A road network data updating method, device, equipment and medium

Abstract

The application discloses a road network data updating method, device and equipment and a medium, and belongs to the technical field of data processing. The method comprises the following steps: performing vector conversion on vehicle trajectory data of a trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data; acquiring position information of end points of the trajectory route and continuous attributes of a road network; matching the trajectory route to a current road network road according to the at least two trajectory vectors and / or according to the position information and the continuous attributes; and updating the current road network road according to a matching result. Through the technical scheme, the efficiency and accuracy of road network data updating can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a road network data updating method and device, equipment and medium. BACKGROUND

[0002] In the process of using navigation, due to the fact that road network data updating is not timely, real-time road condition drawing of navigation is often missing, and online route calculation is inaccurate or detours occur. In the prior art, there are methods for incremental updating of road network by manual or trajectory matching technology. Most of the trajectory matching technologies use pattern recognition to calculate the distance, angle and area of the trajectory and the road network to determine the matching degree of the road network. Due to various environmental factors on the trajectory, this method often has matching errors, and the algorithm complexity is also high, which is not suitable for real-time calculation of large data. Therefore, there is an urgent need for an efficient and accurate road network updating method. SUMMARY

[0003] The present application provides a road network data updating method, device, equipment and medium to ensure the accuracy of road network changes.

[0004] According to an aspect of the present application, a road network data updating method is provided, which comprises:

[0005] vector converting vehicle trajectory data of a trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data;

[0006] obtaining position information of end points of the trajectory route and continuous attributes of the road network;

[0007] matching the trajectory route to a current road network road according to the at least two trajectory vectors, and / or according to the position information and the continuous attributes;

[0008] updating the current road network road according to the matching result.

[0009] According to another aspect of the present application, a road network data updating device is provided, which comprises:

[0010] a trajectory vector determination module for vector converting vehicle trajectory data of a trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data;

[0011] an end point information acquisition module for obtaining position information of end points of the trajectory route and continuous attributes of the road network;

[0012] a road matching module for matching the trajectory route to a current road network road according to the at least two trajectory vectors, and / or according to the position information and the continuous attributes;

[0013] a road network updating module configured to update the current road network according to the matching result.

[0014] According to another aspect of the present application, there is provided an electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein

[0017] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the road network data updating method according to any one of the embodiments of the present application.

[0018] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to implement the road network data updating method according to any one of the embodiments of the present application when executed by the processor.

[0019] The technical solution of the embodiments of the present application can convert the vehicle trajectory data of the trajectory route into at least two trajectory vectors corresponding to the vehicle trajectory data, then acquire the position information of the end points of the trajectory route and the continuity attribute of the road network, and then match the trajectory route to the current road network according to the at least two trajectory vectors and / or according to the position information and the continuity attribute, and finally update the current road network according to the matching result. The above technical solution can analyze the trajectory route in real time, accurately perceive the changes of the road network, and thus update the road network in a timely manner.

[0020] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0022] Figure 1 is a flowchart of a road network data updating method according to an embodiment of the present application;

[0023] Figure 2Ais a flow chart of a road network data updating method according to the second embodiment of the present application;

[0024] Figure 2B is a turning section determination schematic diagram according to the second embodiment of the present application;

[0025] Figure 3A is a flow chart of a road network data updating method according to the third embodiment of the present application;

[0026] Figure 3B is a schematic diagram of a road matching start point determination process according to the third embodiment of the present application;

[0027] Figure 4 is a flow chart of a road network data updating method according to the fourth embodiment of the present application

[0028] Figure 5 is a structural schematic diagram of a road network data updating device according to the fifth embodiment of the present application;

[0029] Figure 6 is a structural schematic diagram of an electronic device implementing a road network data updating method according to the present application. DETAILED DESCRIPTION

[0030] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should belong to the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] In addition, it also needs to be explained that the collection, storage, use, processing, transmission, provision and disclosure of the vehicle trajectory data and the road network related data in the technical solutions of the present application all comply with the relevant laws and regulations and do not violate public order and good customs.

[0033] Embodiment one

[0034] Figure 1 is a flowchart of a road network data updating method according to the embodiment one of the present application. The present embodiment can be applied to the case of how to update the road network. The method can be executed by a road network data updating device, which can be realized in the form of hardware and / or software, and can be integrated into an electronic device carrying the road network data updating function, such as a server. As shown in the figure, the method comprises: Figure 1

[0035] S110, performing vector conversion on the vehicle trajectory data of the trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data.

[0036] In the present embodiment, the trajectory route refers to the route actually traveled by the user. The vehicle trajectory data refers to the trajectory data corresponding to the trajectory route. Optionally, the vehicle trajectory data includes a plurality of trajectory points, driving direction, speed, time and other data. The trajectory vector refers to a vector determined based on the trajectory points and driving direction in the vehicle trajectory data.

[0037] Further, the navigation device will be affected by the geographical environment, network environment and other factors during actual operation, and will produce errors or dirty data, which will directly affect the accuracy of trajectory matching. Therefore, before performing vector conversion on the vehicle trajectory data of the trajectory route, the vehicle trajectory data is cleaned. Specifically, the vehicle trajectory data can be cleaned and filtered according to the data cleaning strategy and rules to obtain more accurate vehicle trajectory data.

[0038] ​The data cleaning strategy and rule can be, for example, filtering a track point with a questionable upload time; or, for example, filtering a track point with a longitude or latitude of null or equal to 0; or, for example, filtering a track point with a speed less than 0, a speed of null or a speed greater than a preset speed threshold; or, for example, filtering a track point with non-existent or incorrect longitude and latitude in a certain area; or, for example, removing duplicate track points uploaded at the same location in succession when a GPS positioning signal is interrupted; or, for example, removing duplicate track points uploaded at the same time or completely identical track points. In a specific example, filtering is performed according to distance. Assuming that any two adjacent track points are p1 and p2, the distance between p1 and p2 is calculated as d12. If the value of d12 is greater than a set threshold d, it is determined that the track point p2 is invalid, and the track point p2 is filtered out. If the entire track distance is less than the threshold, the entire track is filtered out.

[0039] Specifically, from the track points of the vehicle track data of the track route, track points are obtained at equal intervals according to a set distance, and the obtained adjacent track points are sequentially connected in combination with a driving direction to obtain at least two track vectors corresponding to the vehicle track data.

[0040] S120, obtaining position information of an end point of the track route and a continuity attribute of the road network.

[0041] In this embodiment, the end point of the track route includes a route starting point or a route ending point. The continuity attribute of the road network refers to a topological property of the road network.

[0042] Specifically, the position information of the route starting point and the position information of the route ending point of the track route are obtained. The continuity attribute of the road network is also obtained.

[0043] S130, matching the track route to a current road of the road network according to the at least two track vectors, and / or according to the position information and the continuity attribute.

[0044] In an optional manner, the track route is matched to the current road of the road network according to the at least two track vectors.

[0045] In another optional manner, the track route is matched to the current road of the road network according to the position information of the end point of the track route and the continuity attribute of the road network.

[0046] In still another optional manner, the track route can be matched to the current road of the road network according to the at least two track vectors and according to the position information and the continuity attribute.

[0047] S140, updating the current road of the road network according to the matching result.

[0048] In this embodiment, the matching result includes matching success and matching failure, wherein the matching success means that there is a trajectory route in the road network, and the matching failure means that there is no road corresponding to the trajectory route in the road network.

[0049] Specifically, if the matching result is matching success, it indicates that there is a road corresponding to the trajectory route in the current road network, and the current road network is not updated. If the matching result is matching failure, it indicates that there is no road corresponding to the trajectory route in the current road network, at this time, the road network in the real scene may have new routes, and the current road network has data lag, and the current road network is updated according to the road corresponding to the trajectory route.

[0050] The technical scheme of the embodiment of the application, by vector conversion of the vehicle trajectory data of the trajectory route, at least two trajectory vectors corresponding to the vehicle trajectory data are obtained, then the position information of the end point of the trajectory route and the continuity attribute of the road network are obtained, and then the trajectory route is matched to the current road network according to the at least two trajectory vectors, and / or according to the position information and the continuity attribute, and finally the current road network is updated according to the matching result. The above technical scheme can analyze the trajectory route in real time, and accurately perceive the change of the road network, so as to update the road network in time.

[0051] Embodiment two

[0052] Figure 2A It is a flow chart of a road network data updating method according to the embodiment two of the application. The embodiment is based on the above-mentioned embodiment, and further optimizes the "at least two trajectory vectors, and matches the trajectory route to the current road network", and provides an optional solution. As shown in the figure, the method comprises the following steps: Figure 2A

[0053] S210, vector conversion is performed on the vehicle trajectory data of the trajectory route, and at least two trajectory vectors corresponding to the vehicle trajectory data are obtained.

[0054] S220, the position information of the end point of the trajectory route and the continuity attribute of the road network are obtained.

[0055] S230, according to the angle change between adjacent trajectory vectors, the trajectory route is divided into intervals, and at least one route interval corresponding to the trajectory route and the interval type of the route interval are obtained.

[0056] ​In this embodiment, the route section refers to a section obtained by dividing the trajectory route; optionally, the route section includes a straight section and a turning section. The section type of the route section includes a straight type and a turning type. The angle change amount refers to the change value of the angle between two adjacent trajectory vectors, i.e., for each trajectory vector, the angle change amount corresponding to the trajectory vector is the angle change amount between the trajectory vector and the previous trajectory vector thereof.

[0057] Specifically, for each two adjacent trajectory vectors, the angles corresponding to the two trajectory vectors are subtracted to obtain the angle change amount between the two adjacent trajectory vectors. Then, according to the angle change amount between each two adjacent trajectory vectors in the at least two trajectory vectors, the trajectory route is divided from the end point of the trajectory route, the trajectory vector corresponding to the angle change amount greater than a first set value is the start of the turning section, if the angle change amounts corresponding to the last three trajectory vectors are all less than a second set value, the turning is ended, and the last trajectory vector in the last three trajectory vectors is taken as the end vector of the turning section; wherein the first set value is greater than the second set value, for example, the first set value is 3 degrees or 4 degrees, and the second set value is 2 degrees. A specific example is shown in FIG. 2, wherein the trajectory vectors 1, 2, 3, and 4 are the straight section, and the trajectory vectors 5-9 are the turning section. Figure 2B

[0058] S240, according to the route matching mode corresponding to the section type, matching the trajectory route to the current road network road.

[0059] An optional way, if the section type is the turning type, the route section is the turning section; according to the angle change amount, the section turning angle of the turning section is determined; if the trajectory route satisfies the turning matching condition, the turning section is matched to the current road network road according to the section turning angle and the trajectory vector corresponding to the turning section.

[0060] The section turning angle refers to the turning angle corresponding to the turning section.

[0061] Specifically, if the section type is the turning type, the route section is the turning section, the angle corresponding to the first trajectory vector of the turning section is determined, from the first trajectory vector, the angle of the next trajectory vector of the first trajectory vector is obtained by adding the angle change amount to the angle corresponding to the first trajectory vector, and so on, the angle corresponding to the end vector in the turning section is obtained, the angle corresponding to the end vector is subtracted from the angle corresponding to the first trajectory vector to obtain the section turning angle of the turning section. As shown in FIG. 2, the section turning angle of the turning section is the angle corresponding to the trajectory vector 9 minus the angle corresponding to the trajectory vector 3. Figure 2B

[0062] ​​Further, if the trajectory route satisfies the turning matching condition, the turning interval is matched to the current road network road according to the interval turning angle and the trajectory vector corresponding to the turning interval. For example, the turning shape of the turning interval can be determined based on the interval turning angle and the trajectory vector corresponding to the turning interval, and the turning interval is matched to the current road network road based on the turning shape.

[0063] It can be understood that, for the turning interval, the matching of the turning interval is performed based on the interval turning angle of the turning interval and the trajectory vector corresponding to the turning interval, which can make the road matching of the turning interval more accurate.

[0064] Further, whether the trajectory route satisfies the turning matching condition can be determined in the following manner: based on the correspondence between the turning angle and the feature score, the interval turning score of the turning interval is determined according to the interval turning angle.

[0065] The correspondence between the turning angle and the feature score is pre-established based on the universality of the turning angle. For example, the feature score of the common turning angle of 75° to 115° is set to 1 point, the feature score of 45° to 75° and 115° to 165° is set to 2 points, the feature score of 165° to 195° is set to 1 point, and the feature score of 195° to 360° is set to 3 points.

[0066] Specifically, based on the correspondence between the turning angle and the feature score, the corresponding feature score of the interval turning angle of the turning interval, i.e., the interval turning score, is determined according to the interval turning angle.

[0067] Further, if the trajectory route satisfies at least one of the following conditions, it is determined that the trajectory route satisfies the turning matching condition: the distance between any two turning intervals in the trajectory route is greater than a set value; the sum of the interval turning scores of at least two turning intervals in the trajectory route is greater than a set score value; and the number of turning intervals that are set turning intervals in the trajectory route is greater than a set number. The set value can be set by a person skilled in the art according to the actual situation, for example, 3 kilometers; the set score value can be set by a person skilled in the art according to the actual situation, for example, 6 points; the set number can be set by a person skilled in the art according to the actual situation, for example, 4; and the set turning interval can be the turning interval corresponding to the turning angle with a feature score of 1 point.

[0068] It can be understood that, by introducing the turning matching condition, the matching mode of the turning interval can be determined more quickly and accurately.

[0069] In another optional manner, if the interval type is a straight type, the route interval is a straight interval; and the straight interval is matched to the current road network road according to the position of the trajectory point in the vehicle trajectory data corresponding to the straight interval.

[0070] Specifically, if the interval type is a straight type, the route interval is a straight interval, and the straight interval is matched to the current road of the road network based on the position of the trajectory point in the trajectory point of the vehicle trajectory data corresponding to the straight interval.

[0071] S250, updating the current road of the road network according to the matching result.

[0072] The technical scheme of the embodiment of the application converts the vehicle trajectory data of the trajectory route into vectors to obtain at least two trajectory vectors corresponding to the vehicle trajectory data, then obtains the position information of the end points of the trajectory route and the continuity attribute of the road network, further divides the trajectory route into intervals according to the angle change between adjacent trajectory vectors to obtain at least one route interval corresponding to the trajectory route and the interval type of the route interval, matches the trajectory route to the current road of the road network according to the route matching mode corresponding to the interval type, and finally updates the current road of the road network according to the matching result. The above technical scheme uses different route matching modes for different interval types, which can make the matching of the trajectory route more flexible and accurate.

[0073] Embodiment three

[0074] Figure 3A is a flowchart of a road network data updating method according to the third embodiment of the application. This embodiment further optimizes the "matching the turning interval to the current road of the road network according to the interval turning angle and the trajectory vector corresponding to the turning interval" based on the above-mentioned embodiments, and provides an optional implementation scheme. As shown in Figure 3A , the method comprises:

[0075] S310, converting the vehicle trajectory data of the trajectory route into vectors to obtain at least two trajectory vectors corresponding to the vehicle trajectory data.

[0076] S320, obtaining the position information of the end points of the trajectory route and the continuity attribute of the road network.

[0077] S330, dividing the trajectory route into intervals according to the angle change between adjacent trajectory vectors to obtain at least one route interval corresponding to the trajectory route and the interval type of the route interval.

[0078] S340, if the interval type is a turning type, the route interval is a turning interval.

[0079] S350, determining the interval turning angle of the turning interval according to the angle change.

[0080] S360, if the trajectory route meets the turning matching condition, matching the turning interval to the current road of the road network according to the interval turning angle and the trajectory vector corresponding to the turning interval.

[0081] Optionally, a trajectory matching start point is determined according to the trajectory vector corresponding to the turning section; a first road network matching range is determined from the current road network according to the trajectory matching start point; a candidate road corresponding to the turning section is screened from the first road network matching range according to the interval turning angle of the turning section; and the turning section is matched to the current road network according to at least one road vector of the candidate road and the trajectory vector corresponding to the turning section.

[0082] The trajectory matching start point refers to a trajectory start point when the trajectory route is matched. The first road network matching range refers to a road network range centered on the trajectory matching start point. For example, the first road network matching range can be a rectangle or a circle. If it is a rectangle, the length of the rectangular frame corresponding to the first road network matching range is parallel to the vehicle heading direction, and the length and width of the rectangular frame can be set based on empirical values, for example, the length can be 800 meters and the width can be 600 meters. The candidate road refers to a road similar in shape to the turning section, that is, a road with the same or similar turning angle as the interval turning angle of the turning section. Optionally, the number of candidate roads can be one or more.

[0083] Specifically, the start point of the first trajectory vector in the trajectory vector corresponding to the turning section can be taken as the trajectory matching start point, and then the first road network matching range is selected from the current road network according to the trajectory matching start point. Then, based on the interval turning angle of the turning section, a road with the same or an error within a set range as the interval turning angle of the turning section is searched from the first road network matching range as a candidate road. Then, for each candidate road, the turning section is matched to the current road network according to at least one road vector of the candidate road and the trajectory vector corresponding to the turning section.

[0084] It can be understood that selecting a road matching range based on the start point of the turning section can reduce the amount of calculation data in the matching process.

[0085] Optionally, the turning section is matched to the current road network according to at least one road vector of the candidate road and the trajectory vector corresponding to the turning section, including: rotating the trajectory vector corresponding to the turning section so that the first trajectory vector of the turning section coincides with the first road vector of the candidate road; sequentially selecting at least one to-be-matched road corresponding to the turning section from the start point of the candidate road; determining a road matching start point corresponding to the turning section from the candidate road according to the distance between the to-be-matched road vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section; and matching the turning section to the current road network from the road matching start point.

[0086] The to-be-matched road refers to a road segment in the candidate road that is the same or similar in length to the turning section. The to-be-matched road vector refers to the road vector corresponding to the to-be-matched road.

[0087] Specifically, for each candidate road, the trajectory vector corresponding to the turning section can be rotated, such as being rotated along the direction of the candidate road, so that the first trajectory vector of the turning section coincides with the first road vector of the candidate road; then, starting from the starting point of the candidate road, the sliding is performed along the road direction, and a road segment similar or identical to the length of the turning section is selected as a to-be-matched road, such as Figure 3B As shown, the dashed rectangular frame represents a sliding window, for the candidate road H, it contains road vectors h1, h2, h3, h4, h5, h6, h7, h8; the turning section G, the trajectory vectors of the turning section G are g1, g2 and g3; and the to-be-matched roads are h1-h2-h3, h2-h3-h4, …, h5-h6-h7, h6-h7-h8 respectively; for each to-be-matched road, the distance between the to-be-matched road vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section is determined; according to the distances of the to-be-matched roads, the starting point of the to-be-matched road with the minimum distance is selected as the road matching starting point of the turning section in the candidate road, and finally the turning section is matched with the candidate road starting from the road matching starting point.

[0088] It can be understood that the road network road is a line, but the actual road has a width, so that the sliding of the candidate road is performed to select the road segment corresponding to the turning section, which can reduce the problems of the turning section being ahead or lagging behind in the matching process, and improve the matching efficiency.

[0089] Further, for example, the road matching starting point corresponding to the turning section is determined from the candidate road according to the distance between the to-be-matched road vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section, including: for each to-be-matched road, the distance between the to-be-matched vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section is determined; according to the distance, the distance variance corresponding to the to-be-matched road is determined; according to the distance variance, the target matching road is determined from the at least one to-be-matched road; and the starting point of the target matching road is taken as the road matching starting point corresponding to the turning section.

[0090] Specifically, for each to-be-matched road, the distance between each to-be-matched vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section is calculated, for example, as Figure 3BAs shown, the turning interval corresponding trajectory vectors are g1, g2 and g3; taking the first to-be-matched road h1-h2-h3 as an example, the distance m1 between g1 and h1, the distance m2 between g2 and h2 and the distance m3 between g3 and h3 are calculated in sequence, wherein the distance between g1 and h1 is based on the distance between the terminal point of g1 and the terminal point of h1, the distance between g2 and h2 and the distance between g3 and h3 are similar; then the variance of m1, m2 and m3 is calculated, that is, the distance variance corresponding to the to-be-matched road is obtained. Further, the to-be-matched road with the minimum distance variance is selected from the at least one to-be-matched road as the target matched road, and the starting point of the target matched road is taken as the road matching starting point corresponding to the turning interval.

[0091] It can be understood that the determination manner of the road matching starting point can quickly and accurately determine the road matching starting point.

[0092] S370, updating the current road network road according to the matching result.

[0093] The technical scheme of the embodiment of the application, by vector conversion of the vehicle trajectory data of the trajectory route, obtains at least two trajectory vectors corresponding to the vehicle trajectory data, then obtains the position information of the end point of the trajectory route and the continuity attribute of the road network, further divides the trajectory route into intervals according to the angle change amount between adjacent trajectory vectors, obtains at least one route interval corresponding to the trajectory route and the interval type of the route interval, matches the trajectory route to the current road network road according to the route matching manner corresponding to the interval type, and finally updates the current road network road according to the matching result. The above technical scheme uses different route matching manners for different interval types, which can make the matching of the trajectory route more flexible and accurate.

[0094] Embodiment four

[0095] Figure 4 is a flowchart of a road network data updating method provided by the embodiment four of the application. The embodiment is further optimized on the basis of the above-mentioned embodiments, and provides an optional implementation scheme. As shown in the figure, Figure 4 The method comprises the following steps:

[0096] S410, vector conversion is performed on the vehicle trajectory data of the trajectory route, to obtain at least two trajectory vectors corresponding to the vehicle trajectory data.

[0097] S420, the position information of the end point of the trajectory route and the continuity attribute of the road network are obtained.

[0098] S430, the trajectory end point road is determined from the current road network road according to the position information of the end point of the trajectory route.

[0099] In this embodiment, an endpoint includes the starting point or ending point of a route; a trajectory endpoint road includes the starting point road or the ending point road of a trajectory.

[0100] Optionally, based on the location information of the endpoints of the trajectory route, a second road network matching range is determined from the current road network; based on the vertical distance and northward angle between the endpoints and the road network, as well as the current attribute information of the road network, candidate endpoint roads are selected from the second route matching range; the current road attributes of the candidate endpoint roads are compared with the standard road attributes, and based on the comparison results, the trajectory endpoint roads are determined from the candidate endpoint roads.

[0101] The standard road attributes refer to the latest road-related information in the OpenLR protocol, which may include the latitude and longitude of the road's starting point, the latitude and longitude of its waypoints or endpoints, the north-facing angle of the road, road class, road attributes, and road length. The second route matching range refers to a defined area centered on the endpoint of the trajectory route, around which a specified length exists; for example, a circular area with a radius of a set value (e.g., 50m) centered on the endpoint. The current road attributes refer to the road attributes of the candidate endpoint roads.

[0102] Specifically, based on the location information of the starting point of the trajectory route, a second road network matching range is determined from the current road network. For each road network within the second road network matching range, the vertical distance and northward angle between the route starting point and that road network, as well as the current attribute information of that road network, are determined. Road networks whose vertical distance, northward angle, and current attribute information exceed a set threshold are selected as candidate starting point roads. Furthermore, the current road attributes of the candidate starting point roads are compared with standard road attributes, and the candidate starting point roads that exceed the threshold in the comparison result are selected as the trajectory starting point roads.

[0103] It should be noted that the method for determining the endpoint road of the trajectory is the same as the method for determining the starting road of the trajectory, and will not be repeated here.

[0104] Understandably, determining the starting and ending roads of a trajectory based on road attributes lays the foundation for subsequent trajectory and road matching.

[0105] S440. Based on the continuity attribute of the road network, determine at least one candidate topological road corresponding to the trajectory route based on the trajectory endpoint roads.

[0106] In this embodiment, candidate topological roads refer to roads in the road network corresponding to the trajectory route, that is, roads between the trajectory start point and the trajectory end point. The so-called continuity attribute of the road network refers to the topological connection relationship between roads.

[0107] Specifically, at least one candidate topological road can be determined from the road network based on the continuous properties of the road network according to the trajectory start road and the trajectory end road.

[0108] S450, determining a target matching road from the at least one candidate topological road according to the road length of the candidate topological road.

[0109] In this embodiment, the target matching road refers to the road that is most matched with the trajectory route.

[0110] Specifically, the road length of each candidate topological road is determined, and the candidate topological road with the shortest road length is selected as the target matching road from the at least one candidate topological road.

[0111] S460, matching the trajectory route to the current road network road according to the traffic condition information on the target matching road.

[0112] In this embodiment, the traffic condition information includes the passing state, smooth or congestion, etc.

[0113] Specifically, the traffic condition information on the target matching road is obtained, and all under-construction roads in the current road network road are matched. If there is traffic condition information in the under-construction road, it means that the under-construction road can be passed. If there is traffic condition information at a certain position, but there is no road information of the current position in the road network data, it is possible that there is a new road at the position.

[0114] It should be noted that in this embodiment, all under-construction roads in the matching successful road network road are found, the passing state of the under-construction road is checked, and it is determined whether the passing state of the road has changed. The road with changed passing state is saved to the database. If there is a matching failure, the openlr route with matching failure is output and saved to the database. At the same time, the openlr route is displayed on the page or map tool, and finally combined with the trajectory information to verify whether it is a new road. In the case of matching success, repeated matching may occur. The reason for this situation is that the road network road lacks a route. In the case that the openlr routes are very similar and the matching score exceeds the threshold value, repeated matching may occur. The repetition ratio threshold and the repetition distance are set to filter out roads with a repetition ratio lower than the repetition ratio threshold and a repetition distance that is too short. After screening, the matching repeated roads are selected and saved to the database. All roads will be matched with the trajectory route. After graphical position comparison and manual verification, it can be finally determined whether the road network is updated.

[0115] S470, updating the current road network road according to the matching result.

[0116] The technical scheme provided by the embodiment of the present application comprises the following steps: performing vector conversion on vehicle trajectory data of a trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data; obtaining position information of end points of the trajectory route and continuous attributes of a road network; determining a trajectory end point road from current road network roads according to the position information of the end points of the trajectory route; determining at least one candidate topological road corresponding to the trajectory route according to the continuous attributes of the road network and the trajectory end point road; determining a target matching road from the at least one candidate topological road according to road lengths of the candidate topological roads; matching the trajectory route to the current road network road according to traffic condition information on the target matching road; and finally updating the current road network road according to a matching result. The above technical scheme matches the trajectory route based on traffic conditions to determine the updating condition of the current road network road, thereby providing a way for road network updating.

[0117] On the basis of the above embodiment, the road network change condition is analyzed based on the result of trajectory restoration matching (i.e. trajectory vector matching). The trajectory data of which the matching fails is preliminarily considered as a newly added road at the trajectory position, and only in the case that there is no road network road, the matching failure condition occurs. The trajectory data of which the matching fails needs to be verified to determine whether it is a newly added road. The trajectory route of which the matching fails is compared by a trajectory similarity algorithm (compared with the road network road), and the failed trajectory route is classified and stored, and is compared with the newly added road saved in the traffic condition by a similarity algorithm. If the similarity value of the failed road of the trajectory matching and the newly added road identified in the traffic condition is high (the newly added road is also identified in the traffic condition, and the similarity comparison is performed between the failed road of the trajectory identification and the newly added road, and the similarity value is high, so that it is directly determined that there is a newly added road at the position), it is indicated that the trajectory analysis and the road condition analysis both determine that the road section is a newly added road. The newly added road condition can be directly determined, and the rest of the trajectory route needs to be verified by a graph, manually verified, and ensured that the number of uploaded trajectories of the vehicle is greater than a set threshold value to determine whether it is a newly added road.

[0118] For the case that the trajectory analysis is matched to a road under construction, it is indicated that the road under construction is already passable by vehicles. When the passable number threshold value is met and the trajectory similarity ratio value with the current road under construction is greater than 90%, it is preliminarily analyzed that the road under construction has become a passable road. Finally, the result is merged and de-duplicated with the result of the road condition analysis, and the data quantity of the road opening is further supplemented to identify the road network change.

[0119] For the regulation road knowledge identification, according to the trajectory matching result on the road, the regulation route traffic direction is identified whether there is a trajectory on the regulation route. The double threshold of passing vehicles and trajectory quantity needs to be met, the similarity of the trajectory route and the regulation route reaches more than 90%, according to the type of regulation, whether the regulation on the regulation route is cancelled is preliminarily analyzed, and this method is also a way to identify the road network change. Among them, the regulation road is, for example, a road where left turn is prohibited or a road where right turn is prohibited.

[0120] Embodiment five

[0121] Figure 5 It is a structural schematic diagram of a road network data updating device provided by an embodiment five of the application. As shown in the figure, Figure 5 The device comprises:

[0122] The trajectory vector determination module 510 is configured to perform vector conversion on the vehicle trajectory data of the trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data.

[0123] The endpoint information acquisition module 520 is configured to acquire position information of endpoints of the trajectory route and continuous attributes of the road network.

[0124] The road matching module 530 is configured to match the trajectory route to the current road network road according to the at least two trajectory vectors, and / or according to the position information and the continuous attributes.

[0125] The road network updating module 540 is configured to update the current road network road according to the matching result.

[0126] The technical scheme of the embodiment of the application, by performing vector conversion on the vehicle trajectory data of the trajectory route, obtains at least two trajectory vectors corresponding to the vehicle trajectory data, then acquires the position information of the endpoints of the trajectory route and the continuous attributes of the road network, and then matches the trajectory route to the current road network road according to the at least two trajectory vectors, and / or according to the position information and the continuous attributes, and finally updates the current road network road according to the matching result. The above technical scheme can analyze the trajectory route in real time, accurately perceive the road network change in time, and update the road network in time.

[0127] Optionally, the road matching module 530 comprises:

[0128] The route interval determination sub-module is configured to divide the trajectory route into at least one route interval and an interval type of the route interval according to an angle change amount between adjacent trajectory vectors.

[0129] The road matching sub-module is configured to match the trajectory route to the current road network road according to a route matching mode corresponding to the interval type.

[0130] Optionally, the road matching sub-module comprises:

[0131] The turning interval determination unit is configured to determine that the route interval is a turning interval if the interval type is a turning type.

[0132] The interval turning angle determination unit is configured to determine an interval turning angle of the turning interval according to the angle change.

[0133] The road matching unit is configured to match the turning interval to the current road network road according to the interval turning angle and the trajectory vector corresponding to the turning interval if the trajectory route satisfies a turning matching condition.

[0134] Optionally, the road matching sub-module further comprises a turning matching condition determination unit configured to:

[0135] Determine an interval turning score of the turning interval according to the interval turning angle based on the correspondence between the turning angle and the feature score.

[0136] If the trajectory route satisfies at least one of the following, it is determined that the trajectory route satisfies the turning matching condition:

[0137] The distance between any two turning intervals in the trajectory route is greater than a set value.

[0138] The sum of the interval turning scores of at least two turning intervals in the trajectory route is greater than a set score value.

[0139] The number of turning intervals in the trajectory route that are set turning intervals is greater than a set number.

[0140] Optionally, the road matching unit comprises:

[0141] The trajectory matching start point determination sub-unit is configured to determine a trajectory matching start point according to the trajectory vector corresponding to the turning interval.

[0142] The first road network matching range determination sub-unit is configured to determine a first road network matching range from the current road network road with the trajectory matching start point as the center.

[0143] The candidate road determination sub-unit is configured to filter a candidate road corresponding to the turning interval from the first road network matching range according to the interval turning angle of the turning interval.

[0144] The road matching sub-unit is configured to match the turning interval to the current road network road according to at least one road vector of the candidate road and the trajectory vector corresponding to the turning interval.

[0145] Optionally, the road matching sub-unit is configured to specifically:

[0146] rotating the trajectory vector corresponding to the turning section so that the first trajectory vector of the turning section coincides with the first road vector of the candidate road;

[0147] selecting, from the start point of the candidate road, at least one to-be-matched road corresponding to the turning section in sequence;

[0148] determining, according to the distance between the to-be-matched road vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section, a road matching start point corresponding to the turning section from the candidate road;

[0149] matching the turning section to the current road network road with the road matching start point as the starting point.

[0150] Optionally, the road matching subunit is further configured to

[0151] determining, for each to-be-matched road, the distance between the to-be-matched vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section;

[0152] determining, according to the distance, the distance variance corresponding to the to-be-matched road;

[0153] determining, according to the distance variance, a target matching road from the at least one to-be-matched road;

[0154] taking the start point of the target matching road as the road matching start point corresponding to the turning section.

[0155] Optionally, the road matching module 530 comprises:

[0156] a trajectory endpoint road determination sub-module configured to determine, according to position information of an endpoint of the trajectory route, a trajectory endpoint road from the current road network road; the endpoint includes a route start point or a route end point; the trajectory endpoint road includes a trajectory start point road or a trajectory end point road;

[0157] a candidate topology road determination sub-module configured to determine, according to the continuous attribute of the road network and according to the trajectory endpoint road, at least one candidate topology road corresponding to the trajectory route;

[0158] a target matching road determination sub-module configured to determine, according to the road length of the candidate topology road, a target matching road from the at least one candidate topology road;

[0159] the road matching sub-module is further configured to match the trajectory route to the current road network road according to traffic condition information on the target matching road.

[0160] Optionally, the trajectory endpoint road determination sub-module is specifically configured to:

[0161] determine, according to the position information of the endpoint of the trajectory route, a second road network matching range from the current road network road;

[0162] According to the vertical distance and the northward included angle between the end point and the road of the road network, and the current attribute information of the road of the road network, the candidate end point road is screened out from the second route matching range;

[0163] The current road attribute of the candidate end point road is compared with the standard road attribute, and according to the comparison result, the trajectory end point road is determined from the candidate end point road.

[0164] The road network data updating device provided by the embodiment of the application can execute the road network data updating method provided by any embodiment of the application, and has the function modules and beneficial effects corresponding to the execution method.

[0165] Embodiment six

[0166] Figure 6 is a structural schematic diagram of an electronic device for implementing the road network data updating method of the embodiment of the application; Figure 6 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the applications described and / or claimed in this document.

[0167] As shown in Figure 6 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0168] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0169] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the road network data updating method.

[0170] In some embodiments, the road network data updating method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the road network data updating method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the road network data updating method by any other appropriate means, such as by means of firmware.

[0171] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0172] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or entirely on a remote machine or server.

[0173] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0174] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0175] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0176] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0177] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, and the present disclosure is not limited in this regard.

[0178] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalents, and / or alternatives come within the scope of the present disclosure as recited by the claims.

Claims

1. A road network data updating method characterized by comprising: The method comprises the following steps: vector conversion is performed on vehicle trajectory data of a trajectory route, to obtain at least two trajectory vectors corresponding to the vehicle trajectory data; position information of end points of the trajectory route and continuous attributes of a road network are obtained; the trajectory route is matched to a current road network road according to the at least two trajectory vectors, and / or according to the position information and the continuous attributes; the current road network road is updated according to the matching result; wherein the matching of the trajectory route to the current road network road according to the at least two trajectory vectors comprises: interval division is performed on the trajectory route according to an angle change amount between adjacent trajectory vectors, to obtain at least one route interval corresponding to the trajectory route and an interval type of the route interval; the trajectory route is matched to the current road network road according to a route matching mode corresponding to the interval type; wherein the route interval comprises a straight interval and a turning interval, and the interval type of the route interval comprises a straight type and a turning type.

2. The method of claim 1, wherein, the matching of the trajectory route to the current road network road according to the route matching mode corresponding to the interval type comprises: if the interval type is the turning type, the route interval is the turning interval; an interval turning angle of the turning interval is determined according to the angle change amount; if the trajectory route satisfies a turning matching condition, the turning interval is matched to the current road network road according to the interval turning angle and a trajectory vector corresponding to the turning interval.

3. The method of claim 2, wherein, The method further comprises: an interval turning score of the turning interval is determined according to the interval turning angle based on a corresponding relationship between a turning angle and a feature score; if the trajectory route satisfies at least one of the following conditions, it is determined that the trajectory route satisfies the turning matching condition: a distance length between any two turning intervals in the trajectory route is greater than a set value; a sum of interval turning scores of at least two turning intervals in the trajectory route is greater than a set score value; a number of turning intervals in the trajectory route that are set turning intervals is greater than a set number.

4. The method of claim 2, wherein, the matching of the turning interval to the current road network road according to the interval turning angle and the trajectory vector corresponding to the turning interval comprises: a trajectory matching starting point is determined according to the trajectory vector corresponding to the turning interval; a first road network matching range is determined from the current road network road with the trajectory matching starting point as the center; a candidate road corresponding to the turning interval is screened from the first road network matching range according to the interval turning angle of the turning interval; the turning interval is matched to the current road network road according to at least one road vector of the candidate road and the trajectory vector corresponding to the turning interval.

5. The method of claim 4, wherein, the matching of the turning interval to the current road network road according to at least one road vector of the candidate road and the trajectory vector corresponding to the turning interval comprises: the trajectory vector corresponding to the turning interval is rotated so that a first trajectory vector of the turning interval coincides with a first road vector of the candidate road; at least one to-be-matched road corresponding to the turning interval is sequentially selected from a starting point of the candidate road. determine a road matching start point corresponding to the turning section from the candidate roads according to distances between the to-be-matched road vectors corresponding to the to-be-matched roads and the trajectory vectors corresponding to the turning section; match the turning section to the current road network road with the road matching start point as a starting point.

6. The method of claim 5, wherein, The method according to the distance between the to-be-matched road vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section, the method comprises the steps of: determining the distance between the to-be-matched road vector corresponding to the to-be-matched road and the trajectory vector corresponding to the turning section for each to-be-matched road; determining the distance variance of the to-be-matched road according to the distance; determining a target matching road from at least one to-be-matched road according to the distance variance; taking the start point of the target matching road as the road matching start point corresponding to the turning section.

7. The method of claim 1, wherein, The method according to the position information and the continuity attribute, the method comprises the steps of: determining a trajectory endpoint road from the current road network road according to the position information of the endpoint of the trajectory route; the endpoint comprises a route start point or a route end point; the trajectory endpoint road comprises a trajectory start point road or a trajectory end point road; determining at least one candidate topological road corresponding to the trajectory route according to the trajectory endpoint road according to the continuity attribute of the road network; determining a target matching road from the at least one candidate topological road according to the road length of the candidate topological road; matching the trajectory route to the current road network road according to the traffic condition information on the target matching road.

8. The method of claim 7, wherein, The method according to the position information of the endpoint of the trajectory route, the method comprises the steps of: determining a second road network matching range from the current road network road according to the position information of the endpoint of the trajectory route; screening a candidate endpoint road from the second road network matching range according to the vertical distance and the north angle between the endpoint and the road network road, and the current attribute information of the road network road; comparing the current road attribute of the candidate endpoint road with a standard road attribute, and determining the trajectory endpoint road from the candidate endpoint road according to the comparison result.

9. A road network data updating apparatus characterized by comprising: The method comprises: a trajectory vector determination module, configured to perform vector conversion on vehicle trajectory data of a trajectory route to obtain at least two trajectory vectors corresponding to the vehicle trajectory data; an endpoint information acquisition module, configured to acquire position information of an endpoint of the trajectory route and a continuity attribute of a road network; a road matching module, configured to match the trajectory route to a current road network road according to the at least two trajectory vectors, and / or according to the position information and the continuity attribute; a road network updating module, configured to update the current road network road according to a matching result; The road matching module comprises: a route section determination sub-module, configured to divide the trajectory route into at least one route section according to an angle change amount between adjacent trajectory vectors, and obtain the at least one route section and a section type of the route section. The road matching sub-module is configured to match the trajectory route to a current road network according to a route matching mode corresponding to the interval type. The route interval includes a straight interval and a turning interval, and the interval type of the route interval includes a straight type and a turning type.

10. An electronic device, comprising: The electronic device includes: at least one processor; and a memory connected to the at least one processor in communication; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the road network data updating method of any one of claims 1-8.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the processor to implement the road network data updating method of any one of claims 1-8 when executed.

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