A road network construction method and device

Abstract

The present application provides a road network construction method and device, which are applied to the field of intelligent transportation technology and are used to improve the granularity and accuracy of road network construction. The method includes obtaining geographic location information of multiple road sections to be processed and two endpoints contained in each of the multiple road sections; based on the geographic location information of all endpoints contained in the multiple road sections, all the nodes are divided into at least one group; each group of endpoints in the at least one group is aggregated to obtain at least one aggregation point; all road sections associated with each aggregation point in the at least one aggregation point are obtained, and the type of each aggregation point is determined based on the angle between the geographical locations of the two road sections in all the road sections on the aggregation point side; based on the type of each aggregation point, the connectivity relationship between the multiple road sections and the aggregation points is determined according to a preset rule, and a road network is generated based on the connectivity relationship.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a road network construction method and device. Background Art

[0002] The traffic road network, or road network, is a multi-level, multi-level network system consisting of various types of roads and streets. With the rapid development of industries such as autonomous driving, logistics distribution, and map navigation, society is increasingly dependent on high-precision maps, and the role of road networks is becoming increasingly important.

[0003] In view of this, how to improve the granularity and accuracy of road network construction is an issue that needs to be addressed urgently. Summary of the invention

[0004] The present application provides a road network construction method and device for improving the granularity and accuracy of road network construction.

[0005] In a first aspect, an embodiment of the present application provides a road network construction method, which can be applied to any electronic device with processing capabilities, and the method includes:

[0006] Acquire multiple road segments to be processed and geographical location information of two endpoints contained in each of the multiple road segments; the road segment is used to indicate a road segment on an actual road, and the road segment includes at least two nodes;

[0007] Based on the geographical location information of all endpoints included in the multiple road segments, all nodes are divided into at least one group, and the distance between two endpoints in each group meets a preset distance condition; each group of endpoints in at least one group is aggregated to obtain at least one aggregation point;

[0008] Obtain all road segments associated with each aggregation point in at least one aggregation point, and determine the type of each aggregation point based on the angle between two road segments in all road segments at the geographical location on the side of the aggregation point; at least one endpoint of each road segment in all road segments belongs to the aggregation point; the type of the aggregation point is used to indicate the type of the traffic intersection;

[0009] Based on the type of each aggregation point, the connectivity relationship between multiple road segments and between aggregation points is determined according to preset rules, and a road network is generated based on the connectivity relationship.

[0010] In this method, the aggregation points of each endpoint are generated based on the geographical location information of the road segment at the segment level, which can improve the granularity of the road network finally generated; and the type of each aggregation point is determined based on the geometric attributes of the geographical location of each road segment on the aggregation point side, that is, the angle and distance between two road segments, so that the type of each aggregation point obtained, that is, the type of traffic intersection on the road is more accurate, and then according to the type of the aggregation point, the connectivity relationship between multiple road segments and between aggregation points is determined, and the road network is generated according to the connectivity relationship, which can improve the accuracy of road network construction and reduce the cost of manual annotation.

[0011] Optionally, based on the geographic location information of all endpoints included in multiple road segments, all nodes are divided into at least one group, including: obtaining the longitude and latitude coordinates of all endpoints in the multiple road segments, and converting the longitude and latitude coordinates into plane coordinates in a preset two-dimensional coordinate system; determining the extreme values ​​of the horizontal and vertical coordinates from the plane coordinates of all endpoints, and generating a target grid based on the extreme values ​​of the horizontal and vertical coordinates and a preset grid size; the grid size includes the number of rows and columns of the target grid; the number of subgrids included in the target grid is the product of the number of rows and the number of columns; all endpoints are deployed to each subgrid of the target grid according to the corresponding plane coordinates; for each subgrid in the target grid, the following steps are performed: obtaining at least one endpoint that is not aggregated in the subgrid and all subgrids adjacent to the subgrid; calculating the geometric distance between two endpoints of at least one endpoint based on the plane coordinates, the two endpoints belonging to different road segments respectively; and dividing at least two endpoints whose geometric distance is less than a first distance threshold into a group.

[0012] Optionally, based on the geographic location information of all endpoints contained in multiple road sections, all nodes are divided into at least one group, and the method also includes: if the geometric distance between any endpoint of any road section among the multiple road sections and the endpoints of other road sections among the multiple road sections except the any road section is not less than a first distance threshold, then the any endpoint is separately divided into a group.

[0013] Optionally, the type of each aggregation point is determined based on the angle between the geographical locations of all road sections on the aggregation point side, including: determining the direction vector of each road section based on a vector composed of the first endpoint on each road section and the adjacent nodes of the first endpoint, the first endpoint belonging to the aggregation point; for any two road sections among all road sections associated with each aggregation point, performing the following operations: calculating the angle between the direction vectors of any two road sections, if the absolute value of the angle does not fall within a preset angle range, determining that the type of the aggregation point is an intersection; if the absolute value of the angle falls within the preset angle range, determining whether the absolute value of the angle is greater than ninety degrees, if so, determining that the type of the aggregation point is a road section connection point, if not, determining that the type of the aggregation point is a dead-end intersection.

[0014] Optionally, all road segments associated with any aggregation point among at least one aggregation point include only one road segment; determining the type of each aggregation point includes: determining that the type of any aggregation point is a dead-end intersection.

[0015] Optionally, based on the type of each aggregation point, the connectivity relationships between multiple road segments and between the aggregation points are determined according to preset rules, and a road network is generated based on the connectivity relationships, including: if the type of the aggregation point is an intersection, the names of the two road segments with the smallest name similarity are obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point; if the type of the aggregation point is a dead-end intersection, the name of any road segment is obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point; if the type of the aggregation point is a road segment connection point, the name of the aggregation point is set to empty.

[0016] Optionally, based on the type of each aggregation point, the connectivity relationship between multiple road segments and between aggregation points is determined according to preset rules, and a road network is generated based on the connectivity relationship, and it also includes: if there are at least two aggregation points whose type is intersection and the names of the at least two aggregation points are the same, then based on the plane coordinates of the at least two aggregation points, the geometric distance between the at least two aggregation points is calculated, and it is determined whether the geometric distance is less than a second distance threshold; if so, the at least two aggregation points are aggregated; if not, the names of the at least two aggregation points are modified.

[0017] Optionally, based on the type of each aggregation point, the connectivity relationship between multiple road sections and between aggregation points is determined according to preset rules, and a road network is generated based on the connectivity relationship, including: for any road section whose starting point belongs to an aggregation point of an intersection or a dead-end intersection, perform the following operations: if the type of the aggregation point to which the end point of any road section belongs is an intersection or a dead-end intersection, and the aggregation point to which the terminal of the road section belongs is different from the aggregation point to which the starting point of any road section belongs, then record the aggregation point to which the end point of any road section belongs, and determine that any road section is a connected path between two aggregation points; if the type of the aggregation point to which the end point of any road section belongs is a road section connection point, repeat the following operations , until the type of the aggregation point to which the end point belongs is obtained as an intersection or a dead-end intersection: record the end point of any road section connected to the second road section associated with the aggregation point, which is opposite to the direction vector of any road section and has the same travel direction, determine that the any road section is connected to the second road section, and judge the type of the aggregation point to which the end point of the second road section belongs; the same travel direction is used to indicate that the geometric distance between the direction vector of any road section and the direction vector of the second road section is less than a third distance threshold; determine that all road sections connected between the road sections from the any road section to the aggregation point to which the end point belongs is an intersection or a dead-end intersection as a connected path; combine all connected paths and all aggregation points to generate a road network.

[0018] In a second aspect, an embodiment of the present application provides a road network construction device, including:

[0019] The acquisition module is used to: acquire the geographical location information of the two end points of each of the multiple road sections to be processed and the multiple road sections; the road section is used to indicate a road section on an actual road, and the road section includes at least two nodes;

[0020] The aggregation module is used to: divide all nodes into at least one group based on the geographical location information of all endpoints included in the multiple road segments, and the distance between the two endpoints in each group meets the preset distance condition; aggregate each group of endpoints in at least one group to obtain at least one aggregation point; obtain all road segments associated with each aggregation point in at least one aggregation point, and determine the type of each aggregation point based on the angle between the geographical locations of the two road segments on the side of the aggregation point in all road segments; at least one endpoint of each road segment in all road segments belongs to the aggregation point; the type of the aggregation point is used to indicate the type of the traffic intersection;

[0021] The construction module is used to: determine the connectivity relationship between multiple road segments and between aggregation points based on the type of each aggregation point according to preset rules, and generate a road network based on the connectivity relationship.

[0022] Optionally, when the aggregation module divides all nodes into at least one group based on the geographic location information of all endpoints included in multiple road segments, it is used to: obtain the longitude and latitude coordinates of all endpoints in the multiple road segments, and convert the longitude and latitude coordinates into plane coordinates in a preset two-dimensional coordinate system; determine the extreme values ​​of the horizontal and vertical coordinates from the plane coordinates of all endpoints, and generate a target grid based on the extreme values ​​of the horizontal and vertical coordinates and a preset grid size; the grid size includes the number of rows and columns of the target grid; the number of sub-grids included in the target grid is the product of the number of rows and the number of columns; deploy all endpoints to each sub-grid of the target grid according to the corresponding plane coordinates; for each sub-grid in the target grid, perform the following steps: obtain at least one endpoint that is not aggregated in the sub-grid and all sub-grids adjacent to the sub-grid; calculate the geometric distance between two endpoints of at least one endpoint based on the plane coordinates, and the two endpoints belong to different road segments respectively; and divide at least two endpoints whose geometric distance is less than a first distance threshold into a group.

[0023] Optionally, the aggregation module divides all nodes into at least one group based on the geographic location information of all endpoints contained in multiple road sections, and is also used to: if the geometric distance between any endpoint of any road section among the multiple road sections and the endpoints of other road sections among the multiple road sections except the any road section is not less than a first distance threshold, then any endpoint is separately divided into a group.

[0024] Optionally, when the aggregation module determines the type of each aggregation point based on the angle between the geographical locations of all road sections on the aggregation point side, it is used to: determine the direction vector of each road section based on the vector composed of the first endpoint on each road section and the adjacent nodes of the first endpoint, the first endpoint belonging to the aggregation point; for any two road sections among all road sections associated with each aggregation point, perform the following operations: calculate the angle between the direction vectors of any two road sections, if the absolute value of the angle does not fall within a preset angle range, determine that the type of the aggregation point is an intersection; if the absolute value of the angle falls within the preset angle range, determine whether the absolute value of the angle is greater than ninety degrees, if so, determine that the type of the aggregation point is a road section connection point, if not, determine that the type of the aggregation point is a dead-end intersection.

[0025] Optionally, all road sections associated with any aggregation point among at least one aggregation point include only one road section; when determining the type of each aggregation point, the aggregation module is used to: determine that the type of any aggregation point is a dead-end intersection.

[0026] Optionally, when the construction module determines the connectivity relationship between multiple road segments and between aggregation points based on the type of each aggregation point and according to preset rules, and generates a road network based on the connectivity relationship, it is used to: if the type of the aggregation point is an intersection, then the names of the two road segments with the smallest name similarity are obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point; if the type of the aggregation point is a dead-end intersection, then the name of any road segment is obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point; if the type of the aggregation point is a road segment connection point, the name of the aggregation point is set to empty.

[0027] Optionally, when the construction module determines the connectivity relationship between multiple road segments and between aggregation points according to preset rules based on the type of each aggregation point, and generates a road network based on the connectivity relationship, it is also used to: if there are at least two aggregation points whose types are both intersections and the names of the at least two aggregation points are the same, then based on the plane coordinates of the at least two aggregation points, calculate the geometric distance between the at least two aggregation points, and determine whether the geometric distance is less than a second distance threshold; if so, aggregate the at least two aggregation points; if not, modify the names of the at least two aggregation points.

[0028] Optionally, when the construction module determines the connectivity relationship between multiple road sections and between aggregation points according to preset rules based on the type of each aggregation point, and generates a road network based on the connectivity relationship, it is used to: for any road section whose starting point belongs to an aggregation point of an intersection or a dead-end intersection, perform the following operations: if the type of the aggregation point to which the end point of any road section belongs is an intersection or a dead-end intersection, and the aggregation point to which the terminal of the road section belongs is different from the aggregation point to which the starting point of any road section belongs, then record the aggregation point to which the end point of any road section belongs, and determine that any road section is a connected path between two aggregation points; if the type of the aggregation point to which the end point of any road section belongs is a road section connection point, repeat the following operations. The following operations are performed until the type of the aggregation point to which the end point belongs is an intersection or a dead-end intersection: the end point of any road section is recorded to connect the second road section associated with the aggregation point, which is opposite to the direction vector of any road section and has the same travel direction, to determine that the any road section is connected to the second road section, and to determine the type of the aggregation point to which the end point of the second road section belongs; the same travel direction is used to indicate that the geometric distance between the direction vector of any road section and the direction vector of the second road section is less than a third distance threshold; all road sections connected between the road sections from the any road section to the aggregation point to which the end point belongs, which are intersections or dead-end intersections, are determined to be a connected path; all connected paths and all aggregation points are combined to generate a road network.

[0029] In a third aspect, an embodiment of the present application provides an electronic device, comprising at least one processor, wherein the at least one processor is used to execute a computer program stored in a memory so that a method as in the first aspect or any optional implementation of the first aspect is implemented.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store instructions. When the instructions are executed, the method in the first aspect or any optional implementation of the first aspect is implemented.

[0031] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program code, which, when executed on a computer, enables the method in the first aspect or any optional implementation of the first aspect to be implemented.

[0032] The technical effects or advantages of one or more technical solutions provided in the second, third, fourth and fifth aspects of the embodiments of the present application can be correspondingly explained by the technical effects or advantages of one or more corresponding technical solutions provided in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A flow chart of a road network construction method provided in an embodiment of the present application;

[0034] Figure 2 An example diagram of an aggregation point provided in an embodiment of the present application;

[0035] Figure 3 An example diagram of a road network provided in an embodiment of the present application;

[0036] Figure 4 A structural diagram of a road network construction device provided in an embodiment of the present application;

[0037] Figure 5 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In the technical solution of this application, the collection, dissemination, and use of data are in compliance with the requirements of relevant national laws and regulations.

[0039] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0040] The technical solution of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0041] It should be understood that "multiple" in the description of the embodiment of the present application refers to two or more. "First", "second" etc. in the embodiment of the present application are used to distinguish different objects, rather than to describe a specific order. The term "and / or" in the embodiment of the present application is merely a kind of association relationship describing associated objects, indicating that three relationships may exist, for example, A and / or B, which may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "includes" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. The module in the embodiment of the present application refers to a part with independent functions in a software system.

[0042] The traffic road network is a network composed of various types of roads and streets. It includes highways, national roads, provincial roads, urban main roads, secondary roads and roads within the community, forming a multi-level and multi-level network system. The road network structure can be regarded as a road topology composed of traffic intersections (i.e. road intersections) and the lines between points. With the rapid development of industries such as autonomous driving, logistics distribution, and map navigation, society is increasingly dependent on high-precision maps, and the construction of traffic road networks is playing an increasingly important role. At present, the main ways to generate road network structures include: using professional floating vehicles to collect road and environmental information or digitally generating road network structures through satellite remote sensing images and aerial photos, which are costly and have long links.

[0043] In view of this, an embodiment of the present application is provided, which obtains geographic location information of two endpoints contained in each of multiple road sections to be processed, and aggregates endpoints that meet preset distance requirements based on the geographic location information of all endpoints to obtain at least one aggregation point. Aggregation points are generated based on the geographic location information of section-level sections, which can improve the granularity of aggregation point generation and thus improve the granularity of road network construction; and based on the geometric properties between each road section, i.e., angle, distance, etc.; to determine the type of each aggregation point, it is possible to improve the accuracy of the type of each aggregation point, thereby making the connectivity relationship between multiple road sections and between aggregation points determined according to the type of each aggregation point more accurate, and generating a road network based on the connectivity relationship can improve the granularity and accuracy of road network construction.

[0044] See also Figure 1 , is a flow chart of a road network construction method provided in an embodiment of the present application, the method comprising the following steps S101 to S105:

[0045] S101, obtain the geographical location information of the two endpoints contained in each of the multiple road sections to be processed.

[0046] The road section is used to indicate a road section on an actual road, and the road section includes at least two nodes.

[0047] Exemplarily, the specific information of each road section to be processed stored in the database may be obtained, and the data items included in the specific information of the road section may be as shown in Table 1 below.

[0048] Table 1 Example of detailed information of road sections

[0049]

[0050] As described in Table 1, the specific information of each road section may include the number of the road section, the name of the road where the road section is located, the longitude and latitude coordinate point pair, the road type, etc.

[0051] Among them, the section number is used to identify each section, for example: the section can be a section on a road, and the section number can be the position number of the section among all the sections in the current map to ensure that the numbers of all sections are not repeated. The longitude and latitude coordinate point pairs are used to indicate the longitude and latitude coordinates of each node contained in the section. The road type is used to indicate the road type of the road where the section is located. It can be understood that the above Table 1 is only an example of data items that may be included in the specific information of a section given in an embodiment of the present application, and is not actually limited to this.

[0052] S102: Based on the geographic location information of all endpoints included in the multiple road segments, divide all endpoints into at least one group.

[0053] In a possible embodiment, the specific implementation of step S102 is as follows: steps S102-1 to S102-4:

[0054] S102-1. Obtain the longitude and latitude coordinates of all endpoints in the multiple road segments, and convert the longitude and latitude coordinates into plane coordinates in a preset two-dimensional coordinate system.

[0055] It can be understood that in order to facilitate the subsequent analysis of the geometric properties between each road section, such as distance, angle, etc., the latitude and longitude coordinates of each endpoint are converted into plane coordinates in a two-dimensional coordinate system in this embodiment of the present application; the two-dimensional coordinate system can be a plane rectangular coordinate system, or a polar coordinate system, etc., which can be selected according to actual needs.

[0056] The present application embodiment takes a plane rectangular coordinate system as an example, that is, assuming that the plane coordinates of all endpoints are [[x 1 ,y 1 ], [x 2 ,y 2 ], ……[x j ,y j ]], where j=2k and k is the number of road segments.

[0057] S102-2, determining the extreme values ​​of the horizontal and vertical coordinates from the plane coordinates of all endpoints, and generating a target grid according to the extreme values ​​of the horizontal and vertical coordinates and a preset grid size.

[0058] The grid size includes the number of rows and columns of the target grid; the number of subgrids contained in the target grid is the product of the number of rows and the number of columns.

[0059] For example, first, the extreme values ​​of the horizontal and vertical coordinates, i.e., the minimum value x of the horizontal coordinate, are determined from the plane coordinates of all endpoints. min and the maximum value x max , and the minimum value y of the ordinate min and the maximum value y max .

[0060] Then, using the coordinate point [x min ,y min ] and [x max ,y max ] Determine the position and size of the target grid, and determine the size of the sub-grid based on the preset number of rows and columns of the target grid; or calculate the number of rows and columns of the target grid based on the preset sub-grid size; and divide the area determined by the two coordinate points according to the number of rows and columns to obtain the target grid.

[0061] S102-3, deploying all endpoints to each subgrid of the target grid according to the corresponding plane coordinates;

[0062] For example, according to the plane coordinates of all endpoints [[x 1 ,y 1 ], [x 2 ,y 2 ], ……[x j ,y j ]], deploy each endpoint to the obtained target grid.

[0063] S102-4. For each subgrid in the target grid, perform the following steps:

[0064] Obtain at least one endpoint that is not aggregated in the subgrid and all subgrids adjacent to the subgrid;

[0065] Calculate the geometric distance between two endpoints of at least one endpoint based on the plane coordinates, where the two endpoints belong to different road sections respectively;

[0066] At least two endpoints whose geometric distance is less than a first distance threshold are divided into one group.

[0067] Exemplarily, traverse all subgrids in the target grid, for any subgrid:

[0068] First, obtain the subgrid and all subgrids adjacent to the subgrid.

[0069] For example, for the subgrid [m, n] (m represents the number of rows of the subgrid, and n represents the number of columns of the subgrid), get all the subgrids in the nine-square grid where it is located, that is, the nine subgrids [m-1,n-1], [m-1, n], [m-1, n+1], [m, n-1], [m, n], [m, n+1], [m+1, n-1], [m+1, n], and [m+1, n+1].

[0070] It can be understood that the number of adjacent grids of the subgrid located at the edge of the target grid may be less than nine. For example, the subgrid located in the first row and the first column has only three adjacent subgrids. Therefore, only the subgrid and the three adjacent subgrids need to be acquired.

[0071] The selection of the first sub-grid and the traversal order can be set according to actual needs, and this embodiment of the application does not impose any restrictions on this.

[0072] Then, all non-aggregated endpoints in the sub-grid and the sub-grids adjacent to the sub-grid are obtained, and on the condition that the geometric distance between the two endpoints is less than the first distance threshold, at least two endpoints whose geometric distance is less than the first distance threshold are obtained using a depth-first search method, and the at least two endpoints are divided into a group to obtain at least one group of endpoints.

[0073] It can be understood that the first distance threshold can be set according to actual conditions, for example, set to 15 meters.

[0074] In another possible embodiment, a specific implementation of step S102 further includes:

[0075] If the geometric distances between any endpoint of any road segment among the multiple road segments and endpoints of other road segments except the any road segment among the multiple road segments are not less than the first distance threshold, then the any endpoint is separately divided into a group.

[0076] It can be understood that if the geometric distance between the endpoint of any road segment and the endpoints of other road segments is not less than the first distance threshold, it means that any endpoint cannot be aggregated with other endpoints. In this case, any endpoint is divided into a group separately to obtain an independent endpoint, which can also be considered as an aggregation point that only contains one road segment (that is, any road segment).

[0077] S103. Aggregate each group of endpoints in at least one group to obtain at least one aggregation point.

[0078] Exemplarily, each group of endpoints obtained in step S102-4 is aggregated, that is, at least two endpoints whose geometric distance is less than the first distance threshold are aggregated to obtain at least one aggregate point. The aggregate point can be used to represent a traffic intersection on an actual road.

[0079] S104. Obtain all road sections associated with each aggregation point in at least one aggregation point, and determine the type of each aggregation point based on the angle between any two road sections in all the road sections at the geographic location on the aggregation point side.

[0080] In a possible embodiment, the specific implementation of step S104 is as follows:

[0081] Determine the direction vector of each road segment based on a vector formed by a first endpoint on each road segment and an adjacent node of the first endpoint, the first endpoint belonging to the aggregation point;

[0082] For any two segments among all the segments associated with each aggregation point, perform the following operations:

[0083] Calculate the angle between the direction vectors of any two road sections. If the absolute value of the angle does not fall within the preset angle range, determine that the type of the aggregation point is an intersection.

[0084] If the absolute value of the angle belongs to the preset angle range, it is determined whether the absolute value of the angle is greater than ninety degrees. If so, the type of the aggregation point is determined to be a road section connection point. If not, the type of the aggregation point is determined to be a dead-end intersection.

[0085] For example, Figure 2 Take the aggregation point shown as an example. For each road segment, the vector from the endpoint belonging to the aggregation point on the road segment to the endpoint adjacent to the endpoint (i.e., the second node) is used as the direction vector of the road segment;

[0086] Based on the direction vector of each road segment, the angle between each two road segments of all road segments associated with each aggregation point is calculated, that is, the angle between the direction vectors of each two road segments;

[0087] A judgment is made based on the angle: if the absolute value of the angle does not fall within the preset angle range, that is, it is determined that there are at least two non-collinear sections in the road section associated with the aggregation point, then the type of the aggregation point is determined to be an intersection (for example Figure 2 The intersection shown by a in );

[0088] The preset angle range may be set according to actual needs, such as [0°, 5°] and [175°, 180°].

[0089] If the absolute value of the angle falls within the preset angle range, it is determined that the road segments associated with the aggregation point are all collinear. It is also necessary to further determine whether the road segments associated with the aggregation point belong to the same side or the opposite side, that is, to determine whether the absolute value of the angle is greater than 90 degrees. If so, it means that there are two road segments on the opposite side, and the type of the aggregation point is determined to be a road segment connection point (for example Figure 2 If not, it means that all the road segments associated with the aggregation point belong to the same side, and the type of the aggregation point is determined to be a dead-end intersection (for example Figure 2 The dead-end intersection shown in d).

[0090] Optionally, the first direction can be obtained by connecting the center point of the aggregation point with the adjacent node of the first end point in each road segment, and whether the angle between the first directions of the two road segments is greater than 90 degrees can be determined to determine whether the two road segments are on the same side (e.g. Figure 2 If yes, then the two road sections are determined to be on opposite sides; if no, then the two road sections are determined to be on the same side.

[0091] It can be understood that the above are only possible examples of determining the types of various aggregation points given in the embodiments of the present application, and are not limited to these.

[0092] In another possible embodiment, all road sections associated with any aggregation point among at least one aggregation point include only one road section, and the specific implementation method of step S104 further includes: determining that the type of any aggregation point is a dead-end intersection.

[0093] It can be understood that if an aggregation point is associated with only one road segment, it can be directly determined that the type of the aggregation point is a dead-end intersection, and it is a one-way dead-end intersection, for example Figure 2 The dead-end intersection shown in c and Figure 3 Node 6 is shown.

[0094] S105. Based on the type of each aggregation point, the connectivity relationship between multiple road segments and between aggregation points is determined according to preset rules, and a road network is generated based on the connectivity relationship.

[0095] In a possible embodiment, the name of each aggregation point may be generated based on the type of each aggregation point. The specific method is as follows:

[0096] If the type of the aggregation point is an intersection, the names of the two road segments with the smallest name similarity are obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point;

[0097] For example, if the road names of the road sections associated with an intersection are Jianguo Road, Jianguo South Road and Diangong Road, the name of the aggregation point can be set to the intersection of Jianguo Road and Diangong Road.

[0098] If the type of the aggregation point is a dead-end intersection, the name of the aggregation point is generated by obtaining the name of any road segment from all road segments associated with the aggregation point;

[0099] Exemplarily, the name of the dead-end intersection can be generated by adding "end" to the name of any road segment.

[0100] If the type of the aggregation point is a segment connection point, set the name of the aggregation point to empty.

[0101] It can be understood that the above is only an example of generating an aggregation point name provided in an embodiment of the present application and is not limited to this.

[0102] Considering that in actual application scenarios, due to the large size of some intersections, the intersection may be divided into multiple intersections with the same name based on the aggregation points obtained in the above steps S102 and S103. For this situation, the embodiment of the present application also provides a secondary aggregation method, and the specific implementation of the method is as follows:

[0103] If there are at least two aggregation points whose types are both intersections and whose names are the same, the geometric distance between the at least two aggregation points is calculated based on the plane coordinates of the at least two aggregation points, and it is determined whether the geometric distance is less than a second distance threshold; if so, the at least two aggregation points are aggregated; if not, the names of the at least two aggregation points are modified.

[0104] It is understandable that the second distance threshold can be set according to actual needs, for example, set to 35 meters, etc. In this way, by performing secondary aggregation on aggregation points with the same name, the accuracy of the aggregation points can be improved, thereby improving the accuracy of subsequent road network construction.

[0105] Optionally, after obtaining at least one aggregation point, the information of the at least one aggregation point may be stored, and the storage format may be as shown in Table 2 below.

[0106] Table 2 Example of information of aggregation points

[0107]

[0108] It can be understood that the various data items of the aggregation point information shown in Table 2 are only possible examples and are not limited to this.

[0109] In a possible embodiment, the specific implementation of step S105 is as follows:

[0110] For any segment whose aggregation point type is an intersection or a dead-end intersection, perform the following operations:

[0111] If the type of the aggregation point to which the end point of any road section belongs is an intersection or a dead-end intersection, and the aggregation point to which the terminal of the road section belongs is different from the aggregation point to which the starting point of any road section belongs, then the aggregation point to which the end point of any road section belongs is recorded, and the any road section is determined to be a connected path between the two aggregation points;

[0112] If the type of the aggregation point to which the end point of any road segment belongs is a road segment connection point, the following operations are repeated until a road segment to which the type of the aggregation point to which the end point belongs is an intersection or a dead-end intersection is obtained:

[0113] Recording that the end point of any road segment is connected to a second road segment associated with the aggregation point and having a direction vector opposite to that of any road segment and having the same travel direction, determining that the any road segment is connected to the second road segment, and determining the type of the aggregation point to which the end point of the second road segment belongs; the same travel direction is used to indicate that the geometric distance between the direction vector of the any road segment and the direction vector of the second road segment is less than a third distance threshold;

[0114] Determine that all road segments connected between the road segments of the type of intersection or dead-end intersection from any road segment to the aggregation point to which the end point belongs are a connected path;

[0115] Combine all connected paths and all aggregation points to generate a road network.

[0116] It can be understood that the above method for determining the same traveling direction is only a possible example, and other methods may be required to be used for determination in practice.

[0117] For example, Figure 3 Taking L4 (i.e., the road section numbered 4) in the road network shown as an example, the aggregation point to which the starting point of L4 belongs is node 9, and the type of the aggregation point is an intersection;

[0118] It is determined that the aggregation point to which the end point of L4 belongs is node 4, and the type is a road segment connection point; therefore, a second road segment with a direction vector opposite to that of L4 and the same travel direction is obtained from all road segments associated with node 4, that is, the road segment whose starting point belongs to the aggregation point node 4 is first determined, L5 and L10 are obtained, and then the road segment with the same travel direction as L4 is screened, that is, L5 is obtained, and it is determined that L4 and L5 are connected;

[0119] It is determined that the aggregation point to which the end point of L5 belongs is node 7, and the type is a road segment connection point; therefore, a second road segment with a direction vector opposite to that of L5 and with the same travel direction is obtained from all road segments associated with node 7, that is, the road segment whose starting point belongs to the aggregation point, i.e., node 7, is first determined, and L9 and L11 are obtained, and then the road segment with the same travel direction as L5 is screened, i.e., L9 is obtained, and it is determined that L5 is connected with L9;

[0120] It is determined that the aggregation point to which the end point of L9 belongs is node 10, and the type is intersection. Therefore, the detection ends and it is determined that nodes 9, L4, L5, L9 and node 10 are a connected path, which can be expressed as [node 9, L4, L5, L9, node 10].

[0121] According to the method given in the above example, all connected paths can be determined, namely, {node 9: [ [node 9, L1, L2, node 1], [node 9, L4, L5, L9, node 10], [node 9, L6, node 6], [node 9, L7, L8, node 2] ], node 10: [ [node 10, L12, L11, L10, node 9], [node 10, L13, node 8] ], node 2: [ [node 2, L14, node 9] ]}, and all connected paths are combined to generate the following Figure 3 The road network shown.

[0122] Optionally, based on the specific information of the road segments and aggregation points contained in each connected path, information of each connected path, such as coordinates, road name, length, etc., can be generated, and this embodiment of the present application does not impose any restrictions on this.

[0123] In this embodiment, the aggregation points of each endpoint are generated based on the geographic location information of the road segment at the segment level, which can improve the granularity of the road network finally generated; and the type of each aggregation point is determined based on the geometric attributes of each road segment in terms of the geographic location, that is, the angle and distance between two road segments, etc., so that the type of each aggregation point, that is, the type of the traffic intersection on the road can be determined more accurately, and then according to the type of the aggregation point, the connectivity relationship between multiple road segments and between the aggregation points is determined, and the road network is generated based on the connectivity relationship, which can improve the accuracy of road network construction and reduce the cost of manual labeling.

[0124] The method provided by the embodiment of the present application is introduced above, and the device provided by the embodiment of the present application is introduced below.

[0125] Based on the same technical concept, the embodiment of the present application provides a road network construction device, which includes a module / unit / means for executing the method executed by the electronic device in the above method embodiment. The module / unit / means can be implemented by software, or by hardware, or the corresponding software can be implemented by hardware.

[0126] For example, Figure 4 As shown, the device 400 includes:

[0127] The acquisition module 401 is used to: acquire the geographical location information of two endpoints of each of the multiple road sections to be processed and the multiple road sections; the road section is used to indicate a road section on an actual road, and the road section includes at least two nodes;

[0128] Aggregation module 402, used for: dividing all nodes into at least one group based on the geographical location information of all endpoints included in the multiple road segments, wherein the distance between two endpoints in each group meets a preset distance condition; aggregating each group of endpoints in at least one group to obtain at least one aggregation point; obtaining all road segments associated with each aggregation point in at least one aggregation point, and determining the type of each aggregation point based on the angle between two road segments in all road segments at the geographical location side of the aggregation point; at least one endpoint of each road segment in all road segments belongs to the aggregation point; the type of the aggregation point is used to indicate the type of the traffic intersection;

[0129] The construction module 403 is used to: determine the connectivity relationship between multiple road segments and between aggregation points based on the type of each aggregation point according to preset rules, and generate a road network based on the connectivity relationship.

[0130] Optionally, when the aggregation module 402 divides all nodes into at least one group based on the geographic location information of all endpoints included in multiple road segments, it is used to: obtain the longitude and latitude coordinates of all endpoints in the multiple road segments, and convert the longitude and latitude coordinates into plane coordinates in a preset two-dimensional coordinate system; determine the extreme values ​​of the horizontal and vertical coordinates from the plane coordinates of all endpoints, and generate a target grid based on the extreme values ​​of the horizontal and vertical coordinates and a preset grid size; the grid size includes the number of rows and columns of the target grid; the number of sub-grids included in the target grid is the product of the number of rows and the number of columns; deploy all endpoints to each sub-grid of the target grid according to the corresponding plane coordinates; for each sub-grid in the target grid, perform the following steps: obtain at least one endpoint that is not aggregated in the sub-grid and all sub-grids adjacent to the sub-grid; calculate the geometric distance between two endpoints of at least one endpoint based on the plane coordinates, and the two endpoints belong to different road segments respectively; and divide at least two endpoints whose geometric distance is less than a first distance threshold into a group.

[0131] Optionally, when the aggregation module 402 determines the type of each aggregation point based on the angle between the geographical locations of all road sections on the aggregation point side, it is used to: determine the direction vector of each road section based on the vector composed of the first endpoint on each road section and the adjacent nodes of the first endpoint, the first endpoint belonging to the aggregation point; for any two road sections among all road sections associated with each aggregation point, perform the following operations: calculate the angle between the direction vectors of any two road sections, if the absolute value of the angle does not fall within the preset angle range, determine the type of the aggregation point to be an intersection; if the absolute value of the angle falls within the preset angle range, determine whether the absolute value of the angle is greater than ninety degrees, if so, determine the type of the aggregation point to be a road section connection point, if not, determine the type of the aggregation point to be a dead-end intersection.

[0132] Optionally, the construction module 403 determines the connectivity relationship between multiple road segments and between aggregation points according to preset rules based on the type of each aggregation point, and generates a road network based on the connectivity relationship. It is used to: if the type of the aggregation point is an intersection, then the names of the two road segments with the smallest name similarity are obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point; if the type of the aggregation point is a dead-end intersection, then the name of any road segment is obtained from all the road segments associated with the aggregation point to generate the name of the aggregation point; if the type of the aggregation point is a road segment connection point, the name of the aggregation point is set to empty.

[0133] Optionally, when the construction module 403 determines the connectivity relationship between multiple road segments and between aggregation points according to preset rules based on the type of each aggregation point, and generates a road network based on the connectivity relationship, it is also used to: if there are at least two aggregation points whose types are both intersections and the names of the at least two aggregation points are the same, then based on the plane coordinates of the at least two aggregation points, calculate the geometric distance between the at least two aggregation points, and determine whether the geometric distance is less than a second distance threshold; if so, aggregate the at least two aggregation points; if not, modify the names of the at least two aggregation points.

[0134] Optionally, when the construction module 403 determines the connectivity relationship between multiple road sections and between aggregation points according to preset rules based on the type of each aggregation point, and generates a road network based on the connectivity relationship, it is used to: for any road section whose starting point belongs to an aggregation point of an intersection or a dead-end intersection, perform the following operations: if the type of the aggregation point to which the end point of any road section belongs is an intersection or a dead-end intersection, and the aggregation point to which the terminal of the road section belongs is different from the aggregation point to which the starting point of any road section belongs, then record the aggregation point to which the end point of any road section belongs, and determine that any road section is a connected path between two aggregation points; if the type of the aggregation point to which the end point of any road section belongs is a road section connection point, repeat the operation; The following operations are performed until the type of the aggregation point to which the end point belongs is an intersection or a dead-end intersection: the end point of any road section is recorded to connect the second road section associated with the aggregation point, which is opposite to the direction vector of any road section and has the same travel direction, to determine that the any road section is connected to the second road section, and to determine the type of the aggregation point to which the end point of the second road section belongs; the same travel direction is used to indicate that the geometric distance between the direction vector of any road section and the direction vector of the second road section is less than a third distance threshold; all road sections connected between the road sections from the any road section to the aggregation point to which the end point belongs, which are intersections or dead-end intersections, are determined to be a connected path; all connected paths and all aggregation points are combined to generate a road network.

[0135] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0136] Based on the same technical concept, referring to the figure, an embodiment of the present application further provides an electronic device 500, including:

[0137] At least one processor 501; and a communication interface 503 that is communicatively connected to the at least one processor 501; the at least one processor 501 executes instructions stored in the memory 502, so that the electronic device 500 executes the method steps performed by the billboard in the above method embodiment through the communication interface 503.

[0138] Optionally, the memory 502 is located outside the electronic device 500 .

[0139] Optionally, the electronic device 500 includes the memory 502, the memory 502 is connected to the at least one processor 501, and the memory 502 has instructions that can be executed by the at least one processor 501. Figure 5 The dashed lines indicate that the memory 502 is optional for the electronic device 500 .

[0140] The at least one processor 501 and the memory 502 may be coupled via an interface circuit or may be integrated together, which is not limited here.

[0141] The specific connection medium between the at least one processor 501, the memory 502 and the communication interface 503 is not limited in the embodiment of the present application. Figure 5 In the embodiment, at least one processor 501, a memory 502 and a communication interface 503 are connected via a bus 504. Figure 5 The connection between other components is only for schematic illustration and is not intended to be limiting. The bus part may be an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 It is represented by only one thick line, but it does not mean that there is only one bus or one type of bus.

[0142] It should be understood that the processor mentioned in the embodiments of the present application can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor implemented by reading software code stored in a memory.

[0143] Exemplarily, the processor 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. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0144] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both a volatile memory and a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DirectRambus RAM, DR RAM).

[0145] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0146] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0147] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, which is used to store instructions. When the instructions are executed, the computer executes the method steps executed by any device in the above method embodiments.

[0148] Based on the same technical concept, an embodiment of the present application also provides a computer program product, including computer program code. When the computer program code is executed on a computer, the method steps executed by any device in the above method embodiment are implemented.

[0149] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A road network construction method, characterized in that: include: Acquire multiple road segments to be processed and geographic location information of two endpoints included in each of the multiple road segments; The road section is used to indicate a road section on an actual road, and the road section includes at least two nodes; Based on the geographical location information of all endpoints included in the multiple road sections, all the nodes are divided into at least one group, and the distance between two endpoints in each group meets a preset distance condition; Aggregating each group of endpoints in the at least one group to obtain at least one aggregation point; Acquire all road segments associated with each of the at least one aggregation point, and determine the type of each aggregation point based on the angle between any two of the road segments at the geographical location on the side of the aggregation point; The association is used to indicate that each aggregation point is an endpoint of each road segment in all associated road segments; the type of the aggregation point is used to indicate the type of the traffic intersection; Based on the type of each aggregation point, the connectivity relationship between the multiple road sections and between the aggregation points is determined according to preset rules, and a road network is generated based on the connectivity relationship.

2. The method according to claim 1, characterized in that The dividing all nodes into at least one group based on the geographical location information of all endpoints included in the multiple road segments includes: Obtaining the longitude and latitude coordinates of all endpoints in the plurality of road sections, and converting the longitude and latitude coordinates into plane coordinates in a preset two-dimensional coordinate system; Determine the extreme values ​​of the horizontal and vertical coordinates from the plane coordinates of all the endpoints, and generate a target grid according to the extreme values ​​of the horizontal and vertical coordinates and a preset grid size; the grid size includes the number of rows and columns of the target grid; the number of subgrids contained in the target grid is the product of the number of rows and the number of columns; Deploy all the endpoints to the respective subgrids of the target grid according to the corresponding plane coordinates; For each subgrid of the target grid, perform the following steps: Acquire at least one endpoint that is not aggregated in the subgrid and all subgrids adjacent to the subgrid; Calculating a geometric distance between two endpoints of the at least one endpoint based on the plane coordinates, wherein the two endpoints belong to two different road sections respectively; At least two endpoints whose geometric distance is smaller than a first distance threshold are divided into a group.

3. The method according to claim 2, characterized in that The dividing all nodes into at least one group based on the geographical location information of all endpoints included in the plurality of road segments further includes: If the geometric distance between any endpoint of any road segment among the multiple road segments and the endpoints of other road segments except the any road segment among the multiple road segments is not less than the first distance threshold, the any endpoint is separately divided into a group.

4. The method according to claim 1, characterized in that The determining the type of each aggregation point based on the angle between the geographical locations of all the road sections at the aggregation point side includes: Determine the direction vector of each road segment based on a vector formed by a first endpoint on each road segment and an adjacent node of the first endpoint, wherein the first endpoint belongs to the aggregation point; For any two road segments among all road segments associated with each aggregation point, perform the following operations: Calculating the angle between the direction vectors of the arbitrary two road sections, and if the absolute value of the angle does not fall within a preset angle range, determining that the type of the aggregation point is an intersection; If the absolute value of the angle belongs to the preset angle range, it is determined whether the absolute value of the angle is greater than ninety degrees. If so, the type of the aggregation point is determined to be a road section connection point. If not, the type of the aggregation point is determined to be a dead-end intersection.

5. The method according to claim 1, characterized in that All the road segments associated with any aggregation point of the at least one aggregation point include only one road segment; and determining the type of each aggregation point includes: Determine whether the type of any of the aggregation points is a dead-end intersection.

6. The method according to claim 4 or 5, characterized in that The determining, based on the type of each aggregation point, the connectivity relationship between the plurality of road sections and between the aggregation points according to a preset rule, and generating a road network based on the connectivity relationship, includes: If the type of the aggregation point is an intersection, the names of the two road sections with the smallest name similarity are obtained from all the road sections associated with the aggregation point to generate the name of the aggregation point; If the type of the aggregation point is a dead-end intersection, obtaining the name of any road segment from all road segments associated with the aggregation point to generate the name of the aggregation point; If the type of the aggregation point is a road segment connection point, the name of the aggregation point is set to empty.

7. The method according to claim 6, characterized in that The method of determining the connectivity relationship between the plurality of road sections and between the aggregation points according to a preset rule based on the type of each aggregation point, and generating a road network based on the connectivity relationship, further includes: If there are at least two aggregation points whose types are both intersections and whose names are the same, calculating the geometric distance between the at least two aggregation points based on the plane coordinates of the at least two aggregation points, and determining whether the geometric distance is less than a second distance threshold; If so, aggregate the at least two aggregation points; if not, modify the names of the at least two aggregation points.

8. The method according to claim 7, characterized in that The method of determining the connectivity relationship between the plurality of road sections and between the aggregation points according to a preset rule based on the type of each aggregation point, and generating a road network based on the connectivity relationship, further includes: For any road section where the type of the aggregation point to which the starting point belongs is the intersection or the dead-end intersection, perform the following operations: If the type of the aggregation point to which the end point of any road section belongs is the intersection or the dead-end intersection, and the aggregation point to which the end point of the road section belongs is different from the aggregation point to which the starting point of any road section belongs, then the aggregation point to which the end point of any road section belongs is recorded, and the any road section is determined to be a connected path between two aggregation points; If the type of the aggregation point to which the end point of any of the road sections belongs is a road section connection point, the following operations are repeatedly performed until the type of the aggregation point to which the end point belongs is a road section of the intersection or the dead-end intersection: record that the end point of any of the road sections is connected to a second road section associated with the aggregation point and having the same travel direction as the direction vector of any of the road sections, determine that any of the road sections is connected to the second road section, and determine the type of the aggregation point to which the end point of the second road section belongs; the same travel direction is used to indicate that the geometric distance between the direction vector of any of the road sections and the direction vector of the second road section is less than a third distance threshold; Determine that all road segments connected between the road segments of the type of the intersection or the dead-end intersection from any road segment to the aggregation point to which the end point belongs are a connected path; All connected paths and all aggregation points are combined to generate the road network.

9. A road network construction device, characterized in that: include: An acquisition module, used to: acquire the geographical location information of two endpoints included in each of the plurality of road sections to be processed and the plurality of road sections; The road section is used to indicate a road section on an actual road, and the road section includes at least two nodes; An aggregation module, configured to: divide all nodes into at least one group based on the geographical location information of all endpoints included in the plurality of road segments, wherein the distance between two endpoints in each group satisfies a preset distance condition; Aggregate each group of endpoints in the at least one group to obtain at least one aggregation point; obtain all road segments associated with each aggregation point in the at least one aggregation point, and determine the type of each aggregation point based on the angle between any two road segments in all the road segments at the geographical location on the aggregation point side; The association is used to indicate that each aggregation point is an endpoint of each road segment in all associated road segments; the type of the aggregation point is used to indicate the type of the traffic intersection; A construction module is used to: determine the connectivity relationship between the multiple road sections and between the aggregation points according to preset rules based on the type of each aggregation point, and generate a road network based on the connectivity relationship.

10. The device according to claim 9, characterized in that When the aggregation module divides all the nodes into at least one group based on the geographical location information of all the endpoints included in the multiple road segments, it is specifically used to: Obtaining the longitude and latitude coordinates of all endpoints in the plurality of road sections, and converting the longitude and latitude coordinates into plane coordinates in a preset two-dimensional coordinate system; Determine the extreme values ​​of the horizontal and vertical coordinates from the plane coordinates of all the endpoints, and generate a target grid according to the extreme values ​​of the horizontal and vertical coordinates and a preset grid size; The grid size includes the number of rows and columns of the target grid; The number of subgrids contained in the target grid is the product of the number of rows and the number of columns; Deploy all the endpoints to the respective subgrids of the target grid according to the corresponding plane coordinates; For each subgrid of the target grid, perform the following steps: Acquire at least one endpoint that is not aggregated in the subgrid and all subgrids adjacent to the subgrid; Calculating a geometric distance between two endpoints of the at least one endpoint based on the plane coordinates, wherein the two endpoints belong to two different road sections respectively; At least two endpoints whose geometric distance is smaller than a first distance threshold are divided into a group.

11. An electronic device, characterized in that: include: A memory for storing program instructions; A processor is used to call the program instructions stored in the memory, and execute the steps included in the method according to any one of claims 1 to 8 according to the obtained program instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to have a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the method according to any one of claims 1 to 8 is implemented.

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