one time; and in the high-precision map mapping, the highway and urban road are mapped separately, and the traditional road network block includes both the highway and the urban road. Therefore, the traditional map road network needs to be segmented first.

[0021] The technical scheme of the present application can ensure complete mapping of the non-divisible road network unit in a high-precision map segmentation mapping task, avoid merging of corresponding high-precision map segmentation task data in places where merging errors are prone to occur, reduce the difficulty of the merging algorithm, and reduce merging errors; and can facilitate high-concurrency performance of multiple segmentation mapping tasks, reduce consumption of computer resources, and reduce time consumption to improve mapping efficiency.

[0022] The technical scheme of the present application will be described in detail below with reference to the drawings and specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in detail in some embodiments.

[0023] Figure 1 A specific embodiment of a map road network division and merging method of the present application is shown

[0024] In Figure 1 In the specific embodiment of the map road network division and merging method of the present application, the process S101 divides a traditional map road network of a predetermined area into a plurality of minimum road network units including at least one non-divisible road network unit according to a predetermined rule; and the process S102 maintains a data set using the plurality of minimum road network units, merges the minimum road network unit and the minimum adjacent road network unit adjacent to the minimum road network unit in the data set to obtain a new road network unit, until the length of all road network units is not less than the first predetermined length, and the value obtained by subtracting the length of the road network unit not less than the predetermined proportion from the second predetermined length is not less than 0 and not greater than a preset length threshold, to obtain a plurality of traditional map road network division units; wherein each non-divisible road network unit includes at least one sensitive point, and the sensitive point is prone to error when merging after producing a plurality of high-precision map segmentation tasks based on traditional map road network segmentation to produce a high-precision map in the predetermined area.

[0025] The present application can first cut a traditional map into a plurality of minimum road network units including a plurality of non-divisible road network units, and then merge them into road network units with similar sizes meeting the requirements of high-precision map mapping, to ensure complete mapping of the non-divisible road network unit in a high-precision map segmentation mapping task, avoid merging of corresponding high-precision map segmentation task data in places where merging errors are prone to occur, reduce the difficulty of the merging algorithm, and reduce merging errors; and can facilitate high-concurrency performance of multiple segmentation mapping tasks, reduce consumption of computer resources, and reduce time consumption to improve mapping efficiency.

[0026] Process S101 represents the process of dividing the traditional map road network of a predetermined area into multiple minimum road network units, including at least one indivisible road network unit, according to predetermined rules. This process can facilitate the merging of the multiple minimum road network units to obtain traditional map road network segmentation units.

[0027] In one specific embodiment of this application, the aforementioned sensitive points include Y-shaped junction nodes and intersections of roads with high and low confidence levels, wherein the intersection of roads with high and low confidence levels is the intersection of a road segment with relatively good satellite signal and a road segment with relatively poor satellite signal. For example, the intersection of the lower layer area of ​​an overpass with poor satellite signal and the upper layer area of ​​an overpass with relatively good satellite signal.

[0028] Specifically, Y-shaped branch nodes such as Figure 2 As shown at point O, because the number of roads on both sides of the Y-shaped fork node is different, it is not easy to determine the correspondence between the roads on both sides during merging. Merging map data obtained by mapping at the corresponding road locations increases the algorithm's difficulty and makes it prone to errors. The intersection points of roads with high and low confidence are shown below. Figure 3 Points B and C, as shown, are connected at one end to the low-confidence road segment BC located under the viaduct, where satellite signals are poor and trajectory positioning is inaccurate. At the other end, they are connected to the high-confidence road segments AB and CD, where trajectory positioning is relatively accurate. Therefore, when merging the segmented map data obtained from the mapping at the intersection of high- and low-confidence roads, the algorithm becomes more difficult and prone to errors.

[0029] In one specific embodiment of this application, the process of dividing the traditional map road network of a predetermined area into multiple minimum road network units including at least one indivisible road network unit according to predetermined rules includes breaking each road connected to each sensitive point at a third predetermined distance from the corresponding sensitive point to obtain multiple sensitive point buffer road segments connected to the corresponding sensitive point, and using the sensitive point and the corresponding multiple sensitive point buffer road segments to obtain an indivisible road network unit including the corresponding sensitive point.

[0030] Specifically, the aforementioned third predetermined length can be 50m.

[0031] This embodiment reserves connection buffer sections for sensitive points, making it easier to merge connection buffer sections when merging segmented map data later, thereby reducing the complexity of merging calculations, reducing merging errors, and improving merging efficiency.

[0032] In an embodiment of the present application, the sensitive points include tunnel head and tail road nodes. The process of dividing the traditional map road network of the predetermined area into a plurality of minimum road network units including at least one indivisible road network unit according to the predetermined rule includes breaking the road connected with each tunnel at a fifth predetermined length away from the tunnel head and tail nodes to obtain a buffer road segment of the corresponding tunnel, and obtaining an indivisible road network unit by using each tunnel and the corresponding buffer road segment. Specifically, the satellite signal is poor in the tunnel. If two parts of the road segment in the tunnel are built in two high-precision map segmentation tasks respectively, and then the two segmentation task data are merged, merging errors are likely to occur, resulting in an increase in the complexity of the merging algorithm. Therefore, the road segment in the tunnel and the buffer road segment connected therewith are placed in an indivisible road network unit, so that the tunnel and the buffer road segment connected therewith are built in one high-precision map segmentation task, and the merging is performed on the buffer road segment outside the tunnel, so as to avoid problems in subsequent merging and reduce the complexity of the merging algorithm.

[0033] In an embodiment of the present application, the process of dividing the traditional map road network of the predetermined area into a plurality of minimum road network units including at least one indivisible road network unit according to the predetermined rule includes breaking the straight road part in the traditional map road network of the predetermined area every fourth predetermined length to obtain the ordinary road segment minimum road network unit.

[0034] Specifically, the fourth predetermined length can be 50 m, and the straight road part does not include sensitive points and includes uplink and downlink road segments that are parallel to each other. Because the straight road part does not include sensitive points, the merging difficulty problem that is likely to occur during merging does not need to be considered, so the straight road part is directly uniformly divided, so as to reduce the complexity of the traditional map road network division process and improve the work efficiency.

[0035] The process S102 represents a process of maintaining a data set by using a plurality of minimum road network units, obtaining and merging the minimum road network unit with the smallest length in the data set and the adjacent road network unit with the smallest length adjacent to the minimum road network unit, until the length of all road network units is not less than the first predetermined length, and the value obtained by subtracting the length of the road network unit not less than the predetermined proportion from the second predetermined length is not less than 0 and not more than the preset length threshold, to obtain a plurality of traditional map road network segmentation units. A heap is maintained by using all minimum road network units to perform the merging operation of the minimum road network unit, which can optimize the time complexity of the calculation; the merging operation is performed on the minimum road network unit with the smallest length, which can quickly obtain road network units with a small difference in length, and finally obtain a group of traditional map road network segmentation units with uniform length, so that when a plurality of segmentation mapping tasks are performed in high concurrency, the resource consumption of the computer can be reduced, and the mapping efficiency can be improved.

[0036] Specifically, when multiple segment mapping tasks are performed concurrently, the computing power of the computer resources performing each mapping task is the same, so that the time consumed by performing multiple concurrent mapping tasks of similar size on multiple road network units with similar lengths is similar, thereby avoiding some mapping tasks being performed quickly, and the next step of operation being performed after waiting for the slower mapping tasks to complete, thereby improving mapping efficiency. Moreover, because the computing power of the computer resources is the same, if the mapping tasks are significantly different, the computer resources need to be configured according to the larger mapping task, and the computer resources thus configured will be wasted when performing smaller mapping tasks.

[0037] In one specific example of the present application, the first predetermined length can be 1.5 km, the second predetermined length can be 3.0 km, the predetermined ratio can be 96%, and the preset length threshold can be 1 km. Among the obtained multiple traditional map road network segmentation units, 96-97% of the traditional map segmentation units are within a range of 2-3 kilometers.

[0038] In one specific embodiment of the present application, the process of obtaining and merging the road network unit with the smallest length in the data set and the adjacent road network unit with the smallest length adjacent thereto until all road network units have a length of no less than the first predetermined length includes judging whether the road network unit with the smallest length in the data set is less than the first predetermined length, if so, unconditionally merging the road network unit with the smallest length and the adjacent road network unit with the smallest length adjacent thereto to obtain a new road network unit, and obtaining a traditional map road network segmentation unit using the new road network unit. In this way, it can be ensured that the obtained traditional map road network segmentation units are all greater than the first predetermined length, so that the lengths of the obtained traditional map road network segmentation units are as uniform as possible.

[0039] In one specific example of the present application, the road network unit with the smallest length in the data set is obtained, and it is judged whether the length of the road network unit is less than 1.5 km, if so, unconditionally merging the road network unit with the smallest length and the adjacent road network unit with the smallest length adjacent thereto to obtain a new road network unit, and obtaining a traditional map road network segmentation unit using the new road network unit.

[0040] In one specific embodiment of the present application, if the smallest road network unit in the data set is not smaller than the first predetermined length, it is determined whether the new road network unit obtained by merging the smallest road network unit and the smallest adjacent road network unit adjacent to the smallest road network unit is larger than the second predetermined length. If it is larger, all road network units in the data set are directly determined as traditional map road network segmentation units. Otherwise, the new road network unit is used to obtain the traditional map road network segmentation unit. In this way, it can be ensured that all traditional map road network segmentation units are road network units with a length close to the second predetermined length, and the lengths of the road network units are uniform, thereby facilitating reduction of computer resource consumption and time consumption and improvement of mapping efficiency when performing concurrent tasks of high-precision map segmentation mapping.

[0041] In one specific embodiment of the present application, the process of dividing the traditional map road network in the predetermined area into a plurality of minimum road network units including at least one indivisible road network unit according to the predetermined rule includes obtaining a highway road network and an urban road network from the traditional map road network in the predetermined area according to the label information, and dividing the highway road network and the urban road network according to the predetermined rule to obtain a plurality of highway minimum road network units and a plurality of urban minimum road network units. A data set is maintained using the plurality of minimum road network units, and the process of obtaining and merging the smallest adjacent road network unit adjacent to the smallest road network unit in the data set to obtain a new road network unit includes maintaining a data set using the plurality of highway minimum road network units and the plurality of urban minimum road network units, respectively, and obtaining and merging the smallest adjacent road network unit adjacent to the smallest road network unit in the corresponding data set to obtain a new road network unit.

[0042] Specifically, the present embodiment is applicable to the scenario of separate mapping of highway roads and urban roads during high-precision map mapping. The map elements of interest are obviously different when highway roads and urban roads are mapped for high-precision maps, and therefore separate mapping can improve mapping efficiency.

[0043] Figure 4 A specific embodiment of a map road network division and merging device of the present application is shown.

[0044] In Figure 4 A specific embodiment of a map road network division and merging device of the present application is shown.

[0045] The division module 401 is configured to divide a traditional map road network of a predetermined area into a plurality of minimum road network units including at least one non-divisible road network unit according to a predetermined rule; and the merging module 402 is configured to maintain a data set by using the plurality of minimum road network units, to obtain and merge a minimum length road network unit in the data set and a minimum length adjacent road network unit adjacent to the minimum length road network unit to obtain a new road network unit, until the length of all road network units is not less than a first predetermined length, and a value obtained by subtracting the length of a road network unit not less than a predetermined proportion from a second predetermined length is not greater than a third predetermined length and is not less than 0, to obtain a plurality of traditional map road network segmentation units; wherein each non-divisible road network unit includes at least one sensitive point, and the sensitive point is prone to errors when being merged after a plurality of high-precision map segmentation tasks are made based on traditional map road network segmentation of the predetermined area.

[0046] The device can ensure complete mapping of the non-divisible road network unit in one high-precision map segmentation mapping task, avoid merging of the corresponding high-precision map segmentation task data in a place prone to merging errors, reduce the difficulty of the merging algorithm, and reduce the merging error; and can facilitate high-concurrency of a plurality of segmentation mapping tasks, reduce consumption of computer resources, and reduce time consumption to improve mapping efficiency.

[0047] The division module 401 configured to divide a traditional map road network of a predetermined area into a plurality of minimum road network units including at least one non-divisible road network unit according to a predetermined rule can facilitate merging of the plurality of minimum road network units to obtain a traditional map road network segmentation unit.

[0048] The merging module 402 configured to maintain a data set by using a plurality of minimum road network units, to obtain and merge a minimum length road network unit in the data set and a minimum length adjacent road network unit adjacent to the minimum length road network unit to obtain a new road network unit, until the length of all road network units is not less than a first predetermined length, and a value obtained by subtracting the length of a road network unit not less than a predetermined proportion from a second predetermined length is not greater than a third predetermined length and is not less than 0, to obtain a plurality of traditional map road network segmentation units can facilitate rapid obtaining of road network units with little length difference, and ultimately obtaining a group of traditional map road network segmentation units with uniform length, thereby facilitating high-concurrency of a plurality of segmentation mapping tasks, reducing consumption of computer resources, and improving mapping efficiency.

[0049] Specifically, the first predetermined length can be 1.5 km, the second predetermined length can be 3.0 km, the predetermined ratio can be 96%, and the preset length threshold can be 1 km. Among the obtained plurality of traditional map road network division units, 96-97% of the traditional map division units are within a range of 2-3 kilometers

[0050] The map road network division and merging device provided in the present application can be used to execute the map road network division and merging method described in any of the embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0051] In one specific embodiment of the present application, the functional modules in the map road network division and merging device of the present application can be directly in hardware, in a software module executed by a processor, or a combination of both.

[0052] The software module can reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. The exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium.

[0053] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates 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, such as 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 the alternative, the storage medium can be integrated with the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in the user terminal. In the alternative, the processor and the storage medium can reside as discrete components in the user terminal.

[0054] In another specific 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 division and merging method in any of the above solutions.

[0055] In another specific embodiment of the present application, a computer readable storage medium stores computer instructions, the computer instructions are configured to perform the map road network division and merging method in any of the above solutions.

[0056] In another specific 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 division and merging method in any of the above solutions.

[0057] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the described apparatus embodiments are merely schematic, and the division of units is merely a logical function division, and there can be another division manner in 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 can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0058] 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 multiple 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.

[0059] The above are merely 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 content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for dividing and merging road networks on a map, characterized in that, include: According to predetermined rules, the traditional map road network of the predetermined area is divided into multiple minimum road network units, including at least one indivisible road network unit. A data set is maintained using the multiple minimum road network units. The road network unit with the smallest length in the data set and the adjacent road network unit with the smallest length among its adjacent adjacent road network units are obtained and merged to obtain a new road network unit. This process continues until the length of all road network units is not less than a first predetermined length, and the value of the second predetermined length minus the length of at least a predetermined proportion of the length of all road network units is not less than 0 and not greater than a preset length threshold, thus obtaining multiple traditional map road network segmentation units. Each of the indivisible road network units includes at least one sensitive point. When merging the high-precision map segments obtained by creating high-precision maps based on traditional map road network segments for the predetermined area at the sensitive points, errors are likely to occur. The sensitive points include Y-shaped fork nodes and intersections of roads with high and low confidence levels; The process of dividing the traditional map road network of a predetermined area into multiple minimum road network units including at least one indivisible road network unit according to a predetermined rule includes breaking each road connected to each of the sensitive points at a third predetermined distance from the corresponding sensitive point to obtain multiple sensitive point buffer road segments connected to the corresponding sensitive point, and using the sensitive point and the corresponding multiple sensitive point buffer road segments to obtain the indivisible road network unit including the corresponding sensitive point. The intersection of high and low confidence roads refers to the intersection of a road segment with a relatively good satellite signal and a road segment with a relatively poor satellite signal.

2. The map road network division and merging method according to claim 1, characterized in that, The process of acquiring and merging the road network unit with the smallest length in the data set and the smallest adjacent road network unit among its adjacent adjacent road network units to obtain a new road network unit, until the length of all road network units is not less than the first predetermined length, includes... The system determines whether the shortest road network unit in the dataset is shorter than the first predetermined length. If it is, the shortest road network unit and its adjacent shortest adjacent road network unit are merged to obtain a new road network unit. This new road network unit is then used to obtain the traditional map road network segmentation unit. Otherwise, Determine whether the new road network unit obtained by merging the shortest road network unit and its adjacent shortest adjacent road network units is greater than the second predetermined length. If it is greater, then all road network units in the data set are identified as traditional map road network segmentation units; otherwise, The traditional map road network segmentation unit is obtained using the new road network unit.

3. The map road network division and merging method according to claim 1, characterized in that, The process of dividing the traditional map road network of a predetermined area into multiple minimum road network units, including at least one indivisible road network unit, according to predetermined rules includes breaking the straight road portion of the traditional map road network of the predetermined area every fourth predetermined length to obtain the minimum road network unit of the ordinary road segment.

4. The map road network division and merging method according to claim 1, characterized in that, The sensitive points include the road nodes at the beginning and end of the tunnel; The process of dividing the traditional map road network of a predetermined area into multiple minimum road network units, including at least one indivisible road network unit, according to predetermined rules includes breaking the road connected to each tunnel at a fifth predetermined length from the beginning and end nodes of the tunnel to obtain a buffer section for the corresponding tunnel, and using each tunnel and the corresponding buffer section to obtain an indivisible road network unit.

5. The map road network division and merging method according to claim 1, characterized in that, The process of dividing the traditional map road network of a predetermined area into multiple minimum road network units, including at least one indivisible road network unit, according to predetermined rules includes obtaining the highway road network and the urban road network from the traditional map road network of the predetermined area according to label information, and dividing the highway road network and the urban road network according to the predetermined rules to obtain multiple highway minimum road network units and multiple urban minimum road network units. The process of maintaining a data set using the plurality of minimum road network units, and obtaining and merging the road network unit with the smallest length in the data set and the adjacent road network unit with the smallest length among its adjacent adjacent road network units to obtain a new road network unit includes maintaining a data set using the plurality of expressway minimum road network units and the plurality of urban road minimum road network units respectively, and obtaining and merging the road network unit with the smallest length in the corresponding data set and the adjacent road network unit with the smallest length among its adjacent adjacent adjacent road network units to obtain a new road network unit.

6. A map road network division and merging device, characterized in that, include, The partitioning module is used to divide the traditional map road network of a predetermined area into multiple minimum road network units, including at least one indivisible road network unit, according to predetermined rules. The merging module is used to maintain a data set using the multiple minimum road network units, obtain and merge the road network unit with the smallest length in the data set and the adjacent road network unit with the smallest length among its adjacent adjacent road network units to obtain a new road network unit, until the length of all road network units is not less than a first predetermined length, and the value of the second predetermined length minus the length of the road network units of not less than a predetermined proportion among all road network units is not greater than a third predetermined length and not less than 0, to obtain multiple traditional map road network segmentation units; Each of the indivisible road network units includes at least one sensitive point. When merging the high-precision map segments obtained by creating high-precision maps based on traditional map road network segments for the predetermined area at the sensitive points, errors are likely to occur. The sensitive points include Y-shaped fork nodes and intersections of roads with high and low confidence levels; The process of dividing the traditional map road network of a predetermined area into multiple minimum road network units including at least one indivisible road network unit according to a predetermined rule includes breaking each road connected to each of the sensitive points at a third predetermined distance from the corresponding sensitive point to obtain multiple sensitive point buffer road segments connected to the corresponding sensitive point, and using the sensitive point and the corresponding multiple sensitive point buffer road segments to obtain the indivisible road network unit including the corresponding sensitive point. The intersection of high and low confidence roads refers to the intersection of a road segment with a relatively good satellite signal and a road segment with a relatively poor satellite signal.

7. A map creation system, characterized in that, The map production system includes the map road network division and merging device as described in claim 6.

8. A computer-readable storage medium storing computer instructions, characterized in that, When the computer instructions are executed, the computer performs the map road network division and merging method as described in any one of claims 1-5.

9. A computer device comprising a processor and a memory, the memory storing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the map road network division and merging method as described in any one of claims 1-5.

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