Plane intersection identification method, device, equipment, storage medium and program product

Abstract

The embodiment of the invention provides a plane intersection identification method and device, equipment, a storage medium and a program product, and particularly relates to the technical field of traffic information processing. The method comprises the following steps: based on a connection relationship between road nodes and a road model in obtained road network data, identifying road nodes belonging to a plane intersection in the road network data; based on the road network data, a road model connected with the road nodes is obtained, and the road model represents a road section from one road node to another road node; and determining a plane intersection type to which the plane intersection belongs according to the passing direction of the road model. The method is used for achieving the effects of efficiently identifying the plane intersection and providing richer and more accurate road network information for an intelligent traffic system.

Description

Technical Field

[0001] The present application relates to the technical field of traffic information processing, and in particular to a planar intersection recognition method, device, equipment, storage medium and program product. Background Art

[0002] The intersection is an important part of the road network, which plays an important role in connecting roads and carrying turns. It is the node of the road network. Through the intersection, various roads can be connected to each other to form a complete road network.

[0003] With the continuous development of intelligent transportation systems, the requirements for the accuracy and real-time performance of map data are becoming higher and higher. Accurately identifying plane intersections can provide more abundant and accurate road network information for intelligent transportation systems. Therefore, it is urgent to provide a solution that can efficiently identify plane intersections. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment, storage medium and program product for identifying a flat intersection, so as to achieve the effect of efficiently identifying a flat intersection and providing richer and more accurate road network information for an intelligent transportation system.

[0005] In a first aspect, an embodiment of the present application provides a planar intersection recognition method, comprising:

[0006] Based on the connection relationship between the road nodes and the road models in the acquired road network data, identifying the road nodes belonging to the plane intersection contained in the road network data;

[0007] Based on the road network data, a road model connected to the road node is obtained, wherein the road model represents a road segment from one road node to another road node;

[0008] The type of the planar intersection to which the planar intersection belongs is determined according to the travel direction of the road model.

[0009] In a possible implementation manner, determining the type of intersection to which the intersection belongs according to the travel direction of the road model includes:

[0010] According to the travel direction of the road model, determining that the road model is an entrance road model or an exit road model of the plane intersection, the entrance road model is a road model entering the plane intersection, and the exit road model is a road model leaving the plane intersection;

[0011] Based on the geometric features of the entrance road model and the exit road model, the type of the intersection to which the intersection belongs is determined.

[0012] In a possible implementation manner, determining the type of the planar intersection to which the planar intersection belongs based on the geometric features of the inlet road model and the outlet road model includes:

[0013] Based on the geometric features of the inlet road model and the outlet road model, determining whether the inlet road model and the outlet road model meet a preset merging condition;

[0014] If the entrance road model and the exit road model meet the preset merging condition, the entrance road model and the exit road model are merged to obtain the entrance and exit road models of the plane intersection;

[0015] Based on the import and export road model, the type of the plane intersection to which the plane intersection belongs is determined.

[0016] In a possible implementation manner, the plane intersection has a corresponding road model set and a road node set, the road model set includes one or more road models associated with the plane intersection, the road node set includes one or more road nodes associated with the plane intersection, and the determining the plane intersection type to which the plane intersection belongs based on the import and export road models includes:

[0017] Deleting the import road model and the export road model from the road model set of the plane intersection, and adding the corresponding import and export road models to the road model set of the plane intersection, to obtain a new road model set of the plane intersection;

[0018] Based on the road model set information of the new road model set and the road node set information of the road node set, the type of plane intersection to which the plane intersection belongs is determined, the road model set information includes the number of road models included in the new road model set, the angles between the road models included in the new road model set, and one or more of the road names corresponding to the road models included in the new road model set, and the road node set information includes node attributes of the road nodes included in the road node set.

[0019] In a possible implementation manner, judging whether the import road model and the export road model meet a preset merging condition based on the geometric features of the import road model and the export road model includes:

[0020] Acquire a first line segment connected to the plane intersection from at least one line segment included in the inlet road model, and acquire a second line segment connected to the plane intersection from at least one line segment included in the outlet road model;

[0021] Determine whether the angle between the first line segment and the second line segment meets the preset angle condition, and determine whether the road names corresponding to the import road model and the export road model are the same, so as to determine whether the import road model and the export road model meet the preset merging condition.

[0022] In a possible implementation manner, determining, according to the travel direction of the road model, that the road model is an entrance road model or an exit road model of the plane intersection includes:

[0023] Determining a starting point and an end point of the road model according to the travel direction of the road model;

[0024] If the travel starting point of the road model is a road node belonging to a plane intersection, then determining that the road model is an exit road model of the plane intersection;

[0025] If the travel end point of the road model is a road node belonging to a plane intersection, the road model is determined to be an entrance road model of the plane intersection.

[0026] In a possible implementation manner, determining, according to the travel direction of the road model, that the road model is an entrance road model or an exit road model of the plane intersection includes:

[0027] Classifying the road nodes to obtain road node sets corresponding to different plane intersections;

[0028] Based on the road node sets corresponding to different plane intersections, a road model set corresponding to different plane intersections is obtained, wherein the road model set includes an external road model set and an internal road model set;

[0029] According to the travel direction of the road model included in the external road model set, it is determined that the road model is an entrance road model or an exit road model of the plane intersection.

[0030] In a second aspect, an embodiment of the present application provides a planar intersection recognition device, comprising:

[0031] An identification module, for identifying road nodes belonging to plane intersections contained in the road network data based on the connection relationship between the road nodes and the road models in the acquired road network data;

[0032] An acquisition module, configured to acquire a road model connected to the road node based on the road network data, wherein the road model represents a road segment from one road node to another road node;

[0033] The determination module is used to determine the type of plane intersection to which the plane intersection belongs according to the travel direction of the road model.

[0034] In a possible implementation manner, the determining module is specifically configured to:

[0035] According to the travel direction of the road model, determining that the road model is an entrance road model or an exit road model of the plane intersection, the entrance road model is a road model entering the plane intersection, and the exit road model is a road model leaving the plane intersection;

[0036] Based on the geometric features of the entrance road model and the exit road model, the type of the intersection to which the intersection belongs is determined.

[0037] In a possible implementation manner, the determining module is specifically configured to:

[0038] Based on the geometric features of the inlet road model and the outlet road model, determining whether the inlet road model and the outlet road model meet a preset merging condition;

[0039] If the entrance road model and the exit road model meet the preset merging condition, the entrance road model and the exit road model are merged to obtain the entrance and exit road models of the plane intersection;

[0040] Based on the import and export road model, the type of the plane intersection to which the plane intersection belongs is determined.

[0041] In a possible implementation manner, the plane intersection has a corresponding road model set and a road node set, the road model set includes one or more road models associated with the plane intersection, the road node set includes one or more road nodes associated with the plane intersection, and the determination module is specifically used to:

[0042] Deleting the import road model and the export road model from the road model set of the plane intersection, and adding the corresponding import and export road models to the road model set of the plane intersection, to obtain a new road model set of the plane intersection;

[0043] Based on the road model set information of the new road model set and the road node set information of the road node set, the type of plane intersection to which the plane intersection belongs is determined, the road model set information includes the number of road models included in the new road model set, the angles between the road models included in the new road model set, and one or more of the road names corresponding to the road models included in the new road model set, and the road node set information includes node attributes of the road nodes included in the road node set.

[0044] In a possible implementation manner, the determining module is specifically configured to:

[0045] Acquire a first line segment connected to the plane intersection from at least one line segment included in the inlet road model, and acquire a second line segment connected to the plane intersection from at least one line segment included in the outlet road model;

[0046] Determine whether the angle between the first line segment and the second line segment meets the preset angle condition, and determine whether the road names corresponding to the import road model and the export road model are the same, so as to determine whether the import road model and the export road model meet the preset merging condition.

[0047] In a possible implementation manner, the determining module is specifically configured to:

[0048] Determining a starting point and an end point of the road model according to the travel direction of the road model;

[0049] If the travel starting point of the road model is a road node belonging to a plane intersection, then determining that the road model is an exit road model of the plane intersection;

[0050] If the travel end point of the road model is a road node belonging to a plane intersection, the road model is determined to be an entrance road model of the plane intersection.

[0051] In a possible implementation manner, the determining module is specifically configured to:

[0052] Classifying the road nodes to obtain road node sets corresponding to different plane intersections;

[0053] Based on the road node sets corresponding to different plane intersections, a road model set corresponding to different plane intersections is obtained, wherein the road model set includes an external road model set and an internal road model set;

[0054] According to the travel direction of the road model included in the external road model set, it is determined that the road model is an entrance road model or an exit road model of the plane intersection.

[0055] In a third aspect, an embodiment of the present application provides a planar intersection recognition device, including: a memory, a processor;

[0056] The memory stores computer-executable instructions;

[0057] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0060] The plane intersection recognition method, device, equipment, storage medium and program product provided in the embodiments of the present application can identify the road nodes contained in the road network data and belonging to the plane intersection based on the connection relationship between the road nodes and the road models in the road network data, and then obtain the road model connected to the road node. According to the travel direction of the road model, the type of plane intersection to which the plane intersection belongs can be determined. The type of plane intersection is divided based on the geometric shape of the plane intersection, that is, the present application can automatically identify the geometric shape of the plane intersection in the road network data, so as to achieve the effect of efficiently identifying the plane intersection and providing the intelligent transportation system with richer and more accurate road network information. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0062] Figure 1 A schematic diagram of a scene of a planar intersection recognition method provided in this application;

[0063] Figure 2 Schematic diagram of the process of the planar intersection recognition method provided in this application Figure 1 ;

[0064] Figure 3 Schematic diagram of the process of the planar intersection recognition method provided in this application Figure 2 ;

[0065] Figure 4 A schematic diagram of a combined import road model and an export road model provided for this application;

[0066] Figure 5 A flow chart of a planar intersection identification method provided in this application;

[0067] Figure 6 A schematic diagram of the structure of the planar intersection identification device provided in this application;

[0068] Figure 7 A schematic diagram of the structure of the planar intersection identification device provided in this application.

[0069] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0070] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0071] In road network data, link is the basic unit of road model, and node represents the endpoint of link or the intersection between links. This representation method can directly reflect the entire road topology. In simple terms, link here refers to a section of road, not just the boundary line of the road. Through this definition, the complex structure and function of the road network can be described and simulated more accurately.

[0072] The application scenario of the present application is specifically the scenario of identifying planar intersections, in which the road network data can be processed in the server to identify planar intersections in the road network data. In addition, planar intersections can also be identified in terminal devices, which can be vehicle-mounted devices, desktop computers, laptops, tablet computers, and smart phones. In addition, it should be noted that the planar intersection identification of the present application is not used for identification during the driving process of autonomous driving vehicles, but for traffic geographic information systems. Traffic geographic information systems can collect, store, manage, comprehensively analyze and process spatial information and traffic information, provide data support and technical basis for intelligent transportation systems, and provide more intuitive data support for traffic management and services by identifying planar intersections in road network data.

[0073] Figure 1 A schematic diagram of a scene of a planar intersection recognition method provided in this application, such as Figure 1 As shown, the road network data is processed in the terminal device to identify the plane intersection.

[0074] In view of the above scenario, in the prior art, usually only the road nodes belonging to the plane intersection are identified. According to the urban road intersection design regulations, the plane intersection can be divided into cross, X, T, Y, multi-fork, staggered and roundabout intersections according to the geometric shape. There is no technical solution for identifying the plane intersection type to which the plane intersection belongs in the prior art, resulting in inaccurate identification of the plane intersection.

[0075] The planar intersection recognition method provided by the present application can identify the road nodes contained in the road network data and belonging to the planar intersection based on the connection relationship between the road nodes and the road models in the road network data, and then obtain the road model connected to the road node. According to the travel direction of the road model, the planar intersection type to which the planar intersection belongs can be determined. The type of planar intersection is divided based on the geometric shape of the planar intersection, that is, the present application can automatically identify the geometric shape of the planar intersection in the road network data, thereby solving the technical problem of inaccurate identification of the planar intersection.

[0076] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0077] Figure 2 Schematic diagram of the process of the planar intersection recognition method provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0078] S201. Based on the connection relationship between the road nodes and the road models in the acquired road network data, identify the road nodes belonging to the plane intersections contained in the road network data.

[0079] In the embodiment of the present application, the road network data of the navigation map can be obtained, and the road network data includes multiple road nodes (nodes) and multiple road models (links). The road node is the end point of the road model or the intersection between the road models, and the road model represents the road segment from one road node to another road node. A road model (i.e., a link) can contain only one line segment, or a road model can contain multiple line segments.

[0080] In an embodiment of the present application, the road network data can be processed, and the road nodes that are plane intersections can be identified based on the connection relationship between the road nodes and the road models in the road network data, wherein there may be one or more road nodes identified as plane intersections, and one road node may correspond to one plane intersection, or multiple road nodes may correspond to one plane intersection.

[0081] S202: Based on the road network data, a road model connected to the road node is obtained, where the road model represents a road segment from one road node to another road node.

[0082] After the road nodes belonging to the plane intersection are identified, the road model connected to the road nodes can be obtained.

[0083] S203: Determine the type of the planar intersection to which the planar intersection belongs according to the travel direction of the road model.

[0084] Determine the travel direction of the road model connected to the road node. According to the travel direction, the geometric shape of the plane intersection can be determined, and the plane intersection type to which the plane intersection belongs can be determined. Among them, the plane intersection type can include one or more of a cross intersection, an X-shaped intersection, a T-shaped intersection, an oblique T-shaped intersection, a Y-shaped intersection, a multi-fork intersection, a staggered intersection and a roundabout intersection. The oblique T-shaped intersection is a type of plane intersection that is additionally identified in this application based on actual traffic management business needs.

[0085] The planar intersection recognition method provided in the embodiment of the present application can identify the road nodes contained in the road network data and belonging to the planar intersection based on the connection relationship between the road nodes and the road models in the road network data, and then obtain the road model connected to the road node. According to the travel direction of the road model, the planar intersection type to which the planar intersection belongs can be determined. The type of planar intersection is divided based on the geometric shape of the planar intersection, that is, the present application can automatically identify the geometric shape of the planar intersection in the road network data, so as to achieve the effect of efficiently identifying the planar intersection and providing the intelligent transportation system with richer and more accurate road network information.

[0086] Figure 3 Schematic diagram of the process of the planar intersection recognition method provided in this application Figure 2 ,like Figure 3 As shown, in this embodiment Figure 2 Based on the embodiment, a planar intersection recognition method is described in detail, and the method includes:

[0087] S301. Based on the connection relationship between the road nodes and the road models in the acquired road network data, identify the road nodes belonging to the plane intersections contained in the road network data.

[0088] In an embodiment of the present application, road network data of a navigation map may be obtained, and the road network data includes multiple road nodes and multiple road models.

[0089] In a possible implementation, based on the connection relationship between the road nodes and the road models in the acquired road network data, identifying the road nodes belonging to the plane intersection contained in the road network data may specifically include:

[0090] Identify a road model contained in the road network data that meets a preset road grade requirement, and obtain a first road model;

[0091] Acquire a first road node connected to the first road model, identify a first road node that meets a preset road model connection quantity requirement based on a connection relationship between the first road node and the first road model, and obtain a second road node;

[0092] A second road model connected to the second road node is obtained, and based on the connection relationship between the second road node and the second road model, a second road node that meets the preset road model connection attribute requirements is identified to obtain a road node belonging to the plane intersection.

[0093] The preset road grade requirement may be a road grade requirement that a pre-set road model needs to meet. Among them, road grades can be divided into expressways, urban expressways (urban expressways), trunk roads (national and provincial roads), secondary trunk roads (county roads), branch roads (township and village roads), other roads, etc. Since expressways and urban expressways (urban expressways) are generally closed roads without flat intersections, and other roads are of lower grade and lower traffic flow, they are not the focus of urban traffic management business. Therefore, road models of trunk roads (national and provincial roads), secondary trunk roads (county roads), and branch roads (township and village roads) can be extracted for analysis. The first road model set after screening can be recorded as L1, and the first road node set after screening can be recorded as N1.

[0094] The preset road model connection quantity requirement may be a preset road node that must meet a requirement for the number of connected road models. Specifically, the number of road models connected to the road node belonging to the plane intersection must not be less than 3, so from the multiple first road nodes included in the first road node set, according to the connection relationship between the first road node and the first road model, the first road node that meets the preset road model connection quantity requirement can be identified to obtain the second road node, that is, the first road node whose number of connected road models in L1 is less than 3 is eliminated from N1, and the filtered second road node set can be recorded as N2.

[0095] The preset road model connection attribute requirement may be a preset road node attribute requirement of the connected road model that must be met. Specifically, in a real road network environment, in addition to the plane intersection, there are also key nodes such as ramp junctions, early right / left turn junctions, low-level road access points, and U-turns. Therefore, from the multiple second road nodes included in the second road node set, according to the connection relationship between the second road node and the second road model, the second road node that meets the preset road model connection attribute requirement can be identified, and finally the road node belonging to the plane intersection is obtained, that is, the second road nodes with attributes such as highway entrance and exit (IC), highway connection (ICT), ramp, main and auxiliary road entrance and exit, early right turn, early left turn, POI (Point of Interest) connection road, U-turn, etc. in the connected road model are eliminated from N2, and the set of road nodes belonging to the plane intersection after screening can be recorded as N3, and all road models that have a connection relationship with the road nodes in N3 are saved to L3.

[0096] S302: Based on the road network data, a road model connected to the road node is obtained, where the road model represents a road segment from one road node to another road node.

[0097] Based on the connection relationship between the road nodes and the road models, the road model connected to the road nodes belonging to the plane intersection can be obtained.

[0098] S303. Determine, according to the travel direction of the road model, whether the road model is an entrance road model or an exit road model of a plane intersection. The entrance road model is a road model entering the plane intersection, and the exit road model is a road model leaving the plane intersection.

[0099] In the embodiment of the present application, the road model may be determined to be an entrance road model or an exit road model of a plane intersection based on the travel direction of the road model.

[0100] In a possible implementation, determining that the road model is an entrance road model or an exit road model of a plane intersection according to the travel direction of the road model may specifically include:

[0101] According to the travel direction of the road model, determine the travel starting point and travel end point of the road model;

[0102] If the travel starting point of the road model is a road node belonging to a plane intersection, the road model is determined to be an exit road model of the plane intersection;

[0103] If the travel end point of the road model is a road node belonging to a plane intersection, the road model is determined to be an entrance road model of the plane intersection.

[0104] In this embodiment, the starting point and the end point of the road model can be determined according to the travel direction of the road model, that is, which of the two end points of the road model is the starting point and which is the end point. If the end point of the road model is a road node belonging to a plane intersection, it can be determined that the road model is the entrance road model of the plane intersection; if the starting point of the road model is a road node belonging to a plane intersection, it can be determined that the road model is the exit road model of the plane intersection.

[0105] In a possible implementation, determining that the road model is an entrance road model or an exit road model of a plane intersection according to the travel direction of the road model may specifically include:

[0106] Classify the road nodes to obtain the road node sets corresponding to different plane intersections;

[0107] Based on the road node sets corresponding to different plane intersections, a road model set corresponding to different plane intersections is obtained, where the road model set includes an external road model set and an internal road model set;

[0108] According to the travel direction of the road model included in the external road model set, it is determined that the road model is an entrance road model or an exit road model of the plane intersection.

[0109] In a navigation map, a plane intersection may be composed of multiple road nodes, or a plane intersection may be composed of only one road node.

[0110] In this embodiment, the road nodes belonging to the plane intersection can be classified and processed, and several road nodes belonging to the same plane intersection can be classified to obtain road node sets corresponding to different plane intersections. For a certain plane intersection, one road node can be selected from the road node set of the plane intersection as the representative road node of the plane intersection (i.e., the "main point"), and the remaining road nodes are used as subsidiary road nodes of the plane intersection (i.e., "sub-points"). The plane intersection can be stored in the form of a data dictionary, and the identifiers of the main point and sub-point of the plane intersection can be saved in the data dictionary dic_CrossNode[CrossID]=list_CrossNode, where CrossID is the ID of the main point, and the list list_CrossNode saves the IDs of each road node of the plane intersection including the main point.

[0111] After determining the road node sets corresponding to different plane intersections, the road model sets corresponding to different plane intersections can be determined based on the connection relationship between the road nodes and the road models. Among them, the road model set includes an external road model set composed of external road models and an internal road model set composed of internal road models. The external road model refers to the road model connected to the plane intersection outside the plane intersection, that is, the road model extending from the plane intersection and connecting other road models or destinations. The external road model is the only way to enter or leave the plane intersection. The internal road model refers to the road model inside the plane intersection that connects the external road models in different directions. The internal road model represents the lanes, turning lanes, pedestrian crossing facilities, etc. inside the plane intersection in the real road network environment.

[0112] In this embodiment, the road model is determined to be an entrance road model or an exit road model of the intersection based on the travel direction of the external road model of the intersection.

[0113] In a possible implementation, the road nodes are classified to obtain road node sets corresponding to different plane intersections, including:

[0114] Identify the road nodes belonging to the roundabout among the road nodes, and obtain the road node sets corresponding to different roundabouts;

[0115] For other road nodes except the roundabout, based on the length of the road model between any two other road nodes, it is determined whether any two other road nodes belong to the same plane intersection, and a road node set corresponding to different plane intersections is obtained.

[0116] Continuing with the above example, N3 is a set of road nodes belonging to the planar intersection. Road nodes with the attribute of roundabout in the connected road model are extracted from N3 and saved to list_RoundaboutsNode. The road nodes in list_RoundaboutsNode are traversed. The road nodes with connected paths in the topological graph established based on L3 are the road nodes belonging to the same roundabout. Any road node is selected as the main point of the roundabout, and the IDs of all road nodes of the roundabout are saved to dic_CrossNode[CrossID]=list_CrossNode. In addition, the internal road model of the roundabout can also be recorded and saved to list_innerLink.

[0117] For the remaining road nodes in N3, determine whether the other road nodes belong to the same plane intersection based on the length of the road model between each other road node. If they are road nodes belonging to the same plane intersection, select any road node as the main point of the plane intersection, save the IDs of all road nodes of the plane intersection to dic_CrossNode[CrossID]=list_CrossNode, and record the internal road model of the plane intersection to list_innerLink.

[0118] In addition, if the road node in list_CrossNode is a plane intersection main point in the navigation map, the plane intersection where the road node is located can be marked as a composite intersection, and other sub-points of the composite intersection can be stored in list_CrossNode; if the road node in list_CrossNode is not a plane intersection main point and not a plane intersection sub-point in the navigation map, it can be determined that the plane intersection where the road node is located is a plane intersection with only a single road node, and the road node is the plane intersection main point. Finally, dic_CrossNode[CrossID]=list_CrossNode is obtained.

[0119] Extract the road models other than list_innerLink from L3 and record them as list_outLink. The road models in list_outLink are the external road models of the plane intersection. Get the travel direction of the external road model. If a road node in a plane intersection is the travel starting point of its external road model, then the external road model is the exit road model of the plane intersection. If a road node in a plane intersection is the travel end point of its external road model, then the external road model is the import road model of the plane intersection.

[0120] S304: Determine the type of the planar intersection to which the planar intersection belongs based on the geometric features of the inlet road model and the outlet road model.

[0121] Before determining the type of the planar intersection to which the planar intersection belongs based on the geometric features of the inlet road model and the outlet road model, the inlet road model and the outlet road model may be screened.

[0122] In the navigation map, a road node belonging to a plane intersection may be connected to multiple road models, such as a main road, a secondary road, and a bus lane. In plane intersection shape recognition, there is no need to consider the influence of road models with special attributes. Therefore, if a road model connected to a road node of a plane intersection contains both a main road and a secondary road / bus lane, and the road names of the relevant secondary roads / bus lanes have an obvious inheritance relationship with the main road, the secondary roads / bus lanes should be removed from list_outLink to retain a relatively pure main road structure; if a road model connected to a road node of a plane intersection contains only secondary roads / bus lanes, or the road names of the relevant secondary roads / bus lanes have no obvious association with the main road, they should be retained.

[0123] In an embodiment of the present application, after screening the import road model and the exit road model, it is possible to determine whether the planar intersection is a cross intersection, an X-shaped intersection, a T-shaped intersection, an oblique T-shaped intersection, a Y-shaped intersection, a multi-fork intersection, a staggered intersection or a roundabout intersection based on the geometric features of the import road model and the exit road model.

[0124] In a possible implementation, determining the type of the planar intersection to which the planar intersection belongs based on the geometric features of the inlet road model and the outlet road model may specifically include:

[0125] Based on the geometric features of the import road model and the export road model, judging whether the import road model and the export road model meet the preset merging condition;

[0126] If the entrance road model and the exit road model meet the preset merging condition, the entrance road model and the exit road model are merged to obtain the entrance and exit road models of the plane intersection;

[0127] Based on the import and export road models, determine the type of intersection to which the intersection belongs.

[0128] In this embodiment, in order to identify the shape of the plane intersection, the entrance road model and the exit road model of the plane intersection may be merged when the entrance road model and the exit road model of the plane intersection meet a preset merging condition.

[0129] In a possible implementation, judging whether the import road model and the export road model meet a preset merging condition based on the geometric features of the import road model and the export road model may specifically include:

[0130] Acquire a first line segment connected to the plane intersection from at least one line segment included in the import road model, and acquire a second line segment connected to the plane intersection from at least one line segment included in the export road model;

[0131] It is determined whether the angle between the first line segment and the second line segment meets the preset angle condition, and whether the road names corresponding to the import road model and the export road model are the same, so as to determine whether the import road model and the export road model meet the preset merging condition.

[0132] In a possible implementation, if the entrance road model and the exit road model meet a preset merging condition, the entrance road model and the exit road model are merged to obtain the entrance and exit road models of the plane intersection, which may specifically include:

[0133] If the angle between the first line segment and the second line segment meets the preset angle condition, and the road names corresponding to the import road model and the export road model are the same, the first line segment and the second line segment are merged to obtain the import and export road models of the plane intersection.

[0134] In order to determine the shape of the plane intersection, the entrance road model and the exit road model of the composite intersection in the same direction can be merged into a single line segment. Specifically, each plane intersection main point CrossID in dic_CrossNode[CrossID] can be traversed, the list_outLink corresponding to the plane intersection can be extracted, and the entrance road model and the exit road model in list_outLink can be determined. From at least one line segment contained in the entrance road model, the line segment closest to the plane intersection, that is, the first line segment, is obtained, and from at least one line segment contained in the exit road model, the line segment closest to the plane intersection, that is, the second line segment, the line segment coordinates of the first line segment and the second line segment are converted from latitude and longitude coordinates to XY coordinates to participate in the subsequent plane intersection type determination.

[0135] Assuming that the starting and ending coordinates of the line segment closest to the plane intersection of a road model are (X1, Y1) and (X2, Y2), the vector from the starting point to the end point can be established as in:

[0136]

[0137] By referring to the above method to establish the vectors of the corresponding line segments of each entrance road model / exit road model of the composite intersection, the angles of each vector can be calculated according to the following formula:

[0138]

[0139] α(degree system) = α(radian system) × 180° / π;

[0140] Reference Figure 4 As shown in the figure, the starting and ending coordinates of the first line segment extracted from the import road model are (X3, Y3) and (X4, Y4), the starting and ending coordinates of the second line segment extracted from the export road model are (X1, Y1) and (X2, Y2), and the line segment vector corresponding to the first line segment of the import road model is in:

[0141]

[0142] The line segment vector corresponding to the second line segment of the exit road model is in:

[0143]

[0144] If the import road model corresponding to the first line segment has the same road name as the export road model corresponding to the second line segment, and the angle α between the first line segment and the second line segment calculated based on the line segment vector is greater than 135°, the first line segment and the second line segment can be merged. As shown in the figure, the starting point coordinates of the merged import and export road model are The end point coordinates are

[0145]

[0146] In a possible implementation, the plane intersection has a corresponding road model set and road node set, the road model set includes one or more road models associated with the plane intersection, and the road node set includes one or more road nodes associated with the plane intersection. Based on the import and export road models, determining the plane intersection type to which the plane intersection belongs may specifically include:

[0147] Deleting the import road model and the export road model from the road model set of the plane intersection, and adding the corresponding import and export road models to the road model set of the plane intersection, to obtain a new road model set of the plane intersection;

[0148] Based on the road model set information of the new road model set and the road node set information of the road node set, the type of plane intersection to which the plane intersection belongs is determined, the road model set information includes the number of road models included in the new road model set, the angles between the road models included in the new road model set, and one or more of the road names corresponding to the road models included in the new road model set, and the road node set information includes the node attributes of the road nodes included in the road node set.

[0149] In this embodiment, each plane intersection has a corresponding road model set and road node set. Based on the road models in the road model set of the plane intersection and the road nodes in the road node set of the plane intersection, the plane intersection type to which the plane intersection belongs can be determined.

[0150] In a specific implementation, the road model set of the plane intersection can be updated based on the merged import and export road models to obtain a new road model set. Based on the road model set information of the new road model set and the road node set information of the road node set, the plane intersection type to which the plane intersection belongs can be determined. Specifically, if the number of road models included in the new road model set is greater than 5, it can be determined that the plane intersection is a multi-fork intersection; if the number of road models included in the new road model set is equal to 4, and the road names corresponding to the included road models are different, and the angles between the included road models are in the range of (75°, 105°), it can be determined that the plane intersection is a cross intersection; if the number of road models included in the new road model set is equal to 4, and the road names corresponding to the included road models are different, and the angles between the included road models are in the range of [20°, 75°] or [105°, 160°], it can be determined that the plane intersection is an X-shaped intersection; if the number of road models included in the new road model set is equal to 3, and the angles between the 3 included road models are in the range of [20°, 75°], [1 If the number of road models included in the new road model set is equal to 3, and one of the angles between the three road models is within the range of [20°, 90°], and the angle difference between the other two angles does not exceed 15°, then the plane intersection can be determined to be a Y-shaped intersection; if the number of road models included in the new road model set is equal to 3, and the plane intersection is not an oblique T-shaped intersection or a Y-shaped intersection, then the plane intersection can be determined to be a T-shaped intersection; if there are road nodes belonging to roundabouts in the road node set of the plane intersection, then the plane intersection can be determined to be a roundabout; if there are two T-shaped intersections or oblique T-shaped intersections whose intersection center points are less than the preset distance, the two together constitute a staggered intersection.

[0151] Among them, if a certain plane intersection is a plane intersection that only contains a single road node, then the single road node is the center point of the intersection; if a certain plane intersection is a composite intersection containing multiple road nodes, then multiple road nodes of the composite intersection can be obtained, and the average value of the XY coordinates of the multiple road nodes can be calculated as the intersection center point of the composite intersection.

[0152] Reference Figure 5As shown, it is a flow chart of the plane intersection recognition method provided by the present application, which obtains the road network data of the navigation map, identifies the road nodes belonging to the plane intersection in the road network data, and then obtains the road model connected to the road node, classifies the road nodes, obtains the road node set corresponding to different plane intersections, obtains the road model set corresponding to different plane intersections based on the road node set corresponding to different plane intersections, determines the road model as the entrance road model or exit road model of the plane intersection according to the travel direction of the road model included in the road node set, judges whether the entrance road model and the exit road model meet the preset merging condition, merges the entrance road model and the exit road model when the preset merging condition is met, updates the road model set of the plane intersection based on the merged entrance and exit road models, obtains a new road model set, determines the shape of the plane intersection based on the number of road models included in the new road model set, the angle of the road models included in the new road model set, and the node attributes of the road nodes included in the road node set, so as to determine the plane intersection type to which the plane intersection belongs. This solution can accurately identify cross, X, T, oblique T, Y, multi-fork, staggered and roundabout intersection types, providing data support for traffic management services.

[0153] The planar intersection recognition method provided in the embodiment of the present application can identify the road nodes contained in the road network data and belonging to the planar intersection based on the connection relationship between the road nodes and the road models in the road network data, and then obtain the road model connected to the road node. According to the travel direction of the road model, the planar intersection type to which the planar intersection belongs can be determined. The type of planar intersection is divided based on the geometric shape of the planar intersection, that is, the present application can automatically identify the geometric shape of the planar intersection in the road network data, so as to achieve the effect of efficiently identifying the planar intersection and providing the intelligent transportation system with richer and more accurate road network information.

[0154] Figure 6 The schematic diagram of the structure of the plane intersection identification device provided in this application is as follows: Figure 6 As shown, the planar intersection identification device 60 provided in this embodiment includes:

[0155] An identification module 601 is used to identify the road nodes belonging to the plane intersection contained in the road network data based on the connection relationship between the road nodes and the road models in the acquired road network data;

[0156] An acquisition module 602 is used to acquire a road model connected to a road node based on the road network data, where the road model represents a road segment from one road node to another road node;

[0157] The determination module 603 is used to determine the type of the plane intersection to which the plane intersection belongs according to the travel direction of the road model.

[0158] In a possible implementation, the determination module is specifically used for:

[0159] According to the travel direction of the road model, determine whether the road model is an entrance road model or an exit road model of the plane intersection, the entrance road model is a road model entering the plane intersection, and the exit road model is a road model leaving the plane intersection;

[0160] Based on the geometric features of the entrance road model and the exit road model, the type of the intersection is determined.

[0161] In a possible implementation, the determination module is specifically used for:

[0162] Based on the geometric features of the import road model and the export road model, judging whether the import road model and the export road model meet the preset merging condition;

[0163] If the entrance road model and the exit road model meet the preset merging condition, the entrance road model and the exit road model are merged to obtain the entrance and exit road models of the plane intersection;

[0164] Based on the import and export road models, determine the type of intersection to which the intersection belongs.

[0165] In a possible implementation, the plane intersection has a corresponding road model set and a road node set, the road model set includes one or more road models associated with the plane intersection, and the road node set includes one or more road nodes associated with the plane intersection, and the determination module is specifically used to:

[0166] Deleting the import road model and the export road model from the road model set of the plane intersection, and adding the corresponding import and export road models to the road model set of the plane intersection, to obtain a new road model set of the plane intersection;

[0167] Based on the road model set information of the new road model set and the road node set information of the road node set, the type of plane intersection to which the plane intersection belongs is determined, the road model set information includes the number of road models included in the new road model set, the angles between the road models included in the new road model set, and one or more of the road names corresponding to the road models included in the new road model set, and the road node set information includes the node attributes of the road nodes included in the road node set.

[0168] In a possible implementation, the determination module is specifically used for:

[0169] Acquire a first line segment connected to the plane intersection from at least one line segment included in the import road model, and acquire a second line segment connected to the plane intersection from at least one line segment included in the export road model;

[0170] It is determined whether the angle between the first line segment and the second line segment meets the preset angle condition, and whether the road names corresponding to the import road model and the export road model are the same, so as to determine whether the import road model and the export road model meet the preset merging condition.

[0171] In a possible implementation, the determination module is specifically used for:

[0172] According to the travel direction of the road model, determine the travel starting point and travel end point of the road model;

[0173] If the travel starting point of the road model is a road node belonging to a plane intersection, the road model is determined to be an exit road model of the plane intersection;

[0174] If the travel end point of the road model is a road node belonging to a plane intersection, the road model is determined to be an entrance road model of the plane intersection.

[0175] In a possible implementation, the determination module is specifically used for:

[0176] Classify the road nodes to obtain the road node sets corresponding to different plane intersections;

[0177] Based on the road node sets corresponding to different plane intersections, a road model set corresponding to different plane intersections is obtained, where the road model set includes an external road model set and an internal road model set;

[0178] According to the travel direction of the road model included in the external road model set, it is determined that the road model is an entrance road model or an exit road model of the plane intersection.

[0179] The planar intersection recognition device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0180] Figure 7 This is a schematic diagram of the structure of the flat intersection identification device provided in this application. Figure 7 As shown, the plane intersection recognition device 70 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the device 70 also includes a communication component 703. The processor 701, the memory 702 and the communication component 703 are connected via a bus.

[0181] In a specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that at least one processor 701 executes the above method.

[0182] The specific implementation process of the processor 701 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0183] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0184] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0185] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0186] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0187] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0188] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0189] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0190] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0191] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0192] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0193] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0194] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0195] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A planar intersection recognition method, characterized in that: include: Based on the connection relationship between the road nodes and the road models in the acquired road network data, identifying the road nodes belonging to the plane intersection contained in the road network data; Based on the road network data, a road model connected to the road node is obtained, wherein the road model represents a road segment from one road node to another road node; The type of the planar intersection to which the planar intersection belongs is determined according to the travel direction of the road model.

2. The method according to claim 1, characterized in that Determining the type of plane intersection to which the plane intersection belongs according to the travel direction of the road model includes: According to the travel direction of the road model, determining that the road model is an entrance road model or an exit road model of the plane intersection, the entrance road model is a road model entering the plane intersection, and the exit road model is a road model leaving the plane intersection; Based on the geometric features of the entrance road model and the exit road model, the type of the intersection to which the intersection belongs is determined.

3. The method according to claim 2, characterized in that The step of determining the type of plane intersection to which the plane intersection belongs based on the geometric features of the entrance road model and the exit road model comprises: Based on the geometric features of the inlet road model and the outlet road model, determining whether the inlet road model and the outlet road model meet a preset merging condition; If the entrance road model and the exit road model meet the preset merging condition, the entrance road model and the exit road model are merged to obtain the entrance and exit road models of the plane intersection; Based on the import and export road model, the type of the plane intersection to which the plane intersection belongs is determined.

4. The method according to claim 3, characterized in that The plane intersection has a corresponding road model set and a road node set, the road model set includes one or more road models associated with the plane intersection, the road node set includes one or more road nodes associated with the plane intersection, and the determining of the plane intersection type to which the plane intersection belongs based on the import and export road models includes: Deleting the import road model and the export road model from the road model set of the plane intersection, and adding the corresponding import and export road models to the road model set of the plane intersection, to obtain a new road model set of the plane intersection; Based on the road model set information of the new road model set and the road node set information of the road node set, the type of plane intersection to which the plane intersection belongs is determined, the road model set information includes the number of road models included in the new road model set, the angles between the road models included in the new road model set, and one or more of the road names corresponding to the road models included in the new road model set, and the road node set information includes node attributes of the road nodes included in the road node set.

5. The method according to claim 3, characterized in that: The determining, based on the geometric features of the inlet road model and the outlet road model, whether the inlet road model and the outlet road model meet a preset merging condition comprises: Acquire a first line segment connected to the plane intersection from at least one line segment included in the inlet road model, and acquire a second line segment connected to the plane intersection from at least one line segment included in the outlet road model; Determine whether the angle between the first line segment and the second line segment meets the preset angle condition, and determine whether the road names corresponding to the import road model and the export road model are the same, so as to determine whether the import road model and the export road model meet the preset merging condition.

6. The method according to any one of claims 2 to 5, characterized in that: The step of determining, according to the travel direction of the road model, that the road model is an entrance road model or an exit road model of the plane intersection comprises: Determining a starting point and an end point of the road model according to the travel direction of the road model; If the travel starting point of the road model is a road node belonging to a plane intersection, then determining that the road model is an exit road model of the plane intersection; If the travel end point of the road model is a road node belonging to a plane intersection, the road model is determined to be an entrance road model of the plane intersection.

7. The method according to any one of claims 2 to 5, characterized in that: The step of determining, according to the travel direction of the road model, that the road model is an entrance road model or an exit road model of the plane intersection comprises: Classifying the road nodes to obtain road node sets corresponding to different plane intersections; Based on the road node sets corresponding to different plane intersections, a road model set corresponding to different plane intersections is obtained, wherein the road model set includes an external road model set and an internal road model set; According to the travel direction of the road model included in the external road model set, it is determined that the road model is an entrance road model or an exit road model of the plane intersection.

8. A planar intersection recognition device, characterized in that: include: An identification module, for identifying road nodes belonging to plane intersections contained in the road network data based on the connection relationship between the road nodes and the road models in the acquired road network data; An acquisition module, configured to acquire a road model connected to the road node based on the road network data, wherein the road model represents a road segment from one road node to another road node; The determination module is used to determine the type of plane intersection to which the plane intersection belongs according to the travel direction of the road model.

9. A planar intersection recognition device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium / computer program product, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor; and / or, The computer program product comprises a computer program, which implements the method according to any one of claims 1 to 7 when executed by a processor.

Images