CN103292816B - Electronic map generating method, device and paths planning method, device - Google Patents
Electronic map generating method, device and paths planning method, device Download PDFInfo
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Abstract
本发明提供一种电子地图生成方法、装置及路径规划方法、装置，属于电子导航领域。该电子地图生成方法包括：获取第一道路路网数据以及道路的车道信息；将所述车道信息与所述第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；根据所述第二道路路网数据生成包含有车道信息的道路面。该路径规划方法包括：获取用户的包含有起始地和目的地的路径规划请求；根据包含有车道信息的电子地图规划所述起始地与所述目的地之间的连接路线，所述连接路线由一个以上相互连通的车道组成；将所述连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。本发明的技术方案能够准确表达路面状况，为驾驶人员提供精确的引导。
The invention provides an electronic map generation method and device, and a path planning method and device, which belong to the field of electronic navigation. The method for generating an electronic map includes: acquiring first road network data and road lane information; matching the lane information with corresponding roads in the first road network data, and generating a second road containing lane information Road network data: generating a road surface including lane information according to the second road network data. The path planning method includes: acquiring a user's path planning request including an origin and a destination; planning a connection route between the origin and the destination according to an electronic map containing lane information, and the connection The route is composed of more than one interconnected lanes; the connected route is displayed on the user's navigation terminal in the form of text description and/or graphic drawing. The technical scheme of the invention can accurately express the road condition and provide precise guidance for drivers.
Description
技术领域technical field
本发明涉及电子导航领域，特别是指一种电子地图生成方法、装置及路径规划方法、装置。The invention relates to the field of electronic navigation, in particular to an electronic map generation method and device, and a path planning method and device.
背景技术Background technique
现有技术是基于传统的导航电子地图为用户提供导航。传统导航电子地图的路网基本数据由与道路位置相关的几何形状和与拓扑接连相关的道路拓扑数据组成。传统导航电子地图是将现实世界中的一条道路抽象化为一条线，所有的属性信息均基于该道路线进行记录，没有记录一条道路上每个车道的详细信息。如果一条道路上每个车道的信息完全一致，采用传统的导航电子地图进行导航没有问题。但是在现实世界中，同一条道路上每个车道上的信息往往不一致，为了表达一条道路上的信息，传统的导航电子地图必须对每个车道的信息进行综合概括，这样必然会损失道路上的部分信息，无法为用户提供精确智能的引导。The prior art provides navigation for users based on traditional navigation electronic maps. The basic data of the road network of the traditional navigation electronic map consists of the geometric shape related to the road position and the road topology data related to the topological connection. The traditional navigation electronic map abstracts a road in the real world into a line, and all attribute information is recorded based on the road line, without recording the detailed information of each lane on a road. If the information of each lane on a road is exactly the same, there is no problem in using the traditional navigation electronic map for navigation. However, in the real world, the information on each lane on the same road is often inconsistent. In order to express the information on a road, the traditional navigation electronic map must comprehensively summarize the information on each lane, which will inevitably lose the information on the road. Some information cannot provide accurate and intelligent guidance for users.
发明内容Contents of the invention
本发明要解决的技术问题是提供一种电子地图生成方法、装置及路径规划方法、装置，能够准确表达路面状况，并为驾驶人员提供精确的引导。The technical problem to be solved by the present invention is to provide a method and device for generating an electronic map and a method and device for route planning, which can accurately express road conditions and provide precise guidance for drivers.
为解决上述技术问题，本发明的实施例提供技术方案如下：In order to solve the above technical problems, embodiments of the present invention provide technical solutions as follows:
一方面，提供一种电子地图生成方法，包括：On the one hand, a method for generating an electronic map is provided, including:
获取第一道路路网数据以及道路的车道信息；Obtain the road network data of the first road and the lane information of the road;
将所述车道信息与所述第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；matching the lane information with corresponding roads in the first road network data to generate second road network data including lane information;
根据所述第二道路路网数据生成包含有车道信息的道路面。A road surface including lane information is generated according to the second road network data.
进一步地，所述获取第一道路路网数据以及道路的车道信息包括：Further, said obtaining the first road network data and the lane information of the road includes:
从导航电子地图数据库中获取第一道路路网数据以及道路的车道信息，所述车道信息包括：车道标识、车道所属道路、车道限高、车道宽度、车道最高限速、车道允许通过车辆类型、车道与其它车道之间的车道标线。Obtain the first road network data and the lane information of the road from the navigation electronic map database, the lane information includes: lane sign, road to which the lane belongs, lane height limit, lane width, lane maximum speed limit, lane allowed passing vehicle type, Lane markings between a lane and other lanes.
进一步地，所述将所述车道信息与所述第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据包括：Further, the matching of the lane information with the corresponding road in the first road network data, and generating the second road network data containing lane information includes:
增加道路的车道属性字段，并根据获取的车道信息填充所述第一道路路网数据中对应道路的车道属性字段，生成所述第二道路路网数据。The lane attribute field of the road is added, and the lane attribute field of the corresponding road in the first road network data is filled according to the obtained lane information to generate the second road network data.
本发明实施例还提供了一种电子地图生成装置，包括：The embodiment of the present invention also provides an electronic map generation device, including:
获取模块，用于获取第一道路路网数据以及道路的车道信息；An acquisition module, configured to acquire the first road network data and lane information of the road;
匹配模块，用于将所述车道信息与所述第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；A matching module, configured to match the lane information with corresponding roads in the first road network data, and generate second road network data including lane information;
处理模块，用于根据所述第二道路路网数据生成包含有车道信息的道路面。A processing module, configured to generate a road surface including lane information according to the second road network data.
进一步地，所述获取模块具体用于从导航电子地图数据库中获取第一道路路网数据以及道路的车道信息，所述车道信息包括：车道标识、车道所属道路、车道限高、车道宽度、车道最高限速、车道允许通过车辆类型、车道与其它车道之间的车道标线。Further, the acquisition module is specifically configured to acquire the first road network data and lane information of the road from the navigation electronic map database, the lane information includes: lane sign, road to which the lane belongs, lane height limit, lane width, lane The maximum speed limit, the type of vehicles allowed to pass in the lane, and the lane markings between the lane and other lanes.
进一步地，所述匹配模块具体用于增加道路的车道属性字段，并根据获取的车道信息填充所述第一道路路网数据中对应道路的车道属性字段，生成所述第二道路路网数据。Further, the matching module is specifically configured to add a lane attribute field of a road, and fill in the lane attribute field of a corresponding road in the first road network data according to the obtained lane information, to generate the second road network data.
本发明实施例还提供了一种路径规划方法，包括：The embodiment of the present invention also provides a path planning method, including:
获取用户的包含有起始地和目的地的路径规划请求；Obtain the user's route planning request including the origin and destination;
根据包含有车道信息的电子地图规划所述起始地与所述目的地之间的连接路线，所述连接路线由一个以上相互连通的车道组成；Planning a connection route between the origin and the destination according to an electronic map containing lane information, the connection route consisting of more than one interconnected lanes;
将所述连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。The connection route is displayed on the user's navigation terminal in the form of text description and/or graphic drawing.
进一步地，所述获取用户的包含有起始地和目的地的路径规划请求之前还包括：Further, before obtaining the user's route planning request including the origin and destination, the method also includes:
获取第一道路路网数据以及道路的车道信息；Obtain the road network data of the first road and the lane information of the road;
将所述车道信息与所述第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；matching the lane information with corresponding roads in the first road network data to generate second road network data including lane information;
根据所述第二道路路网数据生成包含有车道信息的电子地图。An electronic map including lane information is generated according to the second road network data.
本发明实施例还提供了一种路径规划装置，包括：The embodiment of the present invention also provides a path planning device, including:
接收模块，用于获取用户的包含有起始地和目的地的路径规划请求；The receiving module is used to obtain the user's route planning request including origin and destination;
规划模块，用于根据包含有车道信息的电子地图规划所述起始地与所述目的地之间的连接路线，所述连接路线由一个以上相互连通的车道组成；A planning module, configured to plan a connection route between the origin and the destination according to an electronic map containing lane information, the connection route consisting of more than one interconnected lanes;
显示模块，用于将所述连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。The display module is used to display the connection route on the user's navigation terminal in the form of text description and/or graphic drawing.
进一步地，所述装置还包括：Further, the device also includes:
获取模块，用于获取第一道路路网数据以及道路的车道信息；An acquisition module, configured to acquire the first road network data and lane information of the road;
匹配模块，用于将所述车道信息与所述第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；A matching module, configured to match the lane information with corresponding roads in the first road network data, and generate second road network data including lane information;
处理模块，用于根据所述第二道路路网数据生成包含有车道信息的电子地图。A processing module, configured to generate an electronic map including lane information according to the second road network data.
本发明的实施例具有以下有益效果：Embodiments of the present invention have the following beneficial effects:
上述方案中，首先获取道路的车道信息，并将车道信息与现有道路路网数据中的对应道路进行匹配，生成包含有车道信息的道路路网数据，从而生成包含有车道信息的电子地图。该电子地图基于车道级别表达现场，更加准确地表达路面状况，减少了道路信息的损失；并且基于该电子地图能够为用户提供基于车道的精确引导，为用户提供更好的道路规划。In the above solution, the lane information of the road is first obtained, and the lane information is matched with the corresponding road in the existing road network data to generate road network data including lane information, thereby generating an electronic map including lane information. The electronic map expresses the scene based on the lane level, expresses the road surface condition more accurately, and reduces the loss of road information; and based on the electronic map, it can provide users with accurate guidance based on lanes and better road planning for users.
附图说明Description of drawings
图1为本发明实施例的电子地图生成方法的流程示意图；FIG. 1 is a schematic flow chart of a method for generating an electronic map according to an embodiment of the present invention;
图2为本发明实施例的电子地图生成装置的结构框图；FIG. 2 is a structural block diagram of an electronic map generating device according to an embodiment of the present invention;
图3为本发明实施例中道路上的车道信息示意图；Fig. 3 is a schematic diagram of lane information on a road in an embodiment of the present invention;
图4为本发明实施例的路径规划方法的流程示意图；FIG. 4 is a schematic flowchart of a path planning method according to an embodiment of the present invention;
图5为本发明实施例的路径规划装置的结构框图。FIG. 5 is a structural block diagram of a path planning device according to an embodiment of the present invention.
具体实施方式detailed description
为使本发明的实施例要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。In order to make the technical problems, technical solutions and advantages to be solved by the embodiments of the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.
本发明的实施例针对现有技术中导航电子地图对每个车道的信息进行综合概括，损失道路上的部分信息，无法为用户提供精确智能的引导的问题，提供一种电子地图生成方法、装置及路径规划方法、装置，能够准确表达路面状况，并为驾驶人员提供精确的引导。The embodiment of the present invention aims at the problem that the navigation electronic map comprehensively summarizes the information of each lane in the prior art, loses part of the information on the road, and cannot provide accurate and intelligent guidance for users, and provides an electronic map generation method and device And the path planning method and device can accurately express the road surface conditions and provide precise guidance for drivers.
图1为本发明实施例的电子地图生成方法的流程示意图，如图1所示，本实施例包括：Fig. 1 is a schematic flow chart of a method for generating an electronic map according to an embodiment of the present invention. As shown in Fig. 1, this embodiment includes:
步骤101：获取第一道路路网数据以及道路的车道信息；Step 101: Acquiring road network data of the first road and lane information of the road;
步骤102：将车道信息与第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；Step 102: matching the lane information with the corresponding road in the first road network data to generate the second road network data including the lane information;
步骤103：根据第二道路路网数据生成包含有车道信息的道路面。Step 103: Generate a road surface including lane information according to the second road network data.
其中，该道路面能够真实反映道路实际状况。Wherein, the road surface can truly reflect the actual condition of the road.
本发明的电子地图生成方法，首先获取道路的车道信息，并将车道信息与现有道路路网数据中的对应道路进行匹配，生成包含有车道信息的道路路网数据，从而生成包含有车道信息的电子地图。该电子地图基于车道级别表达现场，更加准确地表达路面状况，减少了道路信息的损失。In the electronic map generation method of the present invention, the lane information of the road is first obtained, and the lane information is matched with the corresponding road in the existing road network data to generate the road network data containing the lane information, thereby generating the road network data containing the lane information electronic map. The electronic map expresses the scene based on the lane level, expresses the road condition more accurately, and reduces the loss of road information.
图2为本发明实施例的电子地图生成装置的结构框图，如图2所示，本实施例包括：Fig. 2 is the structural block diagram of the electronic map generation device of the embodiment of the present invention, as shown in Fig. 2, this embodiment comprises:
获取模块20，用于获取第一道路路网数据以及道路的车道信息；An acquisition module 20, configured to acquire the first road network data and the lane information of the road;
匹配模块21，用于将车道信息与第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；A matching module 21, configured to match the lane information with corresponding roads in the first road network data, and generate second road network data containing lane information;
处理模块22，用于根据第二道路路网数据生成包含有车道信息的道路面。The processing module 22 is configured to generate a road surface including lane information according to the second road network data.
进一步地，获取模块20具体用于从导航电子地图数据库中获取第一道路路网数据以及道路的车道信息，车道信息包括：车道标识、车道所属道路、车道限高、车道宽度、车道最高限速、车道允许通过车辆类型、车道与其它车道之间的车道标线。Further, the obtaining module 20 is specifically used to obtain the first road network data and the lane information of the road from the navigation electronic map database. The lane information includes: the lane sign, the road to which the lane belongs, the height limit of the lane, the width of the lane, the maximum speed limit of the lane , The lane is allowed to pass the vehicle type, the lane marking between the lane and other lanes.
进一步地，匹配模块21具体用于增加道路的车道属性字段，并根据获取的车道信息填充第一道路路网数据中对应道路的车道属性字段，生成第二道路路网数据。Further, the matching module 21 is specifically configured to add the lane attribute field of the road, and fill in the lane attribute field of the corresponding road in the first road network data according to the obtained lane information, to generate the second road network data.
本发明的电子地图生成装置，首先获取道路的车道信息，并将车道信息与现有道路路网数据中的对应道路进行匹配，生成包含有车道信息的道路路网数据，从而生成包含有车道信息的电子地图。该电子地图基于车道级别表达现场，更加准确地表达路面状况，减少了道路信息的损失。The electronic map generating device of the present invention firstly acquires the lane information of the road, and matches the lane information with the corresponding road in the existing road network data to generate the road network data containing the lane information, thereby generating the road network data containing the lane information electronic map. The electronic map expresses the scene based on the lane level, expresses the road condition more accurately, and reduces the loss of road information.
下面结合具体的实施例对本发明的电子地图生成方法做进一步地介绍：The electronic map generating method of the present invention is further introduced below in conjunction with specific embodiments:
实施例一Embodiment one
步骤a1：从导航电子地图数据库中获取第一道路路网数据以及道路的车道信息，车道信息包括：车道标识、车道所属道路、车道限高、车道宽度、车道最高限速、车道允许通过车辆类型、车道与其它车道之间的车道标线；Step a1: Obtain the first road network data and lane information of the road from the navigation electronic map database. The lane information includes: lane sign, road to which the lane belongs, lane height limit, lane width, lane maximum speed limit, and lane allowed passing vehicle types , Lane markings between the lane and other lanes;
步骤a2：增加道路的车道属性字段，并根据获取的车道信息填充第一道路路网数据中对应道路的车道属性字段，生成第二道路路网数据。Step a2: Add the lane attribute field of the road, and fill in the lane attribute field of the corresponding road in the first road network data according to the obtained lane information, and generate the second road network data.
步骤a3：根据第二道路路网数据生成包含有车道信息的道路面。Step a3: Generate a road surface including lane information according to the second road network data.
目前在电子地图中生成道路面时，无法根据现场道路的变化实时生成道路面，需要重新拍摄照片制作道路面。而本发明通过包含有车道信息的第二道路路网数据可以实时生成电子地图中的道路面。At present, when generating road surfaces in the electronic map, it is impossible to generate road surfaces in real time according to the changes of the on-site roads, and it is necessary to take photos again to make road surfaces. However, in the present invention, the road surface in the electronic map can be generated in real time through the second road network data containing lane information.
本发明的电子地图生成方法，首先从导航电子地图数据库中获取道路的车道信息，并将车道信息与对应道路进行匹配，增加道路的车道属性字段，并根据获取的车道信息填充对应道路的车道属性字段，生成包含有车道信息的道路路网数据，基于该道路路网数据生成包含有车道信息的电子地图。该电子地图基于车道级别表达现场，更加准确地表达路面状况，减少了道路信息的损失；并且本实施例可以基于导航电子地图数据库实时生成及更新电子地图中的道路面。In the electronic map generation method of the present invention, the lane information of the road is first obtained from the navigation electronic map database, the lane information is matched with the corresponding road, the lane attribute field of the road is added, and the lane attribute of the corresponding road is filled in according to the obtained lane information field, generating road network data including lane information, and generating an electronic map including lane information based on the road network data. The electronic map expresses the scene based on the lane level, expresses the road surface condition more accurately, and reduces the loss of road information; and this embodiment can generate and update the road surface in the electronic map in real time based on the navigation electronic map database.
实施例二Embodiment two
步骤b1：从导航电子地图数据库中获取第一道路路网数据以及道路的车道信息；Step b1: Obtain the first road network data and lane information of the road from the navigation electronic map database;
其中，第一道路路网数据中的道路信息是对车道的信息进行综合概括，不能描述道路的每个车道的具体信息。本步聚还需要从导航电子地图数据库中获取每一条道路的车道信息，道路的车道信息包括：车道标识、车道所属道路、车道序号、车道行车方向、车道类型、转向箭头、车道宽度、车道限高、车道最高限速、有无电子眼、车道受限方向、受限方向的禁用时间段、车道受限车辆类型和受限车辆的禁用时间段等等。其中，车道类型是表达车道的不同用途，按功能划分常见车道类型有：公交车道、紧急车道、加速/减速车道、快车道、超车道、可变车道等。Wherein, the road information in the first road network data is a comprehensive summary of lane information, and cannot describe specific information of each lane of the road. This step also needs to obtain the lane information of each road from the navigation electronic map database. The lane information of the road includes: lane sign, road to which the lane belongs, lane number, lane driving direction, lane type, turning arrow, lane width, lane limit High, maximum speed limit of the lane, presence or absence of electronic eyes, restricted direction of the lane, disabled time period of the restricted direction, restricted vehicle type and disabled time period of the restricted vehicle, etc. Among them, the lane type expresses the different uses of the lane, and the common lane types according to the function are: bus lane, emergency lane, acceleration/deceleration lane, fast lane, overtaking lane, variable lane, etc.
图3为道路上的车道信息示意图，如图3所示，该道路上一共有Lane1、Lane2、Lane3和Lane4四条车道，其中Lane1车道的速度限制为120km/h，限高为2.5m，允许通行的车辆为小型车，与相邻车道通过长虚线分割，车道宽度为3.3m；Lane2车道的速度限制为100km/h，限高为3.5m，允许通行的车辆为小型车，与相邻车道通过长虚线分割，车道宽度为3.3m；Lane3车道的速度限制为90km/h，允许通行的车辆为大型车，与相邻车道通过长实线分割，车辆在该车道上可以直行和右转；Lane4车道的速度限制为80km/h，允许通行的车辆为大型车，与相邻车道通过长实线分割，车辆在该车道上可以直行和左转；Figure 3 is a schematic diagram of lane information on the road. As shown in Figure 3, there are four lanes on the road, Lane1, Lane2, Lane3, and Lane4. The speed limit of Lane1 is 120km/h, and the height limit is 2.5m. The vehicles in the lane are small cars, which are separated from the adjacent lane by a long dotted line, and the width of the lane is 3.3m; the speed limit of Lane2 lane is 100km/h, and the height limit is 3.5m, and the vehicles allowed to pass are small cars, which pass through the adjacent lane Divided by a long dotted line, the width of the lane is 3.3m; the speed limit of Lane3 is 90km/h, and the vehicles allowed to pass are large vehicles, which are separated from the adjacent lane by a long solid line. Vehicles can go straight and turn right on this lane; Lane4 The speed limit of the lane is 80km/h, and the vehicles allowed to pass are large vehicles, which are separated from the adjacent lane by a long solid line. Vehicles can go straight and turn left on this lane;
步骤b2：将车道信息与第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；Step b2: matching the lane information with the corresponding road in the first road network data to generate the second road network data including the lane information;
在导航电子地图数据库中车道信息可以采用如表一所示的数据结构进行描述，用于根据现场的实际情况，记录每个车道的详细信息。Lane information in the navigation electronic map database can be described using the data structure shown in Table 1, which is used to record the detailed information of each lane according to the actual situation on the spot.
以图3所示的Lane1为例进行说明，该车道的车道信息描述如下：Taking Lane1 shown in Figure 3 as an example for illustration, the lane information of this lane is described as follows:
表一Table I
在导航电子地图数据库中增加道路的车道属性字段，并将以上述数据结构(表一)表示的车道信息填充到对应道路的车道属性字段中，就可以生成包含有车道信息的第二道路路网数据；Add the lane attribute field of the road in the navigation electronic map database, and fill the lane information represented by the above data structure (Table 1) into the lane attribute field of the corresponding road, so as to generate the second road network containing the lane information data;
步骤b3：根据第二道路路网数据生成包含有车道信息的道路面。Step b3: Generate a road surface including lane information according to the second road network data.
目前在电子地图中生成道路面时，无法根据现场道路的变化实时生成道路面，需要重新拍摄照片制作道路面。而本发明根据该包含有车道信息的第二道路路网数据可以生成具体到车道的道路面，生成的道路面不再是单一的一维线段的显示，而是更加形象的车道面显示，几乎与道路现场一致，强化现有电子地图的显示效果，也为精细化的地图渲染提供数据基础；生成的道路面可以根据每个车道的详细信息，实时模拟道路面，能够在传统道路路网的基础上建立基于每个车道的道路网。At present, when generating road surfaces in the electronic map, it is impossible to generate road surfaces in real time according to the changes of the on-site roads, and it is necessary to take photos again to make road surfaces. However, the present invention can generate a road surface specific to a lane according to the second road network data containing lane information, and the generated road surface is no longer a display of a single one-dimensional line segment, but a more vivid display of a lane surface, almost It is consistent with the road scene, strengthens the display effect of the existing electronic map, and provides a data basis for refined map rendering; the generated road surface can simulate the road surface in real time according to the detailed information of each lane, and can be compared with the traditional road network. Build a road network based on each lane.
本发明的电子地图生成方法，首先从导航电子地图数据库中获取道路的车道信息，并将车道信息与对应道路进行匹配，增加道路的车道属性字段，并根据获取的车道信息填充对应道路的车道属性字段，生成包含有车道信息的道路路网数据，基于该道路路网数据生成包含有车道信息的电子地图。该电子地图基于车道级别表达现场，更加准确地表达路面状况，减少了道路信息的损失；并且本实施例可以基于导航电子地图数据库实时生成及更新电子地图中的道路面。In the electronic map generation method of the present invention, the lane information of the road is first obtained from the navigation electronic map database, the lane information is matched with the corresponding road, the lane attribute field of the road is added, and the lane attribute of the corresponding road is filled in according to the obtained lane information field, generating road network data including lane information, and generating an electronic map including lane information based on the road network data. The electronic map expresses the scene based on the lane level, expresses the road surface condition more accurately, and reduces the loss of road information; and this embodiment can generate and update the road surface in the electronic map in real time based on the navigation electronic map database.
本发明还提供了一种路径规划方法，图4为本发明实施例的路径规划方法的流程示意图，如图4所示，本实施例包括：The present invention also provides a path planning method. FIG. 4 is a schematic flowchart of the path planning method according to an embodiment of the present invention. As shown in FIG. 4 , this embodiment includes:
步骤401：获取用户的包含有起始地和目的地的路径规划请求；Step 401: Obtain the user's route planning request including origin and destination;
本发明中所指的用户即为车辆的驾驶人员；The user referred to in the present invention is the driver of the vehicle;
步骤402：根据包含有车道信息的电子地图规划起始地与目的地之间的连接路线，连接路线由一个以上相互连通的车道组成；Step 402: Planning the connection route between the origin and the destination according to the electronic map containing lane information, the connection route is composed of more than one interconnected lanes;
步骤403：将连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。Step 403: Display the connection route on the user's navigation terminal in the form of text description and/or graphic drawing.
本发明的路径规划方法，基于包含有车道信息的电子地图，能够根据用户的路径规划请求为用户提供基于车道的精确引导，为用户提供更好的道路规划。The route planning method of the present invention, based on the electronic map containing lane information, can provide users with precise guidance based on lanes according to the user's route planning request, and provide users with better road planning.
本发明还提供了一种路径规划装置，图5为本发明实施例的路径规划装置的结构框图，如图5所示，本实施例包括：The present invention also provides a path planning device. FIG. 5 is a structural block diagram of the path planning device according to an embodiment of the present invention. As shown in FIG. 5 , this embodiment includes:
接收模块50，用于获取用户的包含有起始地和目的地的路径规划请求；A receiving module 50, configured to acquire a user's route planning request including origin and destination;
规划模块51，用于根据包含有车道信息的电子地图规划起始地与目的地之间的连接路线，连接路线由一个以上相互连通的车道组成；The planning module 51 is used to plan the connection route between the origin and the destination according to the electronic map containing lane information, and the connection route is composed of more than one interconnected lanes;
显示模块52，用于将连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。The display module 52 is configured to display the connection route on the user's navigation terminal in the form of text description and/or graphic drawing.
进一步地，该路径规划装置还包括：Further, the path planning device also includes:
获取模块，用于获取第一道路路网数据以及道路的车道信息；An acquisition module, configured to acquire the first road network data and lane information of the road;
匹配模块，用于将车道信息与第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；A matching module, configured to match lane information with corresponding roads in the first road network data, and generate second road network data containing lane information;
处理模块，用于根据第二道路路网数据生成包含有车道信息的电子地图。The processing module is used to generate an electronic map containing lane information according to the second road network data.
本发明的路径规划装置，基于包含有车道信息的电子地图，能够根据用户的路径规划请求为用户提供基于车道的精确引导，为用户提供更好的道路规划。The route planning device of the present invention, based on the electronic map containing lane information, can provide the user with precise guidance based on the lane according to the user's route planning request, and provide the user with better road planning.
下面结合具体的实施例对本发明的路径规划方法做进一步地介绍：The path planning method of the present invention is further introduced below in conjunction with specific embodiments:
实施例三Embodiment Three
步骤c1：获取第一道路路网数据以及道路的车道信息；Step c1: Obtain the road network data of the first road and the lane information of the road;
步骤c2：将车道信息与第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；Step c2: matching the lane information with the corresponding road in the first road network data to generate the second road network data including the lane information;
步骤c3：根据第二道路路网数据生成包含有车道信息的电子地图；Step c3: Generate an electronic map containing lane information according to the second road network data;
步骤c4：获取用户的包含有起始地和目的地的路径规划请求；Step c4: Obtain the user's route planning request including the origin and destination;
步骤c5：根据包含有车道信息的电子地图规划起始地与目的地之间的连接路线，连接路线由一个以上相互连通的车道组成；Step c5: Planning the connection route between the origin and the destination according to the electronic map containing lane information, the connection route is composed of more than one interconnected lanes;
步骤c6：将连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。Step c6: Display the connection route on the user's navigation terminal in the form of text description and/or graphic drawing.
本发明的路径规划方法，首先获取道路的车道信息，并将车道信息与现有道路路网数据中的对应道路进行匹配，生成包含有车道信息的道路路网数据，从而生成包含有车道信息的电子地图；之后基于该包含有车道信息的电子地图，根据用户的路径规划请求为用户提供基于车道的精确引导，为用户提供更好的道路规划。In the path planning method of the present invention, the lane information of the road is first obtained, and the lane information is matched with the corresponding road in the existing road network data to generate road network data containing lane information, thereby generating a road network data containing lane information. Electronic map; based on the electronic map containing lane information, provide users with precise guidance based on lanes according to the user's route planning request, and provide users with better road planning.
实施例四Embodiment Four
步骤d1：从导航电子地图数据库中获取第一道路路网数据以及道路的车道信息；Step d1: Obtain the first road network data and lane information of the road from the navigation electronic map database;
其中，第一道路路网数据中的道路信息是对车道的信息进行综合概括，不能描述道路的每个车道的具体信息。本步骤还需要从导航电子地图数据库中获取每一条道路的车道信息，道路的车道信息包括：车道标识、车道所属道路、车道序号、车道行车方向、车道类型、转向箭头、车道宽度、车道限高、车道最高限速、有无电子眼、车道受限方向、受限方向的禁用时间段、车道受限车辆类型和受限车辆的禁用时间段等等。其中，车道类型是表达车道的不同用途，按功能划分常见车道类型有：公交车道、紧急车道、加速/减速车道、快车道、超车道、可变车道等。Wherein, the road information in the first road network data is a comprehensive summary of lane information, and cannot describe specific information of each lane of the road. This step also needs to obtain the lane information of each road from the navigation electronic map database. The lane information of the road includes: lane sign, road to which the lane belongs, lane number, lane driving direction, lane type, turning arrow, lane width, lane height limit , the maximum speed limit of the lane, whether there is an electronic eye, the direction of the restricted lane, the disabled time period of the restricted direction, the restricted vehicle type and the disabled time period of the restricted vehicle, etc. Among them, the lane type expresses the different uses of the lane, and the common lane types according to the function are: bus lane, emergency lane, acceleration/deceleration lane, fast lane, overtaking lane, variable lane, etc.
图3为道路上的车道信息示意图，如图3所示，该道路上一共有Lane1、Lane2、Lane3和Lane4四条车道，其中Lane1车道的速度限制为120km/h，限高为2.5m，允许通行的车辆为小型车，与相邻车道通过长虚线分割，车道宽度为3.3m；Lane2车道的速度限制为100km/h，限高为3.5m，允许通行的车辆为小型车，与相邻车道通过长虚线分割，车道宽度为3.3m；Lane3车道的速度限制为90km/h，允许通行的车辆为大型车，与相邻车道通过长实线分割，车辆在该车道上可以直行和右转；Lane4车道的速度限制为80km/h，允许通行的车辆为大型车，与相邻车道通过长实线分割，车辆在该车道上可以直行和左转；Figure 3 is a schematic diagram of lane information on the road. As shown in Figure 3, there are four lanes on the road, Lane1, Lane2, Lane3, and Lane4. The speed limit of Lane1 is 120km/h, and the height limit is 2.5m. The vehicles in the lane are small cars, which are separated from the adjacent lane by a long dotted line, and the width of the lane is 3.3m; the speed limit of Lane2 lane is 100km/h, and the height limit is 3.5m, and the vehicles allowed to pass are small cars, which pass through the adjacent lane Divided by a long dotted line, the width of the lane is 3.3m; the speed limit of Lane3 is 90km/h, and the vehicles allowed to pass are large vehicles, which are separated from the adjacent lane by a long solid line. Vehicles can go straight and turn right on this lane; Lane4 The speed limit of the lane is 80km/h, and the vehicles allowed to pass are large vehicles, which are separated from the adjacent lane by a long solid line. Vehicles can go straight and turn left on this lane;
步骤d2：将车道信息与第一道路路网数据中的对应道路进行匹配，生成包含有车道信息的第二道路路网数据；Step d2: matching the lane information with the corresponding road in the first road network data to generate the second road network data including the lane information;
在导航电子地图数据库中车道信息可以采用如表一所示的数据结构进行描述，用于根据现场的实际情况，记录每个车道的详细信息。Lane information in the navigation electronic map database can be described using the data structure shown in Table 1, which is used to record the detailed information of each lane according to the actual situation on the spot.
以图3所示的Lane1为例进行说明，该车道的车道信息描述如下：Taking Lane1 shown in Figure 3 as an example for illustration, the lane information of this lane is described as follows:
表一Table I
在导航电子地图数据库中增加道路的车道属性字段，并将以上述数据结构(表一)表示的车道信息填充到对应道路的车道属性字段中，就可以生成包含有车道信息的第二道路路网数据；Add the lane attribute field of the road in the navigation electronic map database, and fill the lane information represented by the above data structure (Table 1) into the lane attribute field of the corresponding road, so as to generate the second road network containing the lane information data;
步骤d3：根据第二道路路网数据生成包含有车道信息的电子地图；Step d3: Generate an electronic map containing lane information according to the second road network data;
根据该包含有车道信息的第二道路路网数据可以生成包含具体到车道的道路面的电子地图，生成的道路面不再是单一的一维线段的显示，而是更加形象的车道面显示，几乎与道路现场一致，强化现有电子地图的显示效果，也为精细化的地图渲染提供数据基础；生成的电子地图可以根据每个车道的详细信息，实时模拟道路面，能够在传统道路路网的基础上建立基于每个车道的道路网；According to the second road network data containing the lane information, an electronic map containing the road surface specific to the lane can be generated, and the generated road surface is no longer a single one-dimensional line segment display, but a more vivid display of the lane surface. It is almost consistent with the road scene, strengthens the display effect of the existing electronic map, and provides a data basis for refined map rendering; the generated electronic map can simulate the road surface in real time according to the detailed information of each lane, and can be used in traditional road networks. Based on the establishment of a road network based on each lane;
步骤d4：获取用户的包含有起始地和目的地的路径规划请求；Step d4: Obtain the user's route planning request including origin and destination;
接收用户通过导航终端发送的包含有起始地和目的地的路径规划请求；Receive the route planning request including the origin and destination sent by the user through the navigation terminal;
步骤d5：根据包含有车道信息的电子地图规划起始地与目的地之间的连接路线，该连接路线由一个以上相互连通的车道组成；Step d5: Planning the connection route between the origin and the destination according to the electronic map containing lane information, the connection route is composed of more than one interconnected lanes;
可以根据该包含有车道信息的电子地图规划出起始地与目的地之间的多条连接路线，并对该多条路径进行优化计算，从中选出一个最优的连接路线，该连接路线具体到车道；According to the electronic map containing lane information, multiple connecting routes between the starting point and the destination can be planned, and the multiple routes can be optimized and calculated, and an optimal connecting route can be selected. to the driveway;
步骤d6：将该连接路线以文字描述和/或图形绘制的方式显示在用户的导航终端上。Step d6: Display the connection route on the user's navigation terminal in the form of text description and/or graphic drawing.
进一步地，还可以以语音提示的方式将该连接路线告知给用户，并在用户行驶时根据用户所在位置实时对用户进行提醒，比如何时需要拐弯、应该在哪条车道上行驶，何时需要并道等等。Furthermore, the connection route can also be notified to the user in the form of voice prompts, and the user can be reminded in real time according to the user's location when the user is driving, such as when to turn, which lane should be driven, and when to And so on.
本发明的路径规划方法，首先获取道路的车道信息，并将车道信息与现有道路路网数据中的对应道路进行匹配，生成包含有车道信息的道路路网数据，从而生成包含有车道信息的电子地图；之后基于该包含有车道信息的电子地图，根据用户的路径规划请求为用户提供基于车道的精确引导。In the path planning method of the present invention, the lane information of the road is first obtained, and the lane information is matched with the corresponding road in the existing road network data to generate road network data containing lane information, thereby generating a road network data containing lane information. Electronic map; based on the electronic map containing the lane information, the user is provided with accurate guidance based on the lane according to the user's route planning request.
此说明书中所描述的许多功能部件都被称为模块，以便更加特别地强调其实现方式的独立性。Many functional components described in this specification are referred to as modules in order to more particularly emphasize the independence of their implementation.
本发明实施例中，模块可以用软件实现，以便由各种类型的处理器执行。举例来说，一个标识的可执行代码模块可以包括计算机指令的一个或多个物理或者逻辑块，举例来说，其可以被构建为对象、过程或函数。尽管如此，所标识模块的可执行代码无需物理地位于一起，而是可以包括存储在不同位里上的不同的指令，当这些指令逻辑上结合在一起时，其构成模块并且实现该模块的规定目的。In the embodiments of the present invention, the modules may be implemented by software so as to be executed by various types of processors. An identified module of executable code may, by way of example, comprise one or more physical or logical blocks of computer instructions which may, for example, be structured as an object, procedure, or function. Notwithstanding, the executable code of an identified module need not be physically located together, but may include distinct instructions stored in different bits which, when logically combined, constitute the module and implement the specified Purpose.
实际上，可执行代码模块可以是单条指令或者是许多条指令，并且甚至可以分布在多个不同的代码段上，分布在不同程序当中，以及跨越多个存储器设备分布。同样地，操作数据可以在模块内被识别，并且可以依照任何适当的形式实现并且被组织在任何适当类型的数据结构内。所述操作数据可以作为单个数据集被收集，或者可以分布在不同位置上(包括在不同存储设备上)，并且至少部分地可以仅作为电子信号存在于系统或网络上。Indeed, a module of executable code may be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs and across multiple memory devices. Likewise, operational data may be identified within modules, and may be implemented in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed in different locations (including on different storage devices), and may exist, at least in part, only as electronic signals on a system or network.
在模块可以利用软件实现时，考虑到现有硬件工艺的水平，所以可以以软件实现的模块，在不考虑成本的情况下，本领域技术人员都可以搭建对应的硬件电路来实现对应的功能，所述硬件电路包括常规的超大规模集成(VLSI)电路或者门阵列以及诸如逻辑芯片、晶体管之类的现有半导体或者是其它分立的元件。模块还可以用可编程硬件设备，诸如现场可编程门阵列、可编程阵列逻辑、可编程逻辑设备等实现。When the module can be realized by software, considering the level of the existing hardware technology, the module that can be realized by software, regardless of the cost, those skilled in the art can build the corresponding hardware circuit to realize the corresponding function. The hardware circuit includes conventional very large scale integration (VLSI) circuits or gate arrays as well as existing semiconductors such as logic chips, transistors, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices, and the like.
在本发明各方法实施例中，所述各步骤的序号并不能用于限定各步骤的先后顺序，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，对各步骤的先后变化也在本发明的保护范围之内。In each method embodiment of the present invention, the sequence number of each step can not be used to limit the order of each step. For those of ordinary skill in the art, the order of each step can be changed without paying creative work. Also within the protection scope of the present invention.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明所述原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.
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