Cross-sheet road edge matching method and device, electronic equipment and storage medium

Abstract

The invention provides a cross-sheet road edge matching method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring adjacent mapsheets, and selecting at least one road from each of the adjacent mapsheets; on the basis of the road, querying a topological relation between a preset road and a road node to obtain a road node which meets a preset condition and is associated with the road; according to a preset edge matching rule, a road node combination conforming to the edge matching rule is screened out from the road nodes, and the edge matching rule is a rule set according to the distance between the road nodes and the public sheet frame and the distance between the road nodes; the road node combination is subjected to edge matching processing, the edge matching processing is used for moving the road end points and the road nodes to edge matching points on a public mapsheet frame, and the positions of the edge matching points are determined according to the position relation between the road end points and the public mapsheet frame. According to the method, the edge matching processing flow can be optimized, the efficiency is improved, and the error rate of edge matching processing is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of map data production, and in particular to a method, device, electronic device and storage medium for connecting roads across map sheets. Background Art

[0002] In the process of map data production, data is usually divided into multiple sheets for storage and processing. This method is especially common for longer roads, because a road may be divided into multiple sheets. After completing the data production of each sheet, it is necessary to perform edge processing on the roads that cross the sheets. The purpose of edge processing is to move the edge endpoints and corresponding nodes of two roads to the frame border according to certain rules, so as to connect these roads that cross the sheets through topological relationships to form a continuous road network.

[0003] At present, the process of edge connection processing in the prior art is relatively complicated, and the specific steps are as follows: select a road in a map sheet; select a related road node at both ends of the selected road; repeat the above steps in another map sheet; and perform the edge connection operation.

[0004] In the above-mentioned prior art operation, it is necessary to manually select road nodes at the junction of each road, and the correctness of the selected data must be ensured. Otherwise, the junction operation may fail and need to be re-operated. Since each selection and confirmation relies on manual operation, the entire process is not only complicated and time-consuming, but also prone to failure of junction due to human error. Therefore, the prior art has the following problems in the process of map data production: multiple manual selection and confirmation steps are cumbersome and the process is complicated; manual operation is time-consuming and inefficient; manual selection of data may lead to failure of junction, high error rate, and increase the possibility of re-operation. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a method, device, electronic device and storage medium for road edge joining across map sheets to solve the problems of the prior art in that the edge joining process is complex, inefficient, has a high error rate and is prone to edge joining failure.

[0006] In a first aspect of an embodiment of the present application, a method for joining roads across map sheets is provided, comprising: obtaining adjacent map sheets and selecting at least one road from each of the adjacent map sheets; based on the roads, querying the topological relationship between preset roads and road nodes to obtain road nodes associated with the roads that meet predetermined conditions; according to preset joining rules, selecting road node combinations that meet the joining rules from the road nodes, wherein the joining rules are rules set according to the distance between the road nodes and the common map sheet border and the distance between the road nodes; performing joining processing on the road node combinations, wherein the joining processing is used to move the road endpoints and the road nodes to the joining points on the common map sheet border, and the positions of the joining points are determined according to the positional relationship between the road endpoints and the common map sheet border.

[0007] According to a second aspect of an embodiment of the present application, a device for road junction across map sheets is provided, comprising: an acquisition module configured to acquire adjacent map sheets and select at least one road from each of the adjacent map sheets; a query module configured to query the topological relationship between preset roads and road nodes based on the roads, and obtain road nodes associated with the roads that meet predetermined conditions; a screening module configured to screen out road node combinations that meet the edge junction rules from the road nodes according to preset edge junction rules, wherein the edge junction rules are rules set according to the distance between the road nodes and the common map sheet border and the distance between the road nodes; and an edge junction module configured to perform edge junction processing on the road node combinations, wherein the edge junction processing is used to move the road endpoints and the road nodes to the edge junction points on the common map sheet border, and the positions of the edge junction points are determined according to the positional relationship between the road endpoints and the common map sheet border.

[0008] According to a third aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the computer program.

[0009] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0010] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0011] By obtaining adjacent map sheets and selecting at least one road from each of the adjacent map sheets; based on the roads, querying the topological relationship between the preset roads and road nodes, obtaining the road nodes associated with the roads that meet the predetermined conditions; according to the preset edge connection rules, filtering out the road node combinations that meet the edge connection rules from the road nodes, wherein the edge connection rules are rules set according to the distance between the road nodes and the public map frame and the distance between the road nodes; performing edge connection processing on the road node combinations, wherein the edge connection processing is used to move the road endpoints and the road nodes to the edge connection points on the public map frame, and the positions of the edge connection points are determined according to the positional relationship between the road endpoints and the public map frame. The present application can optimize the edge connection processing flow, improve efficiency, and reduce the error rate of edge connection processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a schematic diagram of the process of the road edge joining method across the map provided in an embodiment of the present application;

[0014] Figure 2 It is a schematic structural diagram of a road edge joining device across a map sheet provided in an embodiment of the present application;

[0015] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0017] In the process of map data production, data is often stored in separate sheets, so a relatively long road will be composed of roads in multiple sheets. After the data of each sheet is produced, these roads need to be connected on the sheet border. The edge connection endpoints and corresponding nodes of the two roads are moved to the sheet border according to the rules, so that the roads across the sheets are connected through topological relationships.

[0018] At present, in the process of map data production, the edge connection processing process is relatively cumbersome. The existing edge connection processing includes the following steps: the first step is to select a road in a map sheet; the second step is to select a road node associated with the road at both ends of the road selected in the first step; the third step is to repeat the first and second steps in another map sheet; the fourth step is to perform the edge connection operation. In the operation, it is necessary to manually select the road node at the edge of each road, and the correctness of the selected data needs to be ensured, otherwise the edge connection will fail and need to be operated again. This has led to the demand for optimizing the edge connection processing operation process and improving efficiency.

[0019] In view of the problems existing in the prior art, this application proposes a semi-automatic processing method for road junctions across maps. The technical idea adopted by this application is: through automatic calculation of the associated data of the junction roads, the operation of manually selecting data is reduced. When operating, only one road needs to be selected in each of the two maps. Through the topological relationship of the data, the road nodes associated with the endpoints of the two roads are found, and then according to the junction rules, the road nodes that meet the junction requirements are automatically screened.

[0020] The contents of the technical solution of the present application are described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 It is a schematic flow chart of a method for joining roads across map sheets provided in an embodiment of the present application. Figure 1 The road edge connection method across the map sheets can be executed by the map data production system. Figure 1 As shown, the road edge joining method across the map sheet may specifically include:

[0022] S101, obtaining adjacent map sheets, and selecting at least one road from each of the adjacent map sheets;

[0023] S102, based on the road, querying the topological relationship between the preset road and the road node, and obtaining the road node associated with the road that meets the predetermined conditions;

[0024] S103, according to a preset edge connection rule, selecting road node combinations that meet the edge connection rule from the road nodes, wherein the edge connection rule is a rule set according to the distance between the road node and the public map frame and the distance between the road nodes;

[0025] S104, performing edge joining processing on the road node combination, wherein the edge joining processing is used to move the road endpoints and the road nodes to the edge joining points on the common map frame, and the positions of the edge joining points are determined according to the positional relationship between the road endpoints and the common map frame.

[0026] In some embodiments, before acquiring the adjacent image frame, the method further includes:

[0027] Obtain the geometric spatial information of the road, determine the boundary coordinates corresponding to each road, and map the boundary coordinates to the corresponding map sheet to determine the map sheet where each road is located;

[0028] The boundary information of the map sheets where the roads are located is compared to determine whether the map sheets share a common boundary. When any two map sheets share a common boundary, the two map sheets are determined to be adjacent map sheets.

[0029] Specifically, first, the geometrical spatial information of the two roads to be processed is obtained from the map database, and the geometrical spatial information includes the coordinate points, length, direction and other data of each road.

[0030] Furthermore, the obtained geometric space information is used to determine the boundary coordinates of each road. The boundary coordinates usually refer to the starting and ending coordinates of the road. For example, suppose the starting coordinates of the first road are (10, 20) and the ending coordinates are (30, 40); the starting coordinates of the second road are (35, 45) and the ending coordinates are (55, 65).

[0031] Furthermore, the determined boundary coordinates are mapped to the corresponding map sheets using the map sheet data in the map system. Each map sheet has its fixed boundary range and coordinate system. By matching the boundary coordinates with the map sheet boundaries, the specific map sheet where each road is located can be determined. For example, the boundary coordinates (10, 20) and (30, 40) of the first road may correspond to map sheet A, and the boundary coordinates (35, 45) and (55, 65) of the second road may correspond to map sheet B.

[0032] Furthermore, the boundary information of the map sheets where the road is located is compared to determine whether the two map sheets share a common boundary. The specific steps include: obtaining the boundary information of map sheets A and B. Comparing whether the boundaries of map sheets A and B have overlapping parts. For example, if the right boundary of map sheet A coincides with the left boundary of map sheet B, it can be determined that map sheets A and B are adjacent map sheets.

[0033] Furthermore, if it is determined that two maps are adjacent, the system will automatically calculate the road nodes that meet the edge connection rules. The edge connection rules usually include that the road node is a hanging node and the distance between the node and the common map frame is less than or equal to the preset distance threshold. For example, the system will filter out hanging nodes that are less than 5 meters away from the common frame and check whether these nodes meet the distance requirements between adjacent map frames.

[0034] Furthermore, if the two maps are not adjacent, the system will pop up a prompt box to indicate that the edge connection failed and explain the reason. For example, the prompt content can be "Edge connection failed: the selected maps are not adjacent, please reselect the road." If the two maps are adjacent and the calculated road nodes meet the edge connection rules, the system will perform the edge connection processing and prompt that the edge connection is successful.

[0035] Through the above method of this embodiment, this embodiment provides a method for determining the adjacency of map sheets and performing edge joining of roads across map sheets, which can significantly reduce manual operations and improve the efficiency and accuracy of edge joining processing.

[0036] In some embodiments, querying the topological relationship between preset roads and road nodes to obtain road nodes associated with the roads that meet predetermined conditions includes:

[0037] Query the topological relationship between two roads in adjacent maps to obtain all road nodes associated with the roads;

[0038] The road nodes meeting the predetermined conditions are screened out from all the queried road nodes, wherein the predetermined conditions include that the road node is a hanging node, and the hanging node is a road node associated with only one road.

[0039] Specifically, first, the topological relationship between two roads to be processed in adjacent map sheets is obtained from the map database. The topological relationship includes the information of all road nodes associated with the road. For example, the first road may contain several nodes, which record the geometric path and topological connection information of the road.

[0040] Furthermore, the obtained road topological relationship is queried to obtain all road nodes associated with each road. These nodes may include connection nodes, intersection nodes, and hanging nodes. For example, all nodes A1, A2, A3, ... An associated with the first road and all nodes B1, B2, B3, ... Bn associated with the second road can be obtained through query.

[0041] Further, the road nodes that meet the predetermined conditions are screened out from all the road nodes that have been queried. The predetermined conditions include that the road node is a suspended node. A suspended node refers to a road node that is associated with only one road. For example, from the nodes A1, A2, A3, ... An of the first road, the suspended nodes A2 and A4 that are associated with only the road are screened out; similarly, from the nodes B1, B2, B3, ... Bn of the second road, the suspended nodes B3 and B5 that are associated with only the road are screened out.

[0042] Furthermore, for each queried road node, its topological information is checked to determine the number of roads associated with it. If a node is associated with only one road, it is marked as a hanging node and included in the set of nodes that meet the predetermined conditions.

[0043] Furthermore, the selected hanging nodes are verified to ensure that they are indeed associated with only one road and meet other edge rules (for example, the distance from the common map frame is within the allowable range). For example, verify whether the hanging nodes A2 and B3 meet the requirement that the distance from the common map frame is less than a certain threshold (such as 5 meters).

[0044] Through the above method of this embodiment, this embodiment can effectively query and filter out road nodes that meet the predetermined conditions, and provide reliable basic data for subsequent edge connection processing. Specifically, by querying the topological relationship between roads and road nodes, nodes associated with two roads are found, and road nodes that are hanging nodes, that is, nodes associated with only one road, are filtered out, thereby laying a foundation for achieving accurate cross-map road edge connection.

[0045] In some embodiments, according to a preset edge connection rule, selecting a road node combination that meets the edge connection rule from the road nodes includes:

[0046] Calculate the distance from each road node to the common map frame, and filter out the road nodes whose distance is less than or equal to the first distance threshold;

[0047] Calculating the distance between two road nodes belonging to different roads among the road nodes whose distance is less than or equal to the first distance threshold, and screening out the road nodes whose distance is less than or equal to the second distance threshold;

[0048] When there are multiple cross-map road node combinations that meet the second distance threshold condition, the road node combination with the shortest distance is selected for edge connection processing.

[0049] Specifically, the coordinate information of all relevant nodes of the two roads to be connected is obtained. The distance from each road node to the common map frame is calculated. This step includes identifying the position of each node and measuring its shortest distance to the map frame. For example, assuming that the nodes of the first road include P1, P2, P3, etc., and the nodes of the second road include Q1, Q2, Q3, etc. For each node, determine its distance to the common map frame.

[0050] Further, filter the road nodes whose distance is less than or equal to the first distance threshold: filter out the road nodes whose distance to the common map frame is less than or equal to the first distance threshold (e.g., 5 meters) from all nodes. Keep these nodes for further processing. For example, if the distances of P2 and P4 are both less than or equal to 5 meters, mark these nodes as meeting the conditions.

[0051] Further, the distance between nodes that meet the first distance threshold is calculated: For the selected nodes, the distance between two nodes belonging to different roads is calculated. This step is achieved by measuring the straight-line distance between two nodes. For example, the distance between P2 and Q3 is calculated to determine whether these nodes are within an acceptable range.

[0052] Further, the road node combinations whose distance is less than or equal to the second distance threshold are screened: from the calculated distances between the node pairs, the node combinations whose distance is less than or equal to the second distance threshold (e.g., 20 meters) are screened. These combinations are retained for edge connection processing. For example, if the distance between P2 and Q3 is less than or equal to 20 meters, the combination of P2 and Q3 is used as a potential edge connection node combination.

[0053] Furthermore, if there are multiple cross-map road node combinations that meet the second distance threshold condition, the road node combination with the shortest distance is selected for edge processing. This step ensures that the selected node combination is the closest, thereby reducing errors and the complexity of edge processing. For example, if there are two combinations P2-Q3 and P4-Q5, and the distance of P2-Q3 is less than that of P4-Q5, P2-Q3 is selected as the final edge combination.

[0054] For example, in one example, first, the coordinates of the nodes P1, P2, P3, etc. of the first road and the coordinates of the nodes Q1, Q2, Q3, etc. of the second road are obtained.

[0055] Secondly, determine the position of each node and calculate its distance to the common map frame border. For example, the distance from node P2 to the map frame border is 4 meters, and the distance from Q3 to the map frame border is 3 meters.

[0056] Next, the nodes whose distance is less than or equal to 5 meters are selected. For example, nodes P2, P4, Q3, Q5, etc. that meet the first distance threshold are retained.

[0057] Then, for nodes that meet the first distance threshold, the distances between different road nodes are calculated. For example, the distance between P2 and Q3 is 18 meters, and the distance between P4 and Q5 is 22 meters.

[0058] After that, we filter out node pairs whose distance is less than or equal to 20 meters. For example, P2 and Q3 meet the criteria, but P4 and Q5 do not.

[0059] Finally, compare the node pairs that meet the conditions and select the combination with the shortest distance. For example, P2-Q3 is finally selected as the edge combination.

[0060] Through the method of the present embodiment described above, the present embodiment realizes automatic screening of road node combinations that meet the edge connection requirements from road nodes according to preset edge connection rules, thereby ensuring seamless edge connection processing of roads across map sheets.

[0061] In some embodiments, before performing edge processing on the road node combination, the method further includes:

[0062] Determine the position information of each road endpoint, and determine the edge point according to a predetermined calculation rule, wherein the calculation rule includes when the road endpoints are all located on the common map frame, calculate the midpoint of the line between the road endpoints as the edge point; when only one road endpoint is located on the common map frame, use the position of the current road endpoint as the edge point; when the road endpoints are located in two different maps, calculate the intersection of the line between the road endpoints and the common map frame as the edge point.

[0063] Specifically, the endpoint coordinate information of the road to be connected is obtained. The endpoint coordinate information includes the specific position coordinates of each road endpoint. For example, assuming that the endpoint coordinates of the first road are (10, 20) and (30, 40), and the endpoint coordinates of the second road are (35, 45) and (55, 65).

[0064] Furthermore, according to the location information of the road endpoints, the following rules are applied to determine the edge points:

[0065] Rule 1: Road endpoints are located on the public map frame border:

[0066] When both road endpoints are located on the common map frame, the midpoint of the line between the road endpoints is calculated as the edge point. For example, if the endpoints (10,20) and (30,40) of the first road are both located on the common map frame, the midpoint (20,30) of the line between the two endpoints is calculated as the edge point.

[0067] Rule 2: Only one road endpoint is located on the common map frame border:

[0068] When only one road endpoint is on the common map frame, the location of the current road endpoint is used as the edge point. For example, if the endpoint (35,45) of the second road is on the common map frame, and the other endpoint (55,65) is not on the common map frame, the location of the endpoint (35,45) is used as the edge point.

[0069] Rule 3: The road endpoints are located in two different maps:

[0070] When two road endpoints are located in two different map sheets, the intersection point between the line between the road endpoints and the common map frame is calculated as the edge point. For example, if the endpoint (10, 20) of the first road is located in map sheet A, and the endpoint (35, 45) of the second road is located in map sheet B, the intersection point between the line between the two endpoints and the common map frame is calculated. Assuming that the intersection point is (25, 35), the intersection point is used as the edge point.

[0071] For example, in one example, the endpoint coordinates of the first road are obtained as (10, 20) and (30, 40), and the endpoint coordinates of the second road are obtained as (35, 45) and (55, 65). Check whether each endpoint is located on the common map frame border, and apply the following calculation rules to determine the edge point:

[0072] Rule 1: The road endpoints are all located on the common map frame border: If the two endpoints (10, 20) and (30, 40) of the first road are both located on the common map frame border, then the midpoint (20, 30) of the line connecting the two endpoints is calculated as the edge connection point.

[0073] Rule 2: Only one road endpoint is on the common map frame border: If the endpoint (35,45) of the second road is on the common map frame border, and the other endpoint (55,65) is not on the common map frame border, then the location of the endpoint (35,45) is taken as the edge connection point.

[0074] Rule 3: The road endpoints are located in two different map sheets: If the endpoint (10, 20) of the first road is located in map sheet A, and the endpoint (35, 45) of the second road is located in map sheet B, then calculate the intersection point (25, 35) of the line connecting the two endpoints and the common map frame, and use the intersection point as the edge connection point.

[0075] Through the above method of this embodiment, this embodiment can accurately determine the position of the edge point before the road node combination is processed, ensuring seamless edge processing of the road. These rules make the calculation process of the edge point clear and applicable to different road endpoint position situations.

[0076] In some embodiments, edge processing is performed on the road node combination, including:

[0077] Verify the road node combination that meets the edge connection rule to determine whether the road nodes in the road node combination meet the preset conditions of the edge connection rule;

[0078] According to the predetermined edge connection points, the road endpoints and road nodes are moved to the positions corresponding to the edge connection points on the common map frame, so that the road endpoints and road nodes are aligned on the common map frame.

[0079] Specifically, the road node combinations that meet the edge connection rules are verified to ensure that these node combinations meet the preset conditions of the edge connection rules. The preset conditions include but are not limited to the distance requirements, relative positions, and whether they are hanging nodes of the road nodes. For example, if the node combinations that are screened out are P2 and Q3, it is verified whether P2 and Q3 are hanging nodes and whether they meet the distance requirements (for example, the distance between P2 and Q3 does not exceed 20 meters).

[0080] Furthermore, the specific position to which each road endpoint and road node should be moved is determined according to the edge point determined by the above rules. For example, if the edge point has been determined to be (25,35), the road endpoint and node need to be moved to this position.

[0081] Furthermore, according to the predetermined edge point, the road endpoints and road nodes are moved to the positions corresponding to the edge points on the common map frame, so that these endpoints and nodes are aligned on the common map frame. The specific steps include the process of moving each road endpoint and node to the edge point and ensuring their precise alignment. For example, the endpoint of road P2 is moved to the edge point (25,35), and the endpoint of road Q3 is also moved to the edge point (25,35) to achieve seamless connection of the two roads on the map frame.

[0082] Furthermore, after the movement is completed, the topological structure of the road is updated to reflect the new endpoint and node positions to ensure the continuity and consistency of the road. For example, the road information in the map data is updated so that the connection relationship between P2 and Q3 is reflected in the topological structure.

[0083] For example, in one example, first, for the selected node combination P2 and Q3, verification is performed to ensure that it meets the preset conditions of the edge rule. It is confirmed that P2 and Q3 are hanging nodes and the distance between them does not exceed 20 meters.

[0084] Next, according to the predetermined rule, the edge point is determined to be (25, 35). The endpoints of P2 and Q3 are moved to the edge point (25, 35) respectively to ensure that they are aligned on the common map frame.

[0085] Then, the road topology information in the map database is updated to reflect the new positions and connection relationships of P2 and Q3, ensuring the integrity and accuracy of the map data.

[0086] Through the above method of this embodiment, this embodiment realizes effective edge connection processing of road node combinations, ensuring seamless connection of roads when connecting across map sheets. This method not only improves the efficiency of edge connection processing, but also ensures the accuracy and consistency of edge connection results.

[0087] In some embodiments, after performing edge processing on the road node combination, the method further includes:

[0088] The road topology structure is updated so that the updated road topology structure reflects the new positions of the moved road endpoints and road nodes; the results of the edge processing are verified to check whether all road endpoints and road nodes are correctly connected. When the connection is correct, a seamless road network across the map is generated. When the connection is wrong, adjustments and corrections are made based on the wrong connection.

[0089] Specifically, first, the road node combinations that have been screened and verified are processed for edge connection. The road endpoints and road nodes that meet the edge connection rules are moved to the edge connection point positions on the common map frame. For example, the endpoints of road P2 and Q3 are moved to the determined edge connection point (25, 35) to ensure that they are accurately aligned on the common map frame.

[0090] Furthermore, after the edge connection process is completed, the topological structure of the road is updated to reflect the new positions of the moved road endpoints and road nodes. The updated topological structure should accurately describe the connection relationship between the roads. For example, the new positions and connection relationships of P2 and Q3 are updated to the topological data structure in the map database to ensure that the roads are seamlessly connected at the new positions.

[0091] Furthermore, the results of the edge processing are verified to check whether all road endpoints and road nodes are correctly connected to ensure that the generated cross-map road network is seamless and continuous. The specific steps include verifying whether all moved nodes and endpoints are correctly connected and whether they conform to the expected topological structure through automated tools or manual inspection.

[0092] Furthermore, when all road endpoints and nodes are verified to be correct, a seamless road network across the map sheets is generated. The seamless road network should reflect the continuity and integrity of the updated roads. For example, new road network data is generated through the updated topology structure to ensure that the roads remain consistent and coherent when they span multiple map sheets.

[0093] Furthermore, if connection errors are found during the verification process, adjustments and corrections are made based on the incorrect connections. The specific steps include identifying the locations of incorrect nodes or endpoints and re-processing the edges to ensure that the final generated road network is seamlessly connected. For example, if an error is found in the connection between P2 and Q3, the edge points are recalculated and the endpoints are moved to the correct location, and then the connection is verified again.

[0094] For example, in one example, first, for the determined edge point (25, 35), the endpoints of P2 and Q3 are moved to the position to ensure that they are aligned on the common map frame border.

[0095] Next, the road topology in the map database is updated to reflect the new positions and connection relationships of P2 and Q3 to ensure the continuity of the road.

[0096] Then, verify that P2 and Q3 are connected correctly, either through automated tools or manual inspection, to ensure that all road endpoints and nodes are properly connected.

[0097] Finally, after verification, a seamless road network across the map is generated, reflecting the continuity and integrity of the road. If connection errors are found, the edge connection is reprocessed and the node positions are adjusted to ensure that the final generated road network is seamlessly connected.

[0098] Through the method of the present embodiment described above, the present embodiment realizes updating and verifying the road topology structure after edge processing of the road node combination, thereby ensuring generation of a seamless road network across the map sheets and improving the integrity and accuracy of the map data.

[0099] According to the technical solution provided in the embodiments of the present application, the technical solution of the present application has at least the following advantages:

[0100] 1. Improve edge connection efficiency: By automatically calculating the distance between road nodes and selecting node combinations that meet the edge connection rules, the number of manual operation steps is reduced. Compared with the traditional manual edge connection method, the efficiency of edge connection processing is greatly improved and a lot of time is saved.

[0101] 2. Reduce the error rate: The automated calculation and screening process ensures the accuracy of the data and avoids possible errors in the manual selection process. The accuracy and reliability of the edge processing are ensured through the preset edge rules and automatic verification steps.

[0102] 3. Simplify the operation process: This method automates the complex edge connection processing process. Users only need to select the road to be connected, and the system can automatically complete the calculation of the edge connection points and the movement of the nodes. This greatly simplifies the operation process and makes it easier for users to operate and understand.

[0103] 4. Improve the quality of edge connection: By accurately calculating the location of edge connection points and updating the topological structure, the seamless alignment of road endpoints and nodes on the common map frame is ensured. The generated seamless road network across the map frame has high accuracy and consistency, which improves the overall quality of map data.

[0104] 5. Enhanced flexibility: This method can handle a variety of different road and map combinations, and automatically adapt to different edge connection requirements through preset rules, thereby enhancing the flexibility and adaptability of the system.

[0105] 6. Comprehensive verification: After the edge connection process, the connection of all road endpoints and nodes is automatically verified to ensure that the generated seamless road network has no incorrect connections. If errors are found, the system can automatically adjust and correct them to ensure that the final edge connection result is correct.

[0106] Therefore, in summary, the semi-automatic processing method for cross-map road edge joints provided in this application significantly improves the efficiency and accuracy of edge joint processing through steps such as automatic calculation and screening of nodes, automatic edge joint processing and verification, optimizes the operation process, ensures high-quality edge joint results, and has broad application prospects.

[0107] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0108] Figure 2 Schematic diagram of the structure of the road edge joining device across the map provided in the embodiment of the present application. Figure 2 As shown, the road edge device across the map sheet includes:

[0109] The acquisition module 201 is configured to acquire adjacent map sheets and select at least one road from each of the adjacent map sheets;

[0110] The query module 202 is configured to query the topological relationship between the preset roads and road nodes based on the roads, and obtain the road nodes associated with the roads that meet the predetermined conditions;

[0111] The screening module 203 is configured to screen out road node combinations that meet the edge connection rules from the road nodes according to the preset edge connection rules, wherein the edge connection rules are rules set according to the distance between the road nodes and the common map frame and the distance between the road nodes;

[0112] The edge joining module 204 is configured to perform edge joining processing on the road node combination, wherein the edge joining processing is used to move the road endpoints and the road nodes to the edge joining points on the common map frame, and the position of the edge joining point is determined according to the positional relationship between the road endpoints and the common map frame.

[0113] In some embodiments, Figure 2 Before acquiring adjacent map sheets, the acquisition module 201 acquires geometric spatial information of roads, determines boundary coordinates corresponding to each road, and maps the boundary coordinates to the corresponding map sheet to determine the map sheet where each road is located; compares the boundary information of the map sheets where the roads are located to determine whether the map sheets share a common boundary. When any two map sheets share a common boundary, the two map sheets are determined to be adjacent map sheets.

[0114] In some embodiments, Figure 2The query module 202 queries the topological relationship between two roads in adjacent map sheets to obtain all road nodes associated with the roads; and selects road nodes that meet predetermined conditions from all the queried road nodes, wherein the predetermined conditions include that the road node is a hanging node, and a hanging node is a road node associated with only one road.

[0115] In some embodiments, Figure 2 The screening module 203 calculates the distance from each road node to the common map frame, and screens out the road nodes whose distance is less than or equal to the first distance threshold; calculates the distance between two road nodes belonging to different roads among the road nodes whose distance is less than or equal to the first distance threshold, and screens out the road nodes whose distance is less than or equal to the second distance threshold; when there are multiple combinations of cross-map road nodes that meet the second distance threshold condition, selects the road node combination with the shortest distance for edge connection processing.

[0116] In some embodiments, Figure 2 The edge connection module 204 determines the position information of each road endpoint before performing edge connection processing on the road node combination, and determines the edge connection point according to a predetermined calculation rule, wherein the calculation rule includes when the road endpoints are all located on the common map frame, calculating the midpoint of the line between the road endpoints as the edge connection point; when only one road endpoint is located on the common map frame, taking the position of the current road endpoint as the edge connection point; when the road endpoints are respectively located in two different maps, calculating the intersection of the line between the road endpoints and the common map frame as the edge connection point.

[0117] In some embodiments, Figure 2 The edge connection module 204 verifies the road node combination that meets the edge connection rule to determine whether the road nodes in the road node combination meet the preset conditions of the edge connection rule; according to the predetermined edge connection point, the road endpoints and the road nodes are moved to the positions corresponding to the edge connection points on the common map frame so that the road endpoints and the road nodes are aligned on the common map frame.

[0118] In some embodiments, Figure 2 After the update module 205 performs edge connection processing on the road node combination, the road topology structure is updated so that the updated road topology structure reflects the new positions of the moved road endpoints and road nodes; the result of the edge connection processing is verified to check whether all road endpoints and road nodes are correctly connected. When the connection is correct, a seamless road network across the map is generated. When the connection is wrong, adjustments and corrections are made based on the wrong connection.

[0119] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0120] Figure 3 Schematic diagram of an electronic device 3 provided in an embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program 303, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 301 executes the computer program 303, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0121] The electronic device 3 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 3 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that Figure 3 The electronic device 3 is merely an example and does not limit the electronic device 3 , and may include more or less components than those shown in the figure, or different components.

[0122] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0123] The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 3. The memory 302 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 302 is used to store computer programs and other programs and data required by the electronic device.

[0124] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0126] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A road edge joining method across a map sheet, characterized in that: include: Acquire adjacent map sheets, and select at least one road from each of the adjacent map sheets; Based on the road, query the topological relationship between the preset road and the road nodes to obtain the road nodes associated with the road that meet the predetermined conditions; According to a preset edge joining rule, a road node combination that meets the edge joining rule is screened out from the road nodes, wherein the edge joining rule is a rule set according to the distance between the road node and the public map frame and the distance between the road nodes; The road node combination is subjected to edge joining processing, wherein the edge joining processing is used to move the road endpoints and the road nodes to the edge joining points on the common map frame, and the positions of the edge joining points are determined according to the positional relationship between the road endpoints and the common map frame.

2. The method according to claim 1, characterized in that Before acquiring the adjacent image sheets, the method further includes: Acquire geometric spatial information of roads, determine boundary coordinates corresponding to each road, and map the boundary coordinates to corresponding map sheets to determine the map sheet where each road is located; The boundary information of the map sheets where the roads are located is compared to determine whether the map sheets share a common boundary. When any two map sheets share a common boundary, the two map sheets are determined to be adjacent map sheets.

3. The method according to claim 1, characterized in that The querying of the topological relationship between the preset roads and road nodes to obtain the road nodes associated with the roads that meet the predetermined conditions includes: Querying the topological relationship between two roads in the adjacent map sheets to obtain all road nodes associated with the roads; A road node that meets a predetermined condition is screened out from all the queried road nodes, wherein the predetermined condition includes that the road node is a hanging node, and the hanging node is a road node associated with only one road.

4. The method according to claim 1, characterized in that The step of selecting a road node combination that meets the edge connection rule from the road nodes according to the preset edge connection rule includes: Calculating the distance between each road node and the common map frame, and screening out the road nodes whose distance is less than or equal to the first distance threshold; Calculating the distance between two road nodes belonging to different roads among the road nodes whose distance is less than or equal to the first distance threshold, and screening out the road nodes whose distance is less than or equal to the second distance threshold; When there are multiple cross-map road node combinations that meet the second distance threshold condition, the road node combination with the shortest distance is selected for edge connection processing.

5. The method according to claim 1, characterized in that Before performing edge processing on the road node combination, the method further includes: Determine the position information of each road endpoint, and determine the edge point according to a predetermined calculation rule, wherein the calculation rule includes when the road endpoints are all located on the common map frame, calculate the midpoint of the line between the road endpoints as the edge point; when only one road endpoint is located on the common map frame, use the position of the current road endpoint as the edge point; when the road endpoints are respectively located in two different map frames, calculate the intersection of the line between the road endpoints and the common map frame as the edge point.

6. The method according to claim 5, characterized in that The edge connection processing of the road node combination includes: Verifying the road node combination that meets the edge connection rule to determine whether the road nodes in the road node combination meet the preset conditions of the edge connection rule; According to the predetermined edge junction point, the road endpoints and road nodes are moved to positions corresponding to the edge junction points on the common map frame, so that the road endpoints and road nodes are aligned on the common map frame.

7. The method according to claim 1, characterized in that After performing edge processing on the road node combination, the method further includes: The road topology structure is updated so that the updated road topology structure reflects the new positions of the moved road endpoints and road nodes; the result of the edge processing is verified to check whether all road endpoints and road nodes are correctly connected. When the connection is correct, a seamless road network across the map is generated. When the connection is wrong, adjustments and corrections are made according to the wrong connection.

8. A road edge joining device across a map sheet, characterized in that: include: An acquisition module is configured to acquire adjacent map sheets and select at least one road from each of the adjacent map sheets; A query module is configured to query the topological relationship between the preset roads and road nodes based on the road, and obtain the road nodes associated with the road that meet the predetermined conditions; A screening module is configured to screen out road node combinations that meet the preset edge connection rules from the road nodes according to the preset edge connection rules, wherein the edge connection rules are rules set according to the distance between the road nodes and the common map frame and the distance between the road nodes; The edge joining module is configured to perform edge joining processing on the road node combination, wherein the edge joining processing is used to move the road endpoints and road nodes to the edge joining points on the common map frame, and the position of the edge joining point is determined according to the positional relationship between the road endpoints and the common map frame.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images