Route transmission method and device for different-source map, computer equipment and storage medium

Abstract

The invention relates to a route transmission method and device for a different-source map, computer equipment and a storage medium. The method comprises the following steps: acquiring at least one selectable route corresponding to a guide route in a different-source map; for each selectable route, carrying out road section division on the guide route and the selectable route to obtain a target road section pair; the target road section pair comprises a guide road section in the guide route and a corresponding selectable road section in the selectable route; for each target road section pair, according to the road section attribute between the guide road section and the corresponding selectable road section, determining whether the selectable road section is a candidate road section corresponding to the guide road section; and selecting a transmission route of the guide route on the different-source map from the selectable routes where the candidate road sections are located. By adopting the method, the processing complexity of each selectable route can be reduced, so that the selected transmission route is more accurate, and the transmission route selection accuracy is further improved.

Description

Technical Field

[0001] This application relates to the field of map technology, and particularly to a method, apparatus, computer device, and storage medium for route transfer of heterogeneous maps. Background Art

[0002] With the continuous development of Internet technology, vehicle navigation functions are also constantly improving to meet navigation needs at different granularities and enhance the navigation experience. Therefore, a navigation technology that requires multiple Software Development Kits (SDKs) to cooperate to achieve navigation functions has emerged. In this process, the restoration of heterogeneous map routes between different SDKs is the key to multi-engine navigation cooperation.

[0003] Generally, in the process of route restoration based on heterogeneous map data, it is necessary to match the coordinate points of the trajectory in the original map to the corresponding roads and location points in the heterogeneous map. However, due to possible differences between the two maps in coordinate systems, projection methods, etc., there is a problem of poor accuracy in route transfer of heterogeneous maps. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a method, apparatus, computer device, and storage medium for route transfer of heterogeneous maps to improve the accuracy of route transfer results.

[0005] In a first aspect, this application provides a method for route transfer of heterogeneous maps, including:

[0006] Obtaining at least one alternative route corresponding to a guiding route in a heterogeneous map;

[0007] For each alternative route, dividing the guiding route and the alternative route into road segments to obtain target road segment pairs; the target road segment pairs include guiding road segments in the guiding route and corresponding alternative road segments in the alternative route;

[0008] For each target road segment pair, determining whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the road segment attributes between the guiding road segment and the corresponding alternative road segment;

[0009] Selecting a transfer route of the guiding route on the heterogeneous map from the alternative routes where the candidate road segments are located.

[0010] In one embodiment, determining whether an alternative section is a candidate section corresponding to a guiding section according to the section attributes between the guiding section and the corresponding alternative section includes at least one of the following: If the guiding section is a non-U-turn section and the corresponding alternative section is a non-return section, determining whether the alternative section is a candidate section corresponding to the guiding section according to the consistency of the section attributes between the guiding section and the corresponding alternative section; If the alternative section corresponding to the guiding section is a return section, determining whether the alternative section is a candidate section corresponding to the guiding section according to the shorter return route corresponding to the alternative section and the reference guiding route corresponding to the shorter return route in the original map; If the guiding section is a U-turn section, determining the target alternative section in the alternative routes according to the target position point, and identifying the candidate section corresponding to the guiding section according to the target alternative section; wherein the target position point is the projection point of the U-turn inflection point in the guiding section on the alternative section.

[0011] In one embodiment, determining whether an alternative section is a candidate section corresponding to a guiding section according to the consistency of the section attributes between the guiding section and the corresponding alternative section includes at least one of the following: Performing shape matching on the guiding section and the corresponding alternative section according to the relative position relationship between the guiding section and the corresponding alternative section, and no longer taking the alternative section with a shape mismatch as a candidate section corresponding to the guiding section; Performing guiding information matching on the guiding section and the corresponding alternative section according to the consistency of the guiding information between the guiding section and the corresponding alternative section, and no longer taking the alternative section with a guiding information mismatch as a candidate section corresponding to the guiding section; Performing road type matching on the guiding section and the corresponding alternative section according to the consistency of the road types between the guiding section and the corresponding alternative section, and no longer taking the alternative section with a road type mismatch as a candidate section corresponding to the guiding section.

[0012] In one embodiment, determining whether an alternative section is a candidate section corresponding to a guiding section according to the shorter return route corresponding to the alternative section and the reference guiding route corresponding to the shorter return route in the original map includes: Performing shape matching on the shorter return route according to the reference guiding route, and in the case of a shape mismatch, no longer taking the alternative section as a candidate section corresponding to the guiding section. In one embodiment, identifying the candidate section corresponding to the guiding section according to the target alternative section includes: If the alternative route is a U-turn road where the up and down lines are not separated, splitting the target alternative section along the target position point, and taking the splitting result as the candidate section corresponding to the guiding section.

[0013] In one embodiment, identifying a candidate section corresponding to a guiding section according to a target optional section includes: if the optional route is a U-turn road with separated up and down lines and there is no U-turn road in the optional route, splitting the target optional section along the target position point to obtain U-turn up and down line sections; performing shape matching on the U-turn up and down line sections and the guiding section according to the relative position relationship between the U-turn up and down line sections and the guiding section where the U-turn inflection point is located, and no longer taking the U-turn up and down line sections with unmatched shapes as candidate sections corresponding to the guiding section.

[0014] In one embodiment, the method further includes: when the selection of the transfer route of the guiding route on the heterogeneous map fails, obtaining the subsequent guiding route of the guiding route and the corresponding subsequent transfer route on the heterogeneous map; generating the transfer route of the guiding route in the heterogeneous map according to the end points of the subsequent transfer route and the route shape of the guiding route.

[0015] In a second aspect, the present application further provides a route transfer device for a heterogeneous map, including:

[0016] An acquisition module, configured to acquire at least one optional route corresponding to a guiding route in a heterogeneous map;

[0017] A division module, configured to perform section division on the guiding route and the optional route for each optional route to obtain a target section pair; the target section pair includes a guiding section in the guiding route and a corresponding optional section in the optional route;

[0018] A determination module, configured to determine whether the optional section is a candidate section corresponding to the guiding section according to the section attributes between the guiding section and the corresponding optional section for each target section pair;

[0019] A selection module, configured to select the transfer route of the guiding route on the heterogeneous map from the optional routes where each candidate section is located.

[0020] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0021] Acquire at least one optional route corresponding to a guiding route in a heterogeneous map;

[0022] For each optional route, perform section division on the guiding route and the optional route to obtain a target section pair; the target section pair includes a guiding section in the guiding route and a corresponding optional section in the optional route;

[0023] For each target section pair, determine whether the optional section is a candidate section corresponding to the guiding section according to the section attributes between the guiding section and the corresponding optional section;

[0024] Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where each candidate section is located.

[0025] Fourthly, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0026] Obtain at least one alternative route corresponding to the guiding route in the heterogeneous map;

[0027] For each alternative route, divide the guiding route and the alternative route into sections to obtain a target section pair; the target section pair includes the guiding section in the guiding route and the corresponding alternative section in the alternative route;

[0028] For each target section pair, determine whether the alternative section is a candidate section corresponding to the guiding section according to the section attributes between the guiding section and the corresponding alternative section;

[0029] Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where each candidate section is located.

[0030] Fifthly, the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0031] Obtain at least one alternative route corresponding to the guiding route in the heterogeneous map;

[0032] For each alternative route, divide the guiding route and the alternative route into sections to obtain a target section pair; the target section pair includes the guiding section in the guiding route and the corresponding alternative section in the alternative route;

[0033] For each target section pair, determine whether the alternative section is a candidate section corresponding to the guiding section according to the section attributes between the guiding section and the corresponding alternative section;

[0034] Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where each candidate section is located.

[0035] The above-mentioned method, apparatus, computer device and storage medium for route transfer of heterogeneous maps obtain at least one optional route corresponding to a guiding route in a heterogeneous map. For each optional route, the guiding route and the optional route are roughly divided into sections to obtain a target section pair including a guiding section in the guiding route and a corresponding optional section in the optional route, reducing the complexity of processing each optional route. Then, for each target section pair, according to the section attributes between the guiding section and the corresponding optional section, it is determined whether the optional section is a candidate section corresponding to the guiding section, improving the accuracy of candidate section selection. Finally, from the optional routes where the selected relatively accurate candidate sections are located, the transfer route of the selected guiding route on the heterogeneous map is made more accurate, further improving the accuracy of transfer route selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0037] Figure 1A It is a flowchart of the first method for route transfer of heterogeneous maps provided in this embodiment;

[0038] Figure 1B It is a schematic diagram for restoring the first guiding route provided in this embodiment;

[0039] Figure 1C It is a schematic diagram for restoring the second guiding route provided in this embodiment;

[0040] Figure 2A It is a flowchart of the first step for determining candidate sections provided in this embodiment;

[0041] Figure 2B It is a flowchart of the second step for determining candidate sections provided in this embodiment;

[0042] Figure 2C It is a flowchart of the third step for determining candidate sections provided in this embodiment;

[0043] Figure 3 It is a flowchart of the step for determining whether an optional section is a candidate section provided in this embodiment;

[0044] Figure 4 It is a flowchart of the first step for identifying candidate sections provided in this embodiment;

[0045] Figure 5Schematic diagram of the identification steps of the second candidate road section provided in this embodiment;

[0046] Figure 6A Schematic diagram of the route transfer method of the second heterogeneous map provided in this embodiment;

[0047] Figure 6B Schematic diagram of the generated transfer route of a straight guiding route provided in this embodiment;

[0048] Figure 6C Schematic diagram of the generated transfer route of a curved guiding route provided in this embodiment;

[0049] Figure 7 Block diagram of the structure of a route transfer device for heterogeneous maps provided in this embodiment;

[0050] Figure 8 Internal structure diagram of a computer device provided in this embodiment. Detailed implementation manners

[0051] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] In an exemplary embodiment, as Figure 1A shown, a route transfer method for heterogeneous maps is provided. In this embodiment, this method is exemplified by being applied to a terminal. It can be understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0053] S110, obtain at least one optional route corresponding to the guiding route in the heterogeneous map.

[0054] Among them, the guiding route can be understood as a route calculated based on other maps for guiding the vehicle to travel, and serves as the transfer basis for route transfer. The heterogeneous map can be understood as a map different from the map to which the guiding route belongs, usually a road network map stored locally. It should be noted that the SDKs used by the data sources of the heterogeneous map and other maps are usually different. The optional route can be understood as a route with the same or similar driving trajectory as the guiding route.

[0055] In an alternative implementation, for the first guiding route in the navigation path, a rectangular box with a preset length and width can be determined centered at the position of the first shape point on the guiding route; through the rectangular box, at least one road corresponding to the guiding route in the heterogeneous map is obtained as an alternative route. Among them, the rectangular box can be a rectangular box with a length of 50 meters and a width of 50 meters.

[0056] Exemplarily, the method for obtaining at least one alternative route corresponding to the guiding route in the heterogeneous map through the rectangular box can be: obtaining each original road within the area corresponding to the rectangular box; determining the angle between the direction of each original road within the rectangular box and the direction of the guiding route, and determining the distance between each original road within the rectangular box and the guiding route; selecting the original roads with an angle less than the preset angle threshold and a distance less than the preset distance threshold as the alternative routes corresponding to the guiding route.

[0057] It should be noted that in this embodiment, the alternative routes can be determined by selecting roads through the rectangular box. As the basis for road network construction, this scenario will occur when route matching starts or when there are significant differences between each route in the heterogeneous map and the guiding route during the route matching process.

[0058] In another alternative implementation, for the non-first guiding route in the navigation path, each transfer route corresponding to the previous guiding route entering this guiding route can be obtained; at least one alternative route corresponding to this guiding route is determined according to the connection relationship of the transfer routes corresponding to entering this guiding route in the heterogeneous map.

[0059] Exemplarily, according to the topological relationship in the heterogeneous map, the roads with a connection relationship among the transfer routes corresponding to the previous guiding route are selected as the alternative routes corresponding to this guiding route.

[0060] It should be noted that when selecting roads with a connection relationship, if there are multiple roads branching out such as forks, only one branching-out road is selected each time to form the alternative route for this time, and the subsequent transfer routes are determined. For example, the initial road 1 has a connection relationship with the initial road 2 and the initial road 3 respectively. Therefore, the initial road 1 and the initial road 2 can be selected to form the alternative route 1, and the initial road 1 and the initial road 3 can be selected to form the alternative route 2.

[0061] S120. For each alternative route, the guiding route and the alternative route are divided into sections to obtain target section pairs.

[0062] Among them, the target section pair can be understood as a section pair formed by sections with a matching relationship in the guiding route and the alternative route. The target section pair includes the guiding section in the guiding route and the corresponding alternative section in the alternative route.

[0063] Specifically, for each optional route, the projection point of the starting point position of the guiding route on the optional route is used as the starting point of the target road segment pair; according to the length relationship between the guiding route and the optional route, the ending point of the target road segment pair is selected; according to the starting point and the ending point of the target road segment pair, the guiding route and the optional route are divided into road segments to obtain the target road segment pair.

[0064] Exemplarily, the method for selecting the ending point of the target road segment pair according to the length relationship between the guiding route and the optional route is as follows: if the length of the guiding route is greater than the length of the optional route, the ending point position of the optional route is selected as the ending point of the target road segment pair; if the length of the guiding route is not greater than the length of the optional route, the projection of the ending point position of the guiding route on the optional route is selected as the ending point of the target road segment pair.

[0065] It should be noted that for the case where the guiding route is longer than the optional route, the ending point of the completed target road segment pair can be selected as the starting point of the next target road segment pair corresponding to the guiding route.

[0066] It should be noted that for an optional route with a length of 0, since the starting point position and the ending point position of the guiding route are the same and the direction is inaccurate, therefore, the guiding route with a length of 0 is projected onto the corresponding optional route, and the ending point of the previous target road segment pair connected by the optional route is selected as the starting point of the target road segment pair corresponding to the guiding route with a length of 0.

[0067] S130. For each target road segment pair, determine whether the optional road segment can be used as the candidate road segment corresponding to the guiding road segment according to the road segment attributes between the guiding road segment and the corresponding optional road segment.

[0068] Among them, the road segment attribute can be understood as the attribute information describing the road segment characteristics of the road segment. Exemplarily, the road segment attribute can include the shape attribute of the road segment, guiding information, and road type, etc. The shape attribute is used to standardize the extension of the road segment. The guiding information is used to represent the guiding type of the road segment, and can include at least one of turning, U-turn, and fork point, etc. The road type can include at least one of highway, urban expressway, tunnel, elevated road, main road, and auxiliary road, etc.

[0069] One optional method can be that for each target road segment pair, determine the consistency between the road segment attributes between the guiding road segment and the corresponding optional road segment; if the road segment attributes between the guiding road segment and the corresponding optional road segment are consistent, determine that the optional road segment can be used as the candidate road segment corresponding to the guiding road segment; if the road segment attributes between the guiding road segment and the corresponding optional road segment are inconsistent, determine that the optional road segment cannot be used as the candidate road segment corresponding to the guiding road segment.

[0070] Another alternative could be to determine the attributes of each section between the guiding section and the corresponding alternative sections for each pair of target road sections; for each section attribute, determine the matching degree between the guiding section and the corresponding alternative section; and based on the matching degrees corresponding to each section attribute, determine whether the alternative section is a candidate section corresponding to the guiding section.

[0071] Exemplarily, the matching degree sum of the matching degrees corresponding to each section attribute can be determined; in the case where the matching degree sum is greater than a preset matching threshold, it is determined that the alternative section can be a candidate section corresponding to the guiding section. It is also possible to determine the matching weighted value between the matching degree of the matching degrees corresponding to each section attribute and the attribute weight of the corresponding section attribute; in the case where the matching weighted value is greater than the preset matching threshold, it is determined that the alternative section can be a candidate section corresponding to the guiding section. Among them, the preset matching threshold can be set by technicians according to needs or experience, or determined repeatedly through a large number of experiments, and the present application does not make any limitation on this.

[0072] S140. Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where each candidate section is located.

[0073] Among them, the transfer route can be understood as the alternative route with the highest matching degree with the guiding route on the heterogeneous map.

[0074] One alternative implementation method is: for each alternative route, determine the matching degree of the alternative route according to the matching degrees corresponding to each candidate section in the alternative route; select the alternative route with a larger (for example, the largest) matching degree as the transfer route of the guiding route on the heterogeneous map.

[0075] Another alternative implementation method is: for each alternative route, determine the matching degree of the alternative route according to the matching degrees corresponding to each candidate section in the alternative route and the matching length of the corresponding candidate section; select the alternative route with a larger (for example, the largest) matching degree as the transfer route of the guiding route on the heterogeneous map.

[0076] Furthermore, the matching length of the corresponding candidate section can also be used as the matching weight; according to the matching weighted value between the matching degree of each candidate section in the alternative route and the corresponding matching weight, determine the matching degree of the alternative route.

[0077] It should be noted that, in order to further ensure the accuracy of the selected transfer route, in this embodiment, during the process of selecting the transfer route, if it is determined that all optional routes cannot be used as the transfer route of the guiding route on the heterogeneous map, a "backtracking" label can be marked for the guiding route; the guiding route is restored to the previously successfully restored position through algorithm caching, and the transfer route corresponding to the guiding route on the heterogeneous map is reselected. At this time, if the reselected optional route still cannot be used as the transfer route corresponding to the guiding route on the heterogeneous map, it is considered that the guiding route cannot be restored to the heterogeneous map, and the transfer route can be made in the heterogeneous map according to the section attributes of the guiding route.

[0078] Exemplarily, as Figure 1B shown in the first schematic diagram of guiding route restoration, the guiding route (shown as the black line in the figure) in the figure can be completely restored to the transfer route (shown as the green line in the figure), that is, the positions of the guiding route and the transfer route overlap on the heterogeneous map. As Figure 1C shown in the second schematic diagram of guiding route restoration, there are differences in the restored positions of the guiding route (shown as the black line in the figure) and the transfer route (shown as the green line in the figure).

[0079] For the above-mentioned route transfer method of the heterogeneous map, at least one optional route corresponding to the guiding route in the heterogeneous map is obtained. For each optional route, the guiding route and the optional route are roughly divided into sections, and a target section pair including the guiding section in the guiding route and the corresponding optional section in the optional route is obtained, reducing the complexity of processing each optional route. Then, for each target section pair, according to the section attributes between the guiding section and the corresponding optional section, it is determined whether the optional section is a candidate section corresponding to the guiding section, improving the accuracy of candidate section selection. Finally, from the optional routes where the selected relatively accurate candidate sections are located, the transfer route of the selected guiding route on the heterogeneous map is made more accurate, further improving the accuracy of transfer route selection.

[0080] Based on the technical solutions of the above embodiments, the present application also provides some optional embodiments. In this embodiment, the determination method of whether the optional section is a candidate section corresponding to the guiding section is described in detail.

[0081] In an optional embodiment, referring to Figure 2A the determination steps of whether the optional section is a candidate section corresponding to the guiding section shown, include:

[0082] S210A, if the guiding section is a non-U-turn section and the corresponding optional section is a non-return section, then according to the consistency of the section attributes between the guiding section and the corresponding optional section, it is determined whether the optional section is a candidate section corresponding to the guiding section.

[0083] Among them, the U-turn section can be understood as a section with two-way driving characteristics; the turning-back section can be understood as a section where the running vehicle turns around its driving direction.

[0084] Specifically, if it is determined that the guiding section is not a turning-back section and the corresponding optional section is not a U-turn section, no special processing is required, and the consistency of other section attributes between the guiding section and the corresponding optional section can be further determined; if they are consistent, the optional section is determined as the candidate section corresponding to the guiding section; if they are inconsistent, the optional section cannot be determined as the candidate section corresponding to the guiding section.

[0085] Optionally, the optional way to determine that the guiding section is not a turning-back section is: determine whether the guiding information of the guiding section contains a U-turn; if not, determine that the guiding section is not a turning-back section, and vice versa, determine that the guiding section is a turning-back section.

[0086] Optionally, the optional way to determine that the optional section is a turning-back section is: determine whether the optional route to which the optional section belongs is a turning-back route; in the case where the optional route corresponding to the optional section is a turning-back route, determine whether the optional section is a turning-back section according to the guiding information of the optional section.

[0087] Exemplarily, the way to determine whether the optional route to which the optional section belongs is a turning-back route is: determine whether the turning-back condition is satisfied between the optional route to which the optional section belongs and the adjacent optional route; if it is satisfied, determine that the optional route is a turning-back route; otherwise, determine that the optional route is not a turning-back route. Among them, the turning-back condition can be that the road signs of the optional route and the adjacent optional route are the same, and the direction of the optional section is opposite to that of the adjacent section.

[0088] Exemplarily, the way to determine whether the optional section is a turning-back section according to the guiding information of the optional section is: determine whether the guiding information of the optional section corresponding to the guiding section contains a U-turn; if it contains, it proves that the optional section is a turning-back section; if it does not contain, determine the included angle between the guiding section and the optional section, and in the case where the included angle is greater than the preset included angle threshold (such as 150°), determine that the optional section corresponding to the guiding section is a turning-back section. Among them, the preset included angle threshold can be set by those skilled in the art according to needs or experience, or determined repeatedly through a large number of experiments, and the present application does not make any limitation thereto.

[0089] In another optional embodiment, referring to Figure 2B the steps of determining whether the shown optional section is a candidate section corresponding to the guiding section include:

[0090] S210B, if the optional section corresponding to the guiding section is a turning-back section, then determine whether the optional section is a candidate section corresponding to the guiding section according to the shorter turning-back route corresponding to the optional section and the reference guiding route corresponding to the shorter turning-back route in the original map.

[0091] One optional implementation is as follows: If the optional section corresponding to the guiding section is a U-turn section, then according to the shorter U-turn route corresponding to the optional section, a reference guiding route corresponding to the shorter U-turn route is selected from the original map; the consistency between the shorter U-turn route and the reference guiding route is determined; if they are consistent, it is determined whether the optional section is a candidate section corresponding to the guiding section; if they are inconsistent, it cannot be determined whether the optional section is a candidate section corresponding to the guiding section, and a preset matching degree is set between the optional section and the guiding section.

[0092] Another optional implementation is as follows: If the optional section corresponding to the guiding section is a U-turn section, then the shape of the shorter U-turn route is matched according to the reference guiding route; in the case of shape mismatch, the optional section is no longer used as a candidate section corresponding to the guiding section.

[0093] Exemplarily, the area of the region formed between the reference guiding route and the shorter U-turn route is determined; in the case where the area of the region is greater than the preset area threshold, it is determined that the shapes of the reference guiding route and the shorter U-turn route do not match, and the optional section is no longer used as a candidate section corresponding to the guiding section; in the case where the area of the region is not greater than the preset area threshold, it is determined that the shapes of the reference guiding route and the shorter U-turn route match, and the optional section is used as a candidate section corresponding to the guiding section, and the shape area is used as the matching degree of the candidate section.

[0094] In yet another optional embodiment, referring to Figure 2C the determination steps for whether the shown optional section is a candidate section corresponding to the guiding section include:

[0095] S210C, if the guiding section is a U-turn section, based on the target position point, the target optional section in the optional route is determined, and based on the target optional section, the candidate section corresponding to the guiding section is identified.

[0096] Among them, the target position point is the projection point of the U-turn inflection point in the guiding section on the optional section. It should be noted that since the determination methods of the U-turn inflection points of different U-turn sections may be different, therefore, the projection point of the U-turn inflection point in the guiding section on the optional section can be used as the target position point of the optional section. The advantage of doing this is that it can improve the efficiency of determining the U-turn inflection point in the optional section, lay a foundation for subsequently determining the target optional section based on the target position point, and further improve the recognition efficiency of the candidate section.

[0097] Specifically, if the guiding section is a U-turn section, then the projection point corresponding to the U-turn inflection point in the guiding section on the optional route is selected as the target position point; the optional section to which the target position point belongs in the optional route is selected as the target optional section; the target optional section is used as the candidate section corresponding to the guiding section.

[0098] In the above embodiments, according to the different road section attributes of the guiding road section or the corresponding optional road sections of the guiding road section, by different methods to determine whether an optional road section is a candidate road section corresponding to the guiding road section, the selection of candidate road sections can be completed more efficiently. At the same time, setting different candidate road section selection methods for different road section attributes improves the accuracy of candidate road section selection, laying a foundation for accurately selecting a transfer route according to the candidate road sections subsequently, and contributing to improving the accuracy of transfer route selection.

[0099] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this embodiment, the method for determining whether an optional road section is a candidate road section corresponding to the guiding road section according to the consistency of the road section attributes between the guiding road section and the corresponding optional road sections is described in detail.

[0100] See Figure 3 The steps for determining whether the shown optional road section is a candidate road section include:

[0101] S310, according to the relative position relationship between the guiding road section and the corresponding optional road section, perform shape matching on the guiding road section and the corresponding optional road section, and no longer use the optional road section with unmatched shape as the candidate road section corresponding to the guiding road section.

[0102] Specifically, according to the relative position relationship between the guiding road section and the corresponding optional road section, determine the area of the region between the guiding road section and the corresponding optional road section; if the area of the region is not greater than a preset area threshold, determine that the guiding road section and the corresponding optional road section have matching shapes, and use the optional road section as the candidate road section corresponding to the guiding road section; if the area of the region is greater than the preset area threshold, determine that the guiding road section and the corresponding optional road section have unmatched shapes, and do not need to use it as the candidate road section corresponding to the guiding road section.

[0103] Optionally, according to the relative position relationship between the guiding road section and the corresponding optional road section, determining the area of the region between the guiding road section and the corresponding optional road section can be: dividing the guiding road section and the corresponding optional road section into equal-length vector segments respectively; for the segmentation points between adjacent two vector segments, determine the distance value between the position on the guiding road section corresponding to the segmentation point and the position on the optional road section corresponding to the segmentation point, and use this distance value as the distance value corresponding to the segmentation point; determine the average value of the sum of all the distance values corresponding to the segmentation points, and use the average value as the area of the region between the guiding road section and the corresponding optional road section. It can also be: dividing the guiding road section and the corresponding optional road section into equal-length vector segments respectively; for each equal-length vector segment, determine the initial area between the equal-length vector segment corresponding guiding road section and the corresponding optional road section; use the sum value of all the initial areas corresponding to the equal-length vector segments as the area of the region between the guiding road section and the corresponding optional road section.

[0104] S320. According to the consistency of the guiding information between the guiding section and the corresponding optional section, perform guiding information matching on the guiding section and the corresponding optional section, and no longer use the optional section with unmatched guiding information as the candidate section corresponding to the guiding section.

[0105] Specifically, according to the angle difference between the optional section corresponding to the guiding section and the next optional section corresponding to this optional section; according to the guiding information of the guiding section and the turning trend of the angle difference between the optional section and the next optional section, perform guiding information matching on the guiding section and the corresponding optional section; if they match, the optional section can be used as the candidate section corresponding to the guiding section; if they do not match, the optional section will no longer be used as the candidate section corresponding to the guiding section.

[0106] Exemplarily, if the guiding information of the guiding section is to turn right, and the angle difference between the optional section and the next optional section has no right-turning trend, it is determined that the guiding information of the guiding section and the corresponding optional section does not match. Among them, the right-turning trend can be that the angle difference is greater than the first preset angle (such as -10°), with due east being 0 and clockwise being negative. If the guiding information of the guiding section is to turn left, and the angle difference between the optional section and the next optional section has no left-turning trend, it is determined that the guiding information of the guiding section and the corresponding optional section does not match. Among them, the left-turning trend can be that the angle difference is less than the second preset angle (such as 10°), with due east being 0 and clockwise being negative. If the guiding information of the guiding section is a U-turn, and the angle difference between the optional section and the next optional section has no U-turning trend, it is determined that the guiding information of the guiding section and the corresponding optional section does not match. Among them, the U-turning trend can be that the angle difference is greater than the third preset angle (such as 100°), with due east being 0 and clockwise being negative. The first preset angle, the second preset angle, and the third preset angle can all be set by technicians according to needs or experience, or determined repeatedly through a large number of tests. This application does not make any limitations on this.

[0107] S330. According to the consistency of the road types between the guiding section and the corresponding optional section, perform road type matching on the guiding section and the corresponding optional section, and no longer use the optional section with unmatched road types as the candidate section corresponding to the guiding section.

[0108] Specifically, determine whether the road types between the guiding section and the corresponding optional section are consistent; if they are consistent, it is determined that the road types of the guiding section and the corresponding optional section match, and the optional section can be used as the candidate section corresponding to the guiding section; if they are inconsistent, it is determined that the road types of the guiding section and the corresponding optional section do not match, and the optional section will no longer be used as the candidate section corresponding to the guiding section.

[0109] Exemplarily, if the road type of the guiding section is highway and the road type of the corresponding optional section is urban expressway, it is determined that the road types of the guiding section and the corresponding optional section do not match, and the optional section cannot be used as the candidate section corresponding to the guiding section. Therefore, the optional section is deleted; if the road type of the guiding section is highway and the road type of the corresponding optional section is highway, it is determined that the road types of the guiding section and the corresponding optional section match, and the optional section can be used as the candidate section corresponding to the guiding section. Therefore, the optional section is retained.

[0110] It should be noted that in this embodiment, different candidate section determination methods can be executed for different section attributes. Among them, step S310 is a method of determining candidate sections by shape matching between the guiding section and the corresponding optional section, step S320 is a method of determining candidate sections by guiding information matching between the guiding section and the corresponding optional section, and step S330 is a method of determining candidate sections by road type matching between the guiding section and the corresponding optional section. Steps S310, S320, and S330 do not have a sequential order and can be executed in parallel or serially.

[0111] In the above embodiment, according to the different section attributes of the guiding section or the optional section corresponding to the guiding section, different methods are used to determine whether the optional section is the candidate section corresponding to the guiding section, which can more efficiently complete the selection of candidate sections. At the same time, different candidate section selection methods are set for different section attributes, improving the accuracy of candidate section selection, laying a foundation for accurately selecting the transfer route according to the candidate section, and helping to improve the accuracy of transfer route selection.

[0112] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this embodiment, for the case where the optional route is a U-turn road with non-separated up and down lines, an identification method for the candidate section corresponding to the guiding section is provided and described in detail.

[0113] See Figure 4 The identification steps of the candidate section corresponding to the guiding section shown in

[0114] S410, split the target optional section along the target position point, and use the split result as the candidate section corresponding to the guiding section.

[0115] Among them, the U-turn road where the upper and lower lines are not separated can be understood as that there is a U-turn road for connecting the forward optional section and the reverse optional section in the optional route. Optionally, the determination method for the optional route to be a U-turn road where the upper and lower lines are not separated is: determine whether the optional route corresponding to the target optional section contains a U-turn section. If it contains, it proves that the optional route is a U-turn road where the upper and lower lines are not separated; if it does not contain, it proves that the optional route is a U-turn road where the upper and lower lines are separated.

[0116] Exemplarily, if the optional route is a U-turn road where the upper and lower lines are not separated, then taking the target position point as the splitting point, split the target optional section; select a part of the target optional section along the direction of the target position point as the splitting result; use the splitting result as the candidate section corresponding to the guiding section.

[0117] In the above embodiments, when the guiding section is a U-turn road, further determine the type of the U-turn road. For the optional route with a U-turn road, only need to identify the U-turn inflection point in the U-turn road, then the U-turn road can be split, which improves the splitting efficiency of the target optional section, lays a foundation for efficiently determining the candidate section subsequently, and further improves the recognition efficiency of the candidate section.

[0118] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this embodiment, for the case where the optional route is a U-turn road with upper and lower lines separated, a recognition method for the candidate section corresponding to the guiding section is provided and described in detail.

[0119] See Figure 5 The recognition steps of the candidate section corresponding to the guiding section shown in, include:

[0120] S510, when there is no U-turn road in the optional route, split the target optional section along the target position point to obtain the U-turn upper and lower line sections.

[0121] Specifically, if there is no U-turn road in the optional route, take the target position point as the center, set a rectangular frame with a preset length and width, select the U-turn road from the target optional section through the rectangular frame; select the U-turn road along the direction of the target position point as the upper and lower line sections.

[0122] S520, according to the relative position relationship between the U-turn upper and lower line sections and the guiding section where the U-turn inflection point is located, perform shape matching on the U-turn upper and lower line sections and the guiding section, and no longer use the U-turn upper and lower line sections with unmatched shapes as the candidate sections corresponding to the guiding section.

[0123] Specifically, the distance and / or angle between the U-turn up and down line segment and the guide section is determined according to the relative position relationship between the U-turn up and down line segment and the guide section where the U-turn turning point is located; shape matching is performed on the U-turn up and down line segment and the guide section according to the distance and / or angle; if the shapes match, the U-turn up and down line segment is used as a candidate section corresponding to the guide section, and the U-turn up and down line segment is retained; if the shapes do not match, the U-turn up and down line segment cannot be used as a candidate section corresponding to the guide section, and the U-turn up and down line segment is deleted.

[0124] Exemplarily, this embodiment can determine that the U-turn up and down route segment does not match the shape of the guide section when it is determined that the distance is greater than a preset distance threshold (such as 30 meters); it can also determine that the U-turn up and down route segment does not match the shape of the guide section when it is determined that the angle is greater than a preset angle threshold (such as 50°); it can also determine that the U-turn up and down route segment does not match the shape of the guide section when it is determined that the distance is greater than a preset distance threshold and the angle is greater than a preset angle threshold. Among them, the preset distance threshold and the preset angle threshold can be set by the technician according to needs or experience, or determined repeatedly through a large number of experiments, and this application does not impose any limitation on this.

[0125] In the above embodiment, for the optional routes without U-turn roads, it is necessary to first identify the U-turn on / off line segments in the optional routes, supplement and improve the optional routes, improve the accuracy of the optional routes, and then determine whether the U-turn on / off line segments can be used as candidate sections, thereby improving the accuracy of candidate section selection.

[0126] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this embodiment, a route transmission method of heterogeneous maps is described in detail.

[0127] See also Figure 6A The route delivery method for heterogeneous maps shown includes:

[0128] S610, when the transmission route selection of the guidance route on the heterogeneous map fails, obtaining a subsequent guidance route of the guidance route and a corresponding subsequent transmission route on the heterogeneous map.

[0129] The subsequent guidance route can be understood as a route corresponding to a newly added road on the guidance route. The subsequent transfer route can be understood as a route that is the same or similar to the driving trajectory of the subsequent guidance route on a heterogeneous map.

[0130] Specifically, in the process of selecting a transmission route for the guidance route on the heterogeneous map, if the selection fails, a new road that is connected to the guidance route is selected along the direction of the guidance route as the subsequent guidance route; the projection point corresponding to the guidance starting point of the subsequent guidance route on the heterogeneous map is used as the transmission starting point of the subsequent transmission route; the projection point corresponding to the guidance end point of the subsequent guidance route on the heterogeneous map is used as the transmission end point of the subsequent transmission route; and the route between the transmission starting point and the transmission end point is selected on the heterogeneous map as the subsequent transmission route.

[0131] S620: Generate a transmission route of the guidance route in the heterogeneous map according to the endpoints of the subsequent transmission route and the route shape of the guidance route.

[0132] Specifically, the route shape of the guidance route is determined; if the route shape is a straight line, a straight line vector segment is set between the endpoints of the consecutive transmission routes, and the straight line vector segment is used as the transmission route of the guidance route in the heterogeneous map; if the route shape is a non-straight line, a smooth curve shape point is generated between the two endpoints of the consecutive transmission routes, the two end points are connected with each curve shape point to form a smooth curve, and the smooth curve is used as the transmission route of the guidance route in the heterogeneous map.

[0133] For example, Figure 6B The schematic diagram of the transmission route generation of the straight line guidance route is shown. The black line in the figure is the guidance route, and the green line is the transmission route. In the process of matching the transmission route for the guidance route, if there is a situation where the transmission route selection fails, the continuous guidance route of the guidance route is determined (as shown by the black line between the A end point and the B end point in the figure). When the route shape of the guidance route is determined to be a straight line, a straight line vector segment is generated between the two end points of the continuous transmission route (the A end point and the B end point in the figure), and the straight line vector segment is used as the transmission route of the guidance route (as shown by the pink line in the figure).

[0134] For example, Figure 6C The schematic diagram of the transfer route generation of the curved guidance route is shown. The black line in the figure is the guidance route, and the green line is the transfer route. In the process of matching the transfer route for the guidance route, if there is a situation where the transfer route selection fails, the continued guidance route of the guidance route is determined (shown by the black line between the A end point and the B end point in the figure). When the route shape of the guidance route is determined to be a curve, a smooth curve is generated between the two end points of the continued transfer route (the C end point and the B end point in the figure), and the smooth curve is used as the transfer route of the guidance route (shown by the pink line in the figure).

[0135] In the above embodiments, if the selection of the transfer route fails, the transfer route of the failed part in the guiding route can be generated by continuing the guiding route, avoiding re-matching the transfer route of the guiding route in the heterogeneous map, improving the generation efficiency and accuracy of the transfer route corresponding to the continued guiding route in the case of failed transfer route selection, and further improving the accuracy of determining the transfer route.

[0136] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0137] Based on the same inventive concept, the embodiments of the present application also provide a route transfer device for a heterogeneous map for implementing the route transfer method for a heterogeneous map involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the route transfer device for a heterogeneous map provided below can refer to the limitations on the route transfer method for a heterogeneous map in the above text, and will not be repeated here.

[0138] In an exemplary embodiment, as Figure 7 shown, a route transfer device for a heterogeneous map is provided, including: an acquisition module 710, a division module 720, a determination module 730, and a selection module 740, where:

[0139] The acquisition module 710 is configured to acquire at least one optional route corresponding to the guiding route in the heterogeneous map;

[0140] The division module 720 is configured to, for each optional route, divide the guiding route and the optional route into road segments to obtain a target road segment pair; the target road segment pair includes a guiding road segment in the guiding route and a corresponding optional road segment in the optional route;

[0141] The determination module 730 is configured to, for each target road segment pair, determine whether the optional road segment is a candidate road segment corresponding to the guiding road segment according to the road segment attributes between the guiding road segment and the corresponding optional road segment;

[0142] A selection module 740 is configured to select a transfer route of the guiding route on a heterogeneous map from the alternative routes where each candidate section is located.

[0143] In one embodiment, the determination module 730 further includes: an ordinary section determination unit, configured to, if the guiding section is a non-U-turn section and the corresponding alternative section is a non-return section, determine whether the alternative section is a candidate section corresponding to the guiding section according to the consistency of the section attributes between the guiding section and the corresponding alternative section; a return section determination unit, configured to, if the alternative section corresponding to the guiding section is a return section, determine whether the alternative section is a candidate section corresponding to the guiding section according to the shorter return route corresponding to the alternative section and the reference guiding route corresponding to the shorter return route in the original map; a U-turn section determination unit, configured to, if the guiding section is a U-turn section, determine a target alternative section in the alternative route according to the target position point, and identify a candidate section corresponding to the guiding section according to the target alternative section; wherein the target position point is the projection point of the U-turn inflection point in the guiding section on the alternative section.

[0144] In one embodiment, the ordinary section determination unit is further configured to perform shape matching on the guiding section and the corresponding alternative section according to the relative position relationship between the guiding section and the corresponding alternative section, and no longer use the alternative section with a shape mismatch as a candidate section corresponding to the guiding section; perform guiding information matching on the guiding section and the corresponding alternative section according to the consistency of the guiding information between the guiding section and the corresponding alternative section, and no longer use the alternative section with a mismatch in guiding information as a candidate section corresponding to the guiding section; perform road type matching on the guiding section and the corresponding alternative section according to the consistency of the road types between the guiding section and the corresponding alternative section, and no longer use the alternative section with a road type mismatch as a candidate section corresponding to the guiding section.

[0145] In one embodiment, the return section determination unit is further configured to perform shape matching on the shorter return route according to the reference guiding route, and in the case of a shape mismatch, no longer use the alternative section as a candidate section corresponding to the guiding section.

[0146] In one embodiment, the U-turn section determination unit is further configured to, if the alternative route is a U-turn road where the up and down lines are not separated, split the target alternative section along the target position point, and use the splitting result as a candidate section corresponding to the guiding section.

[0147] In one embodiment, the U-turn section determination unit is also used for, if the optional route is a U-turn road with separated upper and lower lines, in the absence of a U-turn road in the optional route, splitting the target optional section along the target position point to obtain a U-turn upper and lower line section; performing shape matching between the U-turn upper and lower line sections and the guiding section where the U-turn turning point is located according to the relative position relationship between the U-turn upper and lower line sections and the guiding section where the U-turn turning point is located, and no longer using the U-turn upper and lower line sections with shapes that do not match as candidate sections corresponding to the guiding section.

[0148] In one embodiment, the route transmission device of the heterogeneous map further includes:

[0149] The failure module is used to obtain the subsequent guidance route of the guidance route and the corresponding subsequent transmission route on the heterogeneous map when the transmission route selection of the guidance route on the heterogeneous map fails; generate the transmission route of the guidance route in the heterogeneous map according to the endpoints of the subsequent transmission route and the route shape of the guidance route.

[0150] Each module in the route transmission device of the heterogeneous map can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0151] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a route transmission method of a heterogeneous map is implemented.

[0152] Those skilled in the art will understand that Figure 8The structure shown is only a block diagram of some of the structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0153] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0154] Obtain at least one alternative route corresponding to the guiding route in a heterogeneous map;

[0155] For each alternative route, divide the guiding route and the alternative route into road segments to obtain target road segment pairs; the target road segment pairs include the guiding road segments in the guiding route and the corresponding alternative road segments in the alternative route;

[0156] For each target road segment pair, determine whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the road segment attributes between the guiding road segment and the corresponding alternative road segment;

[0157] Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where the candidate road segments are located.

[0158] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the guiding road segment is a non-U-turn road segment and the corresponding alternative road segment is a non-return road segment, determine whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the consistency of the road segment attributes between the guiding road segment and the corresponding alternative road segment; if the alternative road segment corresponding to the guiding road segment is a return road segment, determine whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the shorter return route corresponding to the alternative road segment and the reference guiding route corresponding to the shorter return route in the original map; if the guiding road segment is a U-turn road segment, determine the target alternative road segment in the alternative route according to the target position point, and identify the candidate road segment corresponding to the guiding road segment according to the target alternative road segment; where the target position point is the projection point of the U-turn inflection point in the guiding road segment on the alternative road segment.

[0159] In one embodiment, when the processor executes the computer program, the following steps are also implemented: according to the relative position relationship between the guide segment and the corresponding optional segment, the guide segment and the corresponding optional segment are matched in shape, and the optional segment with mismatched shape is no longer used as a candidate segment corresponding to the guide segment; according to the consistency of the guidance information between the guide segment and the corresponding optional segment, the guide information is matched between the guide segment and the corresponding optional segment, and the optional segment with mismatched guidance information is no longer used as a candidate segment corresponding to the guide segment; according to the consistency of the road type between the guide segment and the corresponding optional segment, the guide segment and the corresponding optional segment are matched in road type, and the optional segment with mismatched road type is no longer used as a candidate segment corresponding to the guide segment.

[0160] In one embodiment, when the processor executes the computer program, the following steps are further implemented: shape matching is performed on the shorter return route according to the reference guidance route, and when the shape does not match, the optional segment is no longer used as a candidate segment corresponding to the guidance segment.

[0161] In one embodiment, when the processor executes the computer program, the following steps are also implemented: if the optional route is a U-turn road with inseparable upper and lower lines, the target optional section is split along the target position point, and the split result is used as a candidate section corresponding to the guide section.

[0162] In one embodiment, the processor further implements the following steps when executing the computer program: if the optional route is a U-turn road with separated upper and lower lines, and there is a lack of a U-turn road in the optional route, the target optional road section is split along the target position point to obtain a U-turn upper and lower line section; based on the relative position relationship between the U-turn upper and lower line sections and the guiding road section where the U-turn turning point is located, the U-turn upper and lower line sections are shape matched with the guiding road section, and the U-turn upper and lower line sections with mismatched shapes are no longer used as candidate sections corresponding to the guiding road section.

[0163] In one embodiment, the processor further implements the following steps when executing the computer program: in the event that the selection of the transfer route of the guidance route on the heterogeneous map fails, obtaining the subsequent guidance route of the guidance route and the corresponding subsequent transfer route on the heterogeneous map; generating the transfer route of the guidance route in the heterogeneous map according to the endpoints of the subsequent transfer route and the route shape of the guidance route.

[0164] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0165] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0166] Obtain at least one alternative route corresponding to the guiding route in a heterogeneous map;

[0167] For each alternative route, divide the guiding route and the alternative route into road segments to obtain target road segment pairs; the target road segment pairs include the guiding road segments in the guiding route and the corresponding alternative road segments in the alternative route;

[0168] For each target road segment pair, determine whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the road segment attributes between the guiding road segment and the corresponding alternative road segment;

[0169] Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where the candidate road segments are located.

[0170] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the guiding road segment is a non-U-turn road segment and the corresponding alternative road segment is a non-return road segment, determine whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the consistency of the road segment attributes between the guiding road segment and the corresponding alternative road segment; if the alternative road segment corresponding to the guiding road segment is a return road segment, determine whether the alternative road segment is a candidate road segment corresponding to the guiding road segment according to the shorter return route corresponding to the alternative road segment and the reference guiding route corresponding to the shorter return route in the original map; if the guiding road segment is a U-turn road segment, determine the target alternative road segment in the alternative route according to the target position point, and identify the candidate road segment corresponding to the guiding road segment according to the target alternative road segment; wherein, the target position point is the projection point of the U-turn inflection point in the guiding road segment on the alternative road segment.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: perform shape matching on the guiding road segment and the corresponding alternative road segment according to the relative position relationship between the guiding road segment and the corresponding alternative road segment, and no longer use the alternative road segments with unmatched shapes as candidate road segments corresponding to the guiding road segment; perform guiding information matching on the guiding road segment and the corresponding alternative road segment according to the consistency of the guiding information between the guiding road segment and the corresponding alternative road segment, and no longer use the alternative road segments with unmatched guiding information as candidate road segments corresponding to the guiding road segment; perform road type matching on the guiding road segment and the corresponding alternative road segment according to the consistency of the road types between the guiding road segment and the corresponding alternative road segment, and no longer use the alternative road segments with unmatched road types as candidate road segments corresponding to the guiding road segment.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: perform shape matching on the shorter return route according to the reference guiding route, and in the case of unmatched shapes, no longer use the alternative road segment as a candidate road segment corresponding to the guiding road segment.

[0173] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the alternative route is a U-turn road where the up and down lines are not separated, the target alternative section is split along the target position point, and the split result is used as the candidate section corresponding to the guiding section.

[0174] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the alternative route is a U-turn road where the up and down lines are separated, and in the case where there is no U-turn road in the alternative route, the target alternative section is split along the target position point to obtain the U-turn up and down line sections; according to the relative position relationship between the U-turn up and down line sections and the guiding section where the U-turn inflection point is located, the shapes of the U-turn up and down line sections and the guiding section are matched, and the U-turn up and down line sections with unmatched shapes are no longer used as the candidate sections corresponding to the guiding section.

[0175] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: In the case where the selection of the transfer route of the guiding route on the heterogeneous map fails, obtain the subsequent guiding route of the guiding route, and the corresponding subsequent transfer route on the heterogeneous map; according to the endpoints of the subsequent transfer route and the route shape of the guiding route, generate the transfer route of the guiding route in the heterogeneous map.

[0176] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor implements the following steps:

[0177] In an exemplary embodiment, a computer device is provided, including a memory and a processor, where a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0178] Obtain at least one alternative route corresponding to the guiding route in the heterogeneous map;

[0179] For each alternative route, divide the guiding route and the alternative route into sections to obtain a target section pair; the target section pair includes the guiding section in the guiding route and the corresponding alternative section in the alternative route;

[0180] For each target section pair, determine whether the alternative section is used as the candidate section corresponding to the guiding section according to the section attributes between the guiding section and the corresponding alternative section;

[0181] Select the transfer route of the guiding route on the heterogeneous map from the alternative routes where the candidate sections are located.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the guiding section is a non-U-turn section and the corresponding optional section is a non-return section, determine whether the optional section is a candidate section corresponding to the guiding section according to the consistency of the road section attributes between the guiding section and the corresponding optional section; If the optional section corresponding to the guiding section is a return section, determine whether the optional section is a candidate section corresponding to the guiding section according to the shorter return route corresponding to the optional section and the reference guiding route corresponding to the shorter return route in the original map; If the guiding section is a U-turn section, determine the target optional section in the optional routes according to the target position point, and identify the candidate section corresponding to the guiding section according to the target optional section; wherein, the target position point is the projection point of the U-turn inflection point in the guiding section on the optional section.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: Perform shape matching on the guiding section and the corresponding optional section according to the relative position relationship between the guiding section and the corresponding optional section, and no longer use the optional section with unmatched shape as the candidate section corresponding to the guiding section; Perform guiding information matching on the guiding section and the corresponding optional section according to the consistency of the guiding information between the guiding section and the corresponding optional section, and no longer use the optional section with unmatched guiding information as the candidate section corresponding to the guiding section; Perform road type matching on the guiding section and the corresponding optional section according to the consistency of the road types between the guiding section and the corresponding optional section, and no longer use the optional section with unmatched road type as the candidate section corresponding to the guiding section.

[0184] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: Perform shape matching on the shorter return route according to the reference guiding route, and in the case of unmatched shape, no longer use the optional section as the candidate section corresponding to the guiding section.

[0185] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the optional route is a U-turn road with non-separated upper and lower lines, split the target optional section along the target position point, and use the split result as the candidate section corresponding to the guiding section.

[0186] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the optional route is a U-turn road with separated upper and lower lines and the U-turn road is missing in the optional route, split the target optional section along the target position point to obtain the U-turn upper and lower line sections; Perform shape matching on the U-turn upper and lower line sections and the guiding section according to the relative position relationship between the U-turn upper and lower line sections and the guiding section where the U-turn inflection point is located, and no longer use the U-turn upper and lower line sections with unmatched shape as the candidate sections corresponding to the guiding section.

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: in the case where the selection of the transfer route of the guiding route on the heterogeneous map fails, obtain the subsequent guiding route of the guiding route and the corresponding subsequent transfer route on the heterogeneous map; generate the transfer route of the guiding route in the heterogeneous map according to the end points of the subsequent transfer route and the route shape of the guiding route.

[0188] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0189] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0190] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0191] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A route transmission method of a heterogeneous map, characterized in that: include: Obtaining at least one optional route corresponding to the guidance route in the heterogeneous map; For each optional route, dividing the guidance route and the optional route into sections to obtain a target section pair; The target road segment pair includes a guide road segment in the guide route and a corresponding optional road segment in the optional route; For each target road segment pair, determining whether the optional road segment is used as a candidate road segment corresponding to the guide road segment according to the road segment attributes between the guide road segment and the corresponding optional road segment; A transmission route of the guidance route on the heterogeneous map is selected from the optional routes where each of the candidate road sections is located.

2. The method according to claim 1, characterized in that The step of determining whether the optional road segment is used as a candidate road segment corresponding to the guide road segment according to the road segment attribute between the guide road segment and the corresponding optional road segment includes at least one of the following: If the guide section is a non-U-turn section and the corresponding optional section is a non-turnaround section, determining whether the optional section is a candidate section corresponding to the guide section according to the consistency of the section attributes between the guide section and the corresponding optional section; If the optional road section corresponding to the guide road section is a return road section, determining whether the optional road section is a candidate road section corresponding to the guide road section according to a shorter return route corresponding to the optional road section and a reference guide route corresponding to the shorter return route in the original map; If the guide section is a U-turn section, the target optional section in the optional route is determined according to the target position point, and the candidate section corresponding to the guide section is identified according to the target optional section; wherein the target position point is the projection point of the U-turn turning point in the guide section on the optional section.

3. The method according to claim 2, characterized in that The determining, based on the consistency of the segment attributes between the guide segment and the corresponding optional segment, whether the optional segment is used as a candidate segment corresponding to the guide segment includes at least one of the following: According to the relative position relationship between the guide section and the corresponding optional section, shape matching is performed on the guide section and the corresponding optional section, and the optional section with mismatched shape is no longer used as a candidate section corresponding to the guide section; According to the consistency of the guidance information between the guidance section and the corresponding optional section, matching the guidance information between the guidance section and the corresponding optional section, and no longer using the optional section whose guidance information does not match as a candidate section corresponding to the guidance section; According to the consistency of the road types between the guide section and the corresponding optional section, the guide section and the corresponding optional section are matched in road type, and the optional section with mismatched road type is no longer used as a candidate section corresponding to the guide section.

4. The method according to claim 2, characterized in that: The determining, based on the shorter return route corresponding to the optional road section and the reference guidance route corresponding to the shorter return route in the original map, whether the optional road section is used as a candidate road section corresponding to the guidance road section includes: The shorter return route is subjected to shape matching according to the reference guidance route, and when the shapes do not match, the optional section is no longer used as a candidate section corresponding to the guidance section.

5. The method according to claim 2, characterized in that: The step of identifying a candidate road section corresponding to the guide road section according to the target optional road section includes: If the optional route is a U-turn road with inseparable upper and lower lines, the target optional road section is split along the target position point, and the split result is used as the candidate road section corresponding to the guide road section.

6. The method according to claim 2, characterized in that The step of identifying a candidate road section corresponding to the guide road section according to the target optional road section includes: If the optional route is a U-turn road with separated upper and lower lines, and there is no U-turn road in the optional route, the target optional road section is split along the target position point to obtain U-turn upper and lower line sections; According to the relative position relationship between the U-turn up and down line segments and the guide section where the U-turn turning point is located, shape matching is performed on the U-turn up and down line segments and the guide section, and the U-turn up and down line segments with mismatched shapes are no longer used as candidate sections corresponding to the guide section.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: In the case where the transmission route selection of the guidance route on the heterogeneous map fails, obtaining a subsequent guidance route of the guidance route and a corresponding subsequent transmission route on the heterogeneous map; A delivery route of the guidance route is generated in the heterogeneous map according to the endpoints of the continued delivery route and the route shape of the guidance route.

8. A route transmission device for heterogeneous maps, characterized in that: include: An acquisition module, used for acquiring at least one optional route corresponding to the guidance route in the heterogeneous map; A division module, for dividing the guide route and the optional route into sections for each optional route, to obtain a target section pair; The target road segment pair includes a guide road segment in the guide route and a corresponding optional road segment in the optional route; a determination module, for determining, for each target road segment pair, whether the optional road segment is used as a candidate road segment corresponding to the guide road segment according to the road segment attribute between the guide road segment and the corresponding optional road segment; The selection module is used to select a transmission route of the guidance route on the heterogeneous map from the optional routes where each candidate road segment is located.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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

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