A method, apparatus, medium, device and system for removing redundant matching data

Abstract

The application discloses a method, device, medium, equipment and system for removing redundant matching data, and belongs to the field of data processing. The method mainly comprises the following steps: matching road track segments with road skeleton lines to obtain a plurality of matching road track segments corresponding to the road skeleton lines; calculating the distance between any matching road track segment and another matching road track segment according to the perpendicular distance between the track points on any matching road track segment and the other matching road track segment; under the condition that the distance between any two matching road track segments is not greater than a distance threshold, retaining the matching road track segment with a longer track length in the two matching road track segments; under the condition that the distance between any two matching road track segments is greater than the distance threshold, retaining the two matching road track segments. The application improves the accuracy of removing redundant data, reduces the false deletion in the process of removing redundancy, and improves the efficiency of making redundancy.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, apparatus, storage medium, device, system, and map generation method for removing redundant matching data. Background Technology

[0002] When creating high-precision maps, it is often necessary to collect relevant road trajectory data using data acquisition equipment. However, due to adjustments and planning of the collected roads, as well as anomalies during the acquisition process, the trajectory data collected by the equipment often contains repetitive data for the same road segments. Therefore, when using the collected trajectory data for map creation, it is necessary to first clean the trajectory data to remove duplicate data.

[0003] In existing technologies, removing duplicate data from trajectory data often involves comparing data from different data packets. When the duplication rate reaches a certain threshold, the trajectory corresponding to the duplicate data is considered duplicate. However, this method easily deletes similar data, resulting in low deduplication accuracy. Furthermore, this method requires manual intervention in the deduplication process to ensure accuracy, leading to inefficiency. Summary of the Invention

[0004] To address the problem that existing technologies cannot accurately and efficiently remove redundant data from road trajectories, this application mainly provides a method, apparatus, storage medium, device, system, and map generation method for removing redundant matching data.

[0005] In a first aspect, this application provides a method for removing redundant matching data, comprising: matching road trajectory segments with road skeleton lines to obtain multiple matching road trajectory segments corresponding to the road skeleton lines; calculating the distance between any matching road trajectory segment and another matching road trajectory segment based on the perpendicular distance between a trajectory point on any matching road trajectory segment and another matching road trajectory segment; and retaining the matching road trajectory segment with the longer trajectory length among the two matching road trajectory segments if the distance between any two matching road trajectory segments is not greater than a distance threshold, or retaining both matching road trajectory segments if the distance between any two matching road trajectory segments is greater than a distance threshold.

[0006] Optionally, the matching boundary range of the road skeleton line is determined based on its location, the coordinates of its starting point, and the coordinates of its ending point; and multiple road trajectory segments that are initially matched with the road skeleton line are obtained based on the absolute coordinates of the trajectory points on the multiple road trajectory segments and the absolute position of the matching boundary range.

[0007] Optionally, based on the road type corresponding to the road trajectory segment that initially matches the road skeleton line, and the road type corresponding to the road skeleton line, road trajectory segments with the same type as the road skeleton line can be selected.

[0008] Optionally, road trajectory segments that intersect with the area enclosed by the matching boundary range can be identified as multiple road trajectory segments that are initially matched with the road skeleton line.

[0009] Optionally, calculate the perpendicular distance between multiple trajectory points on any matching road trajectory segment and another matching road trajectory segment; and calculate the average of the multiple perpendicular distances, and use the average as the distance between the corresponding matching road trajectory segment and another matching road trajectory segment.

[0010] Secondly, this application provides an apparatus for removing redundant matching data, comprising: a road trajectory segment acquisition module, used to match road trajectory segments with road skeleton lines to obtain multiple matching road trajectory segments corresponding to the road skeleton lines; a distance calculation module, used to calculate the distance between any matching road trajectory segment and another matching road trajectory segment based on the perpendicular distance between a trajectory point on any matching road trajectory segment and another matching road trajectory segment; and a deduplication module, used to retain the matching road trajectory segment with the longer trajectory length among two matching road trajectory segments if the distance between any two matching road trajectory segments is not greater than a distance threshold, or to retain two matching road trajectory segments if the distance between any two matching road trajectory segments is greater than a distance threshold.

[0011] Thirdly, this application provides a map generation method, which includes: matching road trajectory segments with road skeleton lines to obtain multiple matched road trajectory segments corresponding to the road skeleton lines; calculating the distance between any matched road trajectory segment and another matched road trajectory segment based on the perpendicular distance between trajectory points on any matched road trajectory segment and another matched road trajectory segment; retaining the matched road trajectory segment with the longer trajectory length among the two matched road trajectory segments if the distance between any two matched road trajectory segments is not greater than a distance threshold, or retaining two matched road trajectory segments if the distance between any two matched road trajectory segments is greater than a distance threshold; and generating a corresponding map using the retained matched road trajectory segments.

[0012] Fourthly, this application provides a computer-readable storage medium storing computer instructions that are operated to perform the method for removing redundant matching data in the first aspect, or to perform the map generation method in the third aspect.

[0013] Fifthly, this application provides a computer device including a processor and a memory, the memory storing computer instructions that are operated to perform the aforementioned method for removing redundant matching data in the first aspect, or to perform the map generation method in the third aspect.

[0014] In a sixth aspect, embodiments of this application provide a map production system configured to perform means for removing redundant matching data as described in the first aspect of this application and any of its embodiments.

[0015] The beneficial effects of the technical solution of this application are as follows: This application provides a method, apparatus, storage medium, system, and map generation method for removing redundant matching data. This method can efficiently and accurately remove duplicate data from road trajectories, improve the efficiency of map production, and reduce the related computational load in map production. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description exemplarily illustrate some embodiments of this application.

[0017] Figure 1 This is a schematic diagram of a specific implementation of a method for removing redundant matching data according to this application;

[0018] Figure 2 This is a schematic diagram illustrating a specific implementation of the matching and filtering method for removing redundant matching data according to this application;

[0019] Figure 3 This is a schematic diagram of a specific embodiment of a device for removing redundant matching data according to this application;

[0020] Figure 4 This is a schematic diagram of a specific implementation of a map generation method according to this application.

[0021] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0022] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this application.

[0023] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0024] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0025] Figure 1 This paper illustrates a specific embodiment of a method for removing redundant matching data according to this application.

[0026] exist Figure 1 The method for removing redundant matching data includes step S101, which involves matching road trajectory segments with road skeleton lines to obtain multiple matching road trajectory segments corresponding to the road skeleton lines.

[0027] Step S102: Based on the perpendicular distance between trajectory points on any matching road trajectory segment and another matching road trajectory segment, calculate the distance between any matching road trajectory segment and another matching road trajectory segment; and,

[0028] Step S103: If the distance between any two matching road trajectory segments is not greater than the distance threshold, retain the matching road trajectory segment with the longer trajectory length; or, if the distance between any two matching road trajectory segments is greater than the distance threshold, retain both matching road trajectory segments.

[0029] This specific implementation method can efficiently and accurately remove duplicate road trajectory data, improve the efficiency of map production, and reduce the amount of related calculations in the map production process.

[0030] Specifically, road trajectory segment 'a' in data packet A and road trajectory segment 'b' in data packet B are matched with known road skeleton lines to obtain the matching relationship between road trajectory segment 'a' and road trajectory segment 'b' and the road skeleton lines. Under the condition that road trajectory segment 'a' and road trajectory segment 'b' have the same dimensions, the perpendicular distances between multiple trajectory points on road trajectory segment 'a' and road trajectory segment 'b' are calculated, and the average of these perpendicular distances is obtained. This average perpendicular distance is the distance between road trajectory segment 'a' and road trajectory segment 'b'. Based on the distance between road trajectory segment 'a' and road trajectory segment 'b', it is determined whether there is duplicate road trajectory data in data packets A and B. If the distance between road trajectory segment 'a' and road trajectory segment 'b' is not greater than a distance threshold, road trajectory segment 'a' and road trajectory segment 'b' are duplicate road trajectory data. If the distance between road trajectory segment 'a' and road trajectory segment 'b' is greater than a distance threshold, road trajectory segment 'a' and road trajectory segment 'b' are not duplicate road trajectory data. The distance threshold can be 0.5 meters, preferably 0 meters, but the specific value is not limited in this invention.

[0031] exist Figure 1 In the specific implementation shown, the method for removing redundant matching data mainly includes step S101, which involves matching road trajectory segments with road skeleton lines to obtain multiple matching road trajectory segments corresponding to the road skeleton lines. This step can reduce the amount of computation in the deduplication process and improve the efficiency of deduplication.

[0032] In one specific embodiment of this application, based on the location and road attributes of the road skeleton line, and the location and road attributes of the road trajectory segments, multiple road trajectory segments in multiple data packets are matched with the known road skeleton line to obtain multiple matched road trajectory segments corresponding to the road skeleton line.

[0033] In one specific embodiment of this application, step S101 includes determining the matching boundary range of the road skeleton line based on its position, the coordinates of its starting point, and the coordinates of its ending point; and obtaining multiple road trajectory segments that are initially matched with the road skeleton line based on the absolute coordinates of trajectory points on multiple road trajectory segments and the absolute position of the matching boundary range. This specific embodiment can reduce the amount of computation in the matching process while ensuring the accuracy of the matching, effectively improving the efficiency of the matching operation.

[0034] Specifically, based on the coordinates of the road skeleton line, its starting point coordinates, and its ending point coordinates, a matching boundary range is determined within a predetermined area surrounding the road skeleton line. This matching boundary range completely encompasses the road skeleton line and does not intersect with it. Based on the absolute coordinates of the road trajectory segments and the absolute position of the matching boundary range, the road trajectory segments are projected onto the map containing the road skeleton line. It is then determined whether the projected road trajectory segment falls within the matching boundary range. If it does, the road trajectory segment is initially matched with the road skeleton line; otherwise, it is not matched.

[0035] For example, such as Figure 2 The solid line in the diagram represents a known road framework. The dashed lines, representing the matching boundary range, extend 5 meters upwards and downwards from the locations of points on this road framework as the origin. The black dots in the diagram represent the two endpoints of this road framework. Extending 5 meters outwards from these endpoints as the origin forms the width of the matching boundary range. This ultimately results in a rectangular matching boundary range.

[0036] In one specific embodiment of this application, step S101 includes filtering out road trajectory segments of the same type as the road skeleton line based on the road type corresponding to the road trajectory segments initially matched with the road skeleton line and the road type corresponding to the road skeleton line. This specific implementation example can ensure the accuracy of the matching results, further ensure the correctness of the deduplication results, and reduce the amount of computation in the deduplication process.

[0037] Specifically, based on the road attributes of the road skeleton line and the attributes of the road trajectory segments, road trajectory segments that match the road skeleton line are selected from the initially matched road trajectory segments. The attributes of the road trajectory segments and the road skeleton line include whether it is an elevated bridge, the types of vehicles permitted to pass, and whether the road is a national highway or a provincial highway.

[0038] In one specific embodiment of this application, step S101 includes segmenting the road trajectory that intersects with the area enclosed by the matching boundary range, and determining multiple road trajectory segments that are initially matched with the road skeleton line. This specific implementation example can further ensure the correctness of the matching result and the correctness and accuracy of deduplication.

[0039] Specifically, the total length of the road trajectory segment is calculated using the distance between two adjacent trajectory points on the segment. Based on the coordinates of the trajectory points on the segment and the coordinates of the area enclosed by the matching boundary, the trajectory points within the area are determined, and the length of the road trajectory segment within the area is calculated using the number of these points. When the total road length and the length within the area are equal, the road trajectory segment completely intersects the area enclosed by the matching boundary, and the segment is a preliminary match for the road skeleton line. When the total road length is greater than the length within the area, the road trajectory segment is either completely outside the area enclosed by the matching boundary or partially within it, and therefore, the segment is not a preliminary match for the road skeleton line.

[0040] exist Figure 1 In the specific embodiment shown, the method for removing redundant matching data further includes step S102, which calculates the distance between any matching road trajectory segment and another matching road trajectory segment based on the perpendicular distance between trajectory points on any matching road trajectory segment and another matching road trajectory segment. This step can accurately calculate the distance between two matching road trajectory segments, further ensuring the accuracy of deduplication.

[0041] In one specific embodiment of this application, step S102 includes calculating the perpendicular distance between multiple trajectory points on any matching road trajectory segment and another matching road trajectory segment; calculating the average of the multiple perpendicular distances, and using the average as the distance between the corresponding matching road trajectory segment and another matching road trajectory segment. This specific embodiment can ensure the accuracy of the calculated distance, further ensuring the accuracy of the deduplication process and avoiding the reduction in accuracy caused by accidental deletion.

[0042] Specifically, calculate the perpendicular distance between all or part of the trajectory points on any matching road trajectory segment and another matching road trajectory segment that matches the same road skeleton line. Using all the calculated perpendicular distances, calculate the average of the perpendicular distances; this average is the line segment distance between the two road trajectory segments.

[0043] exist Figure 1 In the specific implementation shown, the method for removing redundant matching data further includes step S103: retaining the matching road trajectory segment with the longer trajectory length if the distance between any two matching road trajectory segments is no greater than a distance threshold; or retaining both matching road trajectory segments if the distance between any two matching road trajectory segments is greater than a distance threshold. This step can efficiently and accurately remove duplicate road trajectory data, improve map production efficiency, and reduce the related computational load during map production.

[0044] Specifically, if the distance between any two matching road trajectory segments is no greater than a distance threshold, and the two road trajectory segments contain duplicate road trajectory data, the road trajectory segment with less data is discarded, and the road trajectory segment with more data is saved. If the distance between any two matching road trajectory segments is greater than a distance threshold, and the data corresponding to the two road trajectory segments is not duplicated, both road trajectory segments are retained. The retained road trajectory segments are used as the road trajectory segments for matching road skeleton lines, and all retained road trajectory segments are connected according to the connection relationship between road skeleton lines to form the road network corresponding to the road skeleton lines.

[0045] For example, when the distance between two road trajectory segments is 0, the two road trajectory segments overlap or one road trajectory segment contains the trajectory of the other road trajectory segment, and the shorter road trajectory segment is filtered out.

[0046] Figure 3 This paper illustrates a specific embodiment of an apparatus for removing redundant matching data according to this application.

[0047] exist Figure 3 In the specific embodiment shown, the device for removing redundant matching data includes: a road trajectory segment acquisition module 301, which is used to match the road trajectory segments with the road skeleton line to obtain multiple matching road trajectory segments corresponding to the road skeleton line;

[0048] The distance calculation module 302 is used to calculate the distance between any matching road trajectory segment and another matching road trajectory segment based on the perpendicular distance between trajectory points on any matching road trajectory segment and another matching road trajectory segment; and,

[0049] The deduplication module 303 is used to retain the matching road trajectory segment with the longer trajectory length among two matching road trajectory segments when the distance between any two matching road trajectory segments is not greater than a distance threshold, or to retain two matching road trajectory segments when the distance between any two matching road trajectory segments is greater than a distance threshold.

[0050] In one specific embodiment of this application, the road trajectory segment acquisition module 301 includes a module for determining the matching boundary range of the road skeleton line based on the position of the road skeleton line, the coordinates of the starting point of the road skeleton line, and the coordinates of the ending point of the road skeleton line; and a module for obtaining multiple road trajectory segments that are initially matched with the road skeleton line based on the absolute coordinate positions of trajectory points on multiple road trajectory segments and the absolute position of the matching boundary range.

[0051] In one specific embodiment of this application, the road trajectory segment acquisition module 301 includes a module for filtering out road trajectory segments of the same type as the road skeleton line based on the road type corresponding to the road trajectory segment initially matched with the road skeleton line and the road type corresponding to the road skeleton line.

[0052] In one specific embodiment of this application, the road trajectory segmentation acquisition module 301 includes a module for determining the road trajectory segments that intersect with the area enclosed by the matching boundary range as multiple road trajectory segments that are initially matched with the road skeleton line.

[0053] In one specific embodiment of this application, the distance calculation module 302 includes a module for calculating the perpendicular distance between multiple trajectory points on any matching road trajectory segment and another matching road trajectory segment; and a module for calculating the average value of the multiple perpendicular distances and using the average value as the distance between the corresponding matching road trajectory segment and another matching road trajectory segment.

[0054] In one specific embodiment of this application, the functional modules in the apparatus for removing redundant matching data may be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0055] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0056] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it 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, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0057] The apparatus for removing redundant matching data provided in this application can be used to perform the method for removing redundant matching data described in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0058] Figure 4 This paper illustrates a specific implementation of a map generation method according to this application.

[0059] In another specific embodiment of this application, the map generation method includes: step S401, matching road trajectory segments with road skeleton lines to obtain multiple matching road trajectory segments corresponding to the road skeleton lines;

[0060] Step S402: Calculate the distance between any matching road trajectory segment and another matching road trajectory segment based on the perpendicular distance between the trajectory points on any matching road trajectory segment and another matching road trajectory segment;

[0061] Step S403: If the distance between any two matching road trajectory segments is no greater than a distance threshold, retain the matching road trajectory segment with the longer trajectory length; or, if the distance between any two matching road trajectory segments is greater than a distance threshold, retain both matching road trajectory segments; and,

[0062] Step S404: Generate the corresponding map by segmenting the retained matching road trajectories.

[0063] In another specific embodiment of this application, a computer-readable storage medium is provided, which stores computer instructions that are operated to perform the method for removing redundant matching data described in the above embodiments, or to perform the map generation method described in the above embodiments.

[0064] In another specific embodiment of this application, a computer device is provided, wherein the computer device includes the method for removing redundant matching data described in any embodiment. Optionally, the device is used to implement the appendix to this application specification. Figure 1 The method for removing redundant matching data in the embodiments, or the map generation method described in the above embodiments.

[0065] In another specific embodiment of this application, a map creation system is provided, wherein the system includes the method for removing redundant matching data as described in any embodiment. Optionally, the system includes a processor and a memory, the processor and the memory being coupled, and the system is used to implement the appendix to this specification. Figure 1 The method for removing redundant matching data in the embodiments, or the map generation method described in the above embodiments.

[0066] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0067] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0068] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for removing redundant matching data, characterized in that, include: The road trajectory segments are matched with the road skeleton line to obtain multiple matched road trajectory segments corresponding to the road skeleton line; The distance between any one of the matched road trajectory segments and the other matched road trajectory segment is calculated based on the perpendicular distance between a trajectory point on any of the matched road trajectory segments and the other matched road trajectory segment; and... If the distance between any two matched road trajectory segments is no greater than a distance threshold, retain the matched road trajectory segment with the longer trajectory length, or... If the distance between any two matched road trajectory segments is greater than a distance threshold, two matched road trajectory segments are retained, and all retained matched road trajectory segments are connected according to the connection relationship between road skeleton lines to form a road network corresponding to the road skeleton lines.

2. The method for removing redundant matching data according to claim 1, characterized in that, The process of matching road trajectory segments with road skeleton lines to obtain multiple matched road trajectory segments corresponding to the road skeleton lines includes: Based on the location of the road skeleton line, the coordinates of its starting point, and the coordinates of its ending point, the matching boundary range of the road skeleton line is determined; and, Based on the absolute coordinates of the trajectory points on the multiple road trajectory segments and the absolute position of the matching boundary range, multiple road trajectory segments that are initially matched with the road skeleton line are obtained.

3. The method for removing redundant matching data according to claim 2, characterized in that, The process of obtaining multiple road trajectory segments that initially match the road skeleton line based on the absolute coordinate positions of trajectory points on multiple road trajectory segments and the absolute positions of the matching boundary range includes: Based on the road type corresponding to the road trajectory segment that initially matches the road skeleton line, and the road type corresponding to the road skeleton line, road trajectory segments with the same type as the road skeleton line are selected.

4. The method for removing redundant matching data according to claim 2, characterized in that, The process of obtaining multiple road trajectory segments that initially match the road skeleton line based on the absolute coordinate positions of trajectory points on multiple road trajectory segments and the absolute positions of the matching boundary range includes: The road trajectory segments that intersect with the area enclosed by the matching boundary range are determined as multiple road trajectory segments that initially match the road skeleton line.

5. The method for removing redundant matching data according to claim 1, characterized in that, The step of calculating the distance between any one matched road trajectory segment and another matched road trajectory segment based on the perpendicular distance between trajectory points on any one matched road trajectory segment and another matched road trajectory segment includes: Calculate the perpendicular distances between multiple trajectory points on any of the matched road trajectory segments and another matched road trajectory segment; and, Calculate the average of the multiple vertical distances, and use the average as the distance between the corresponding matched road trajectory segment and another matched road trajectory segment.

6. An apparatus for removing redundant matching data, characterized in that, include: The road trajectory segment acquisition module is used to match road trajectory segments with road skeleton lines to obtain multiple matching road trajectory segments corresponding to the road skeleton lines. A distance calculation module is used to calculate the distance between one of the matched road trajectory segments and another matched road trajectory segment based on the perpendicular distance between a trajectory point on any of the matched road trajectory segments and another matched road trajectory segment; and, The deduplication module is used to retain the matching road trajectory segment with the longer trajectory length among the two matching road trajectory segments if the distance between any two matching road trajectory segments is not greater than a distance threshold, or to retain two matching road trajectory segments if the distance between any two matching road trajectory segments is greater than a distance threshold, and to connect all the retained matching road trajectory segments according to the connection relationship between the road skeleton lines to form the road network corresponding to the road skeleton lines.

7. A map generation method, characterized in that, include: The road trajectory segments are matched with the road skeleton line to obtain multiple matched road trajectory segments corresponding to the road skeleton line; The distance between any one of the matched road trajectory segments and the other matched road trajectory segment is calculated based on the perpendicular distance between the trajectory points on any one of the matched road trajectory segments and the other matched road trajectory segment. If the distance between any two matched road trajectory segments is no greater than a distance threshold, retain the matched road trajectory segment with the longer trajectory length. If the distance between any two of the matched road trajectory segments is greater than a distance threshold, retain the two matched road trajectory segments. as well as, The retained matching road trajectory segments are used to generate corresponding maps. Specifically, all the retained matching road trajectory segments are connected according to the connection relationship between the road skeleton lines to form a road network corresponding to the road skeleton lines.

8. A computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are operated to perform the method for removing redundant matching data as described in any one of claims 1-5, or to perform the map generation method as described in claim 7.

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 method for removing redundant matching data as described in any one of claims 1-5, or the map generation method as described in claim 7.

10. A map creation system, characterized in that, The map creation system includes the apparatus for removing redundant matching data as described in claim 6.

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