CN111238498A - Lane-level display road map generation method and device and related system - Google Patents
Lane-level display road map generation method and device and related system Download PDFInfo
- Publication number
- CN111238498A CN111238498A CN201811445876.1A CN201811445876A CN111238498A CN 111238498 A CN111238498 A CN 111238498A CN 201811445876 A CN201811445876 A CN 201811445876A CN 111238498 A CN111238498 A CN 111238498A
- Authority
- CN
- China
- Prior art keywords
- lane
- group unit
- map
- road
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
Abstract
The invention discloses a road map generation method, a road map generation device and a related system for lane level display, wherein the method comprises the following steps: determining a road map area to be generated according to the current position information; acquiring all road segments of a road map area to be generated from map data; determining the position of each lane group unit of each road line segment, and generating lane modeling data of the lane group units; obtaining map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit; and drawing the map drawing data of each lane group unit of each road segment to generate a road map. By generating lane modeling data of each lane group unit of a road segment of a road map area, lane lines of each lane group unit can be drawn when the map is drawn, so that the generated road map realizes lane-level map display and shows lane information which is more in line with a real road.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a road map generation method and device for lane level display and a related system.
Background
When the map is displayed, the existing navigation map only displays basic single-line images of roads and navigation routes, but cannot display the lane condition of the roads, so that the display fineness of the roads is insufficient. With the rapid development of the automobile industry, automobile navigation systems become essential important links in the automobile driving assistance technology and the automatic driving technology. Since the navigation map does not realize accurate map display at the lane level of the road, when navigation is performed, which lane the vehicle is in at the current position and the route of which lane the vehicle should go cannot be obtained, and lane level navigation of the vehicle cannot be realized.
Disclosure of Invention
In view of the above, the present invention has been made to provide a road map generation method, apparatus and related system for lane level display that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a road map generation method for lane level display, including:
the road map generation method for lane level display comprises the following steps:
determining a road map area to be generated according to the current position information;
acquiring all lane group units of all road segments of a road map area to be generated from map data;
for each lane group unit of each road line segment, acquiring vehicle line vector data and attribute information of each lane group unit in map data, determining the position of the lane group unit, and generating lane modeling data of the lane group unit;
and obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
In one embodiment, the map data may include geographical location information of individual lane group units of the road segment, from which the location of the individual lane group units is determined.
In one embodiment, the obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit may include:
acquiring left and right lane lines of each lane in lane modeling data of a lane group unit, respectively connecting the starting point and the ending point of the left and right lane lines of each lane, enclosing to obtain a bottom surface graph of each lane, and generating bottom surface map drawing data of each lane; drawing the bottom map drawing data of each lane to generate the bottom of a lane group unit;
performing surface processing on the shape points of the lane lines of each lane of the lane group unit to obtain lane line map drawing data of each lane of the lane group unit; the lane line map drawing data of each lane is drawn on the bottom surface of the generated lane group unit, and the lane line of each lane of the lane group unit is generated.
In an embodiment, the generating lane lines of each lane of the lane group unit may specifically include:
when generating the lane line of each lane of the lane group unit, judging whether the lane line is a shared lane line with two adjacent lanes,
if yes, the map drawing data of the shared lane line of the two adjacent lanes is drawn only once.
In one embodiment, the method may further include: acquiring lane guide information in the attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring a lane guide line shape point in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.
In one embodiment, the method may further include: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.
In a second aspect, an embodiment of the present invention provides a road map generating apparatus, including:
the map area determining module is used for determining a road map area to be generated according to the current position information;
the acquisition module is used for acquiring each lane group unit of all road segments of a road map area to be generated from the map data;
the modeling module is used for acquiring vehicle line vector data and attribute information of each lane group unit in the map data aiming at each lane group unit of each road line segment, determining the position of the lane group unit and generating lane modeling data of the lane group unit;
and the map drawing module is used for obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
In an embodiment, the modeling module is specifically configured to acquire geographic position information of each lane group unit of a road segment in the map data, and determine the position of each lane group unit according to the geographic position information.
In an embodiment, the map drawing module is specifically configured to obtain left and right lane lines of each lane in lane modeling data of the lane group unit, respectively connect start points and end points of the left and right lane lines of each lane, enclose to obtain a bottom surface graph of each lane, and generate bottom surface map drawing data of each lane; drawing the bottom map drawing data of each lane to generate the bottom of a lane group unit;
performing surface processing on the shape points of the lane lines of each lane of the lane group unit to obtain lane line map drawing data of each lane of the lane group unit; the lane line map drawing data of each lane is drawn on the bottom surface of the generated lane group unit, and the lane line of each lane of the lane group unit is generated.
In one embodiment, the map drawing module is specifically configured to, when generating a lane line of each lane of the lane group unit, determine whether the lane line is a shared lane line with two adjacent lanes,
if yes, the map drawing data of the shared lane line of the two adjacent lanes is drawn only once.
In one embodiment, the modeling module is further configured to obtain lane guide information in the attribute information of each lane group unit of each road segment, determine a position of a lane guide line on the lane group unit, and obtain a lane guide line shape point in the lane modeling data of the road segment;
the map drawing module is also used for obtaining the map drawing data of the lane guide line according to the shape point of the lane guide line and drawing the map drawing data to generate the lane guide line of the road map.
In one embodiment, the apparatus may further include:
the judging module is used for judging whether each lane group unit is an intersection lane group unit or not according to the attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
the modeling module is also used for determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;
the map drawing module is also used for obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and generating the intersection of the road map.
In a third aspect, an embodiment of the present invention provides a road map generation system, including:
the map storage server is used for storing map data;
the terminal equipment comprises any one of the road map generation devices and is used for generating and displaying a road map.
In a fourth aspect, an embodiment of the present invention provides a road map generation system, including:
a map generation server including any one of the above-described road map generation apparatuses, for storing map data and generating a road map;
and the terminal equipment is used for displaying the road map.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program for executing, by a processor, the road map generation method of lane-level display as described in any one of the above.
In a sixth aspect, an embodiment of the present invention provides a computer device, including a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the road map generation method of lane level display as described in any one of the above when executing the program.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the lane-level display road map generation method provided by the embodiment of the invention, the lane modeling data of each lane group unit of the road line segment of the road map area is generated, and the lane lines of each lane group unit can be drawn when the map is drawn, so that the generated road map realizes the lane-level map display, the map display fineness is improved, and the lane information which is more in line with the real road is displayed.
In the road map generation method provided by the embodiment of the invention, when the road map is generated, the map drawing is respectively carried out on each lane of each lane group unit of the road line segment in the road map area, in the map drawing process, the map drawing data of the bottom surface of each lane group unit of the road line segment and the lane line of each lane group unit of the road line segment can be respectively drawn, the map drawing of each lane group unit can be simultaneously carried out or separately carried out, and the map drawing is flexible and simple.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a road map generation method for lane-level display according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection of lane group units of a lane segment according to an embodiment of the present invention;
FIG. 3 is a schematic view of a bottom pattern of the lane segment shown in FIG. 2;
FIG. 4 is a flowchart of a road map generation method for displaying lane level according to another embodiment of the present invention;
FIG. 5 is a flowchart of a road map generation method for displaying a third lane level according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a road map generation apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another road map generation apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a road map generation system according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of another road map generation system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the problem of insufficient map display fineness in the prior art, the embodiment of the invention provides a road map generation method, a road map generation device and a related system.
Example one
An embodiment of the present invention provides a road map generating method for lane level display, a flow of which is shown in fig. 1, and the method includes:
s101: determining a road map area to be generated according to the current position information;
s102: acquiring all lane group units of all road segments of a road map area to be generated from map data;
s103: for each lane group unit of each road line segment, acquiring vehicle line vector data and attribute information of each lane group unit in map data, determining the position of the lane group unit, and generating lane modeling data of the lane group unit;
s104: and obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
According to the lane-level display road map generation method provided by the embodiment of the invention, the lane modeling data of each lane group unit of the road line segment of the road map area is generated, and the lane lines of each lane group unit can be drawn when the map is drawn, so that the generated road map realizes the lane-level map display, the map display fineness is improved, and the lane information which is more in line with the real road is displayed.
In the road map generation method provided by the embodiment of the invention, when the road map is generated, the map drawing is respectively carried out on each lane of each lane group unit of the road line segment in the road map area, in the map drawing process, the map drawing data of the bottom surface of each lane group unit of the road line segment and the lane line of each lane group unit of the road line segment can be respectively drawn, the map drawing of each lane group unit can be simultaneously carried out or separately carried out, and the map drawing is flexible and simple.
The map data in the embodiment of the present invention may be collected in a standard data format, for example, nds (navigation data standard) format data, according to the collected original map data of the real road and Lane line, and the structure cache data (Lane Building Block) is obtained by data compiling. Specifically, in the data compiling process, the original map data may be divided into different road map areas according to blocks (Tile), each block includes a plurality of road segments (link), and each road segment is divided into at least two Lane Group units (Lane Group) according to the traveling Direction (Travel Direction). After the collected lane vector data and attribute information of the road are subjected to data compiling in the form of lane group units, the lane vector data and attribute information of each lane group unit of the road segment are stored in the structure cache data through data analysis. Each lane group unit has unique identification information, and the lane group units can be distinguished and searched according to the identification information of the lane group units. In a specific embodiment, the lane vector data may include Shape point data (Shape List) of lane lines and Shape point data of lane guide lines of each lane of the lane group unit, and the attribute information of the lane group unit may include geographical position information, lane information, Shape point attribute information (Boundary Element) of the lane lines, and lane center line Shape point information of the lane group unit.
In the embodiment of the present invention, the attribute information of the road segment includes Validity Range attribute information (Validity Range) of each lane group unit, and the Validity Range attribute information of the lane group unit includes Start Position information (Start Position) and End Position information (End Position) of the lane group unit. The first lane group unit arranged in the road line segment according to the walking direction is a starting lane group unit, and the last lane group unit arranged in the road line segment according to the walking direction is a stopping lane group unit.
In some optional embodiments, the lane group unit attribute information includes geographic position information, and the position of each lane group unit is determined according to the geographic position information by acquiring the geographic position information of each lane group unit in the map data. The geographical location information may be coordinate information obtained through geodetic surveying and mapping, or positioning information obtained through positioning by a satellite positioning system such as a GPS positioning system, a beidou satellite navigation system, or a GLONASS system. The determination of the geographical location information of the lane group unit is not limited to the above method, and is not limited in the embodiment of the present invention.
In some optional embodiments, lane information of each lane group unit in the map data is acquired according to the traveling direction of each lane group unit of the road segment, so as to obtain the number of lanes and lane line information of the lane group unit.
Specifically, it may be that the lane information of the lane group unit includes start point information and end point information of the lane line; when data processing is carried out on each road segment to generate lane modeling data, lane information in attribute information of each lane group unit of the road segment is sequentially acquired according to the traveling direction, and the number of lanes and lane line information of the lane group units are obtained.
Referring to fig. 2, three lane group units 1, 2 and 3 are provided on a road segment, the lane group unit 1 has 5 lanes, the lane group unit 2 has 4 lanes, the lane group unit 3 has 5 lanes, the lane group units 1-3 are sequentially connected in a traveling direction, the lane group unit 2 is decreased by 1 lane on the left side of the road segment relative to the lane group unit 1, and the lane group unit 3 is increased by 1 lane on the right side of the road segment relative to the lane group unit 2. When the road segment is subjected to data processing to generate lane modeling data, acquiring attribute information of lane group units 1-3 respectively, positioning the positions of the lane group units 1-3 according to the geographical position information of the lane group units, and determining the boundaries of the road segment represented by each lane group unit; the lane information of each lane of the lane group units 1-3 is acquired, the number of lanes of the road section represented by each lane group unit is judged, and the lane line of each lane is determined.
Since each lane of the road segment has a left lane line and a right lane line, when two or more lanes are included in the road segment, the lane lines between the adjacent two lanes are shared lane lines. In the embodiment of the present invention, a lane line located at a boundary of a lane line segment among lane lines is referred to as a boundary lane line, and a lane line located between two adjacent lanes is referred to as a shared lane line.
Specifically, referring to fig. 2, a lane line 1-1 and a lane line 1-6 of the lane group unit 1 are left and right boundary lane lines, respectively, and lane lines 1-2 to 1-5 are shared lane lines; the lane line 2-1 and the lane line 2-5 of the lane group unit 2 are respectively a left boundary lane line and a right boundary lane line, and the lane lines 2-2 to 2-4 are shared lane lines; the lane line 3-1 and the lane line 3-6 of the lane group unit 3 are the left boundary lane line and the right boundary lane line respectively, and the lane lines 3-2 to 3-5 are the shared lane lines. When generating lane modeling data of a lane group unit, shape point attribute information corresponding to a lane line is collected and stored in the lane modeling data. In the embodiment of the present invention, the shape point attribute information (Boundary Element) of the lane line may be shape point attribute information of the lane line being a white solid line, a long broken line, a short broken line, a double yellow line, or a tidal lane.
In some optional embodiments, obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit includes:
acquiring left and right lane lines of each lane in lane modeling data of a lane group unit, respectively connecting the starting point and the ending point of the left and right lane lines of each lane, enclosing to obtain a bottom surface graph of each lane, and generating bottom surface map drawing data of each lane; drawing the bottom map drawing data of each lane to generate the bottom of a lane group unit;
performing surface processing on the shape points of the lane lines of each lane of the lane group unit to obtain lane line map drawing data of each lane of the lane group unit; the lane line map drawing data of each lane is drawn on the bottom surface of the generated lane group unit, and the lane line of each lane of the lane group unit is generated.
In one embodiment, generating bottom surface map drawing data for each lane, and drawing the bottom surface of the lane group generating unit includes:
triangulating the bottom surface graph of each lane to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of each lane consisting of the vertexes of each triangle;
drawing each triangle in the data for the bottom surface of each lane of the lane group unit, acquiring the vertex of the triangle and drawing to obtain the bottom surface of each lane.
In one embodiment, generating lane line map drawing data for each lane comprises:
and acquiring shape points of the lane lines of each lane in the lane modeling data, surfacing the shape point data of the lane lines according to the line width information of the lane lines of each lane, generating a wide line graph of the lane lines, and acquiring lane line drawing data of the lane line segments.
Acquiring the lane line information in the lane modeling data of the road segment shown in fig. 2, performing bottom surface enclosure of each lane of the lane group units 1-3 of the road segment, and respectively connecting the starting point and the ending point of the left lane line and the right lane line of each lane group unit to obtain the bottom surface graph of each lane of the lane group units 1-3 of the road segment shown in fig. 3. The bottom surface graphics of each lane shown in fig. 3 are triangulated to obtain bottom surface map drawing data of each lane of the lane group units 1 to 3 of the road segments. Specifically, the bottom surface graph of each lane of the lane group units 1 to 3 of the road segment may be subdivided by using a polygon triangulation algorithm in the prior art. A plurality of vertexes of the bottom surface figure of each lane of the divided lane group units 1-3 are obtained, and bottom surface map drawing data of road line segments including a plurality of information such as the bottom surface figure positions, reference points, vectors, color information and the like of each lane are obtained. The specific implementation of the triangulation process for the bottom surface graph of each lane of the lane group units 1-3 of the road segment can be performed by referring to the prior art, and the embodiment of the present invention is not limited thereto.
When or after the map drawing data of the bottom surface of each lane of the lane group unit 1-3 of the lane segment is generated, all lane line information of the lane segment in the lane modeling data is obtained, the dotted line data of each lane line is subjected to surface processing through a line surface algorithm, and the wide-limit graphic data capable of covering the texture picture, namely the map drawing data of the lane line, is generated.
When the lane map of each lane group unit of the road segment is drawn, because the lane line between two adjacent lanes is the shared lane line, when the left and right lane lines of any one of the two adjacent lanes are drawn, the shared lane line of the other adjacent lane does not need to be drawn repeatedly. Therefore, when the left lane line and/or the right lane line of the lane to be generated is a shared lane line with an adjacent lane, if the shared lane line is not generated in the adjacent lane, the shared lane line is drawn, and if the shared lane line is generated in the adjacent lane, the shared boundary line of the lane to be generated is not drawn repeatedly, and the map drawing data of the shared lane lines of the two adjacent lanes only needs to be drawn once.
In the embodiment of the present invention, when a map is drawn, an OpenGL drawing technique or other map drawing techniques in the prior art may be used, which is not limited herein.
In some alternative embodiments, there may be lanes with lane guide lines, such as turning arrows, stop lines, pedestrian crossing lines, etc., that identify road traffic indicating information, due to the real road in reality. At the time of map data collection, the information of the lane guide line of the collected road is referred to as lane guide information. When generating a road map, it is necessary to draw a lane guide line on a lane.
In some optional embodiments, referring to fig. 4, the method for generating a road map displayed at a lane level further includes:
s106: acquiring lane guide information in the attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring a lane guide line shape point in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.
In the embodiment of the present invention, when all road segments of a road map area to be generated are acquired from map data, after attribute information of each lane group unit of a road segment is acquired, it can be determined whether the attribute information of each lane group unit of a road segment includes lane guide information of a car marking guide line, and if the attribute information of a certain lane group unit of a road segment includes lane guide information, the lane guide line is drawn. Specifically, the position of the lane guide line in the lane group unit of the road segment may be determined, the shape point of the lane guide line may be acquired, the shape point data of the lane guide line may be drawn according to the line width information of the lane guide line, a wide line pattern of the lane guide line may be generated, map drawing data of the lane guide line may be obtained, the drawing data of the lane guide line may be drawn, and the lane guide line of the road map may be generated.
In some optional embodiments, referring to fig. 5, the road map generation method further includes:
s107: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
s108: and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.
Because the lane of the real road Has a certain width in reality, when map data is collected, the center line of the lane is used as a virtual line to collect the shape point information of the lane center line, and the shape point information of the lane center line is called as the shape point information (Has Geometry) of the lane center line. When different roads are intersected, intersections of different forms such as crossroads, Y-shaped intersections or T-shaped intersections can occur, when map data are collected, because no Lane center line exists in the intersections, the shape point information of the Lane center line can not be collected, when structure cache data are generated, the intersections of the roads are used as independent Lane Group units called intersection Lane Group units (intersection Lane Group), and in the data compiling process, the shape information of the intersection Lane Group units can be stored in advance. In the road map generation process, when a map is drawn, intersection lane group units are required to draw independently.
When all road segments of a road map area to be generated are obtained from map data, after the attribute information of each lane group unit of a road segment is obtained, whether each lane group unit attribute information in the road segment contains lane center line shape point information or not can be judged, and if the attribute information of each lane group unit of one road segment contains lane center line shape point information, the road map is generated by adopting the method described in the embodiment. If the attribute information of a certain lane group unit of a road segment does not contain the information of the shape point of the lane line, the lane group unit is an intersection lane group unit, and the intersection lane group unit needs to be drawn independently. Specifically, in the embodiment of the present invention, referring to fig. 5, after step S102 of the above embodiment is executed, step S107 may be executed first, and if there is no intersection lane group unit in the lane group unit of a certain road segment, step S103 may be executed; if the lane group unit of a certain route segment comprises an intersection lane group unit, step S108 is executed, the position of the intersection lane group unit is determined, modeling data of the intersection lane group unit is obtained, and map drawing data of the intersection is obtained and drawn according to the modeling data of the intersection lane group unit. Specifically, when the modeling data of the intersection lane group unit is obtained, the shape information of the intersection lane group unit is obtained, the bottom surface graph of the intersection lane group unit is obtained according to the shape information of the intersection, and the data processing is performed on the bottom surface graph to obtain the map drawing data of the intersection. The data processing process of the bottom surface graph of the intersection lane group unit may refer to the method in the foregoing embodiment, and details are not described herein.
In some optional embodiments, when acquiring all road segments of a road map area to be generated from map data, after acquiring attribute information of each lane group unit of a road segment, and when judging that the road segments contain an intersection lane group unit, in the road map generation process, map drawing data of each lane group unit can be obtained and drawn according to lane modeling data of the road segments obtained by other lane group units except the intersection lane group unit; and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing. When the map is drawn on the intersection lane group unit, the road surface is pressed at the joint of the intersection lane group unit and the adjacent lane group unit, specifically, when the surface drawing processing is performed on the edge line of the intersection according to the shape information of the intersection lane group unit, the shape surface of the edge line of the intersection is drawn into an arc line.
Example two
Based on the same inventive concept, an embodiment of the present invention further provides a road map generating device, which may be disposed in a navigation server or a navigation terminal, and the structure of the device is as shown in fig. 6, including:
the map area determining module 101 is configured to determine a road map area to be generated according to the current position information;
the acquisition module 102 is configured to acquire, from the map data, lane group units of all road segments of a road map area to be generated;
the modeling module 103 is used for acquiring vehicle line vector data and attribute information of each lane group unit in the map data for each lane group unit of each road line segment, determining the position of the lane group unit, and generating lane modeling data of the lane group unit;
the map drawing module 104 obtains and draws map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit, and generates a road map.
The implementation of the road map generation apparatus provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the detailed implementation may refer to the description of the road map generation method in the above embodiment, and therefore, the detailed description is omitted here.
In some optional embodiments, the modeling module 103 is specifically configured to obtain geographic position information of each lane group unit of a road segment in the map data, and determine the position of each lane group unit according to the geographic position information.
In some optional embodiments, the map drawing module 104 is specifically configured to obtain left and right lane lines of each lane in the lane modeling data of the lane group unit, respectively connect start points and end points of the left and right lane lines of each lane, enclose to obtain a bottom surface graph of each lane, and generate bottom surface map drawing data of each lane; drawing the bottom map drawing data of each lane to generate the bottom of a lane group unit;
performing surface processing on the shape points of the lane lines of each lane of the lane group unit to obtain lane line map drawing data of each lane of the lane group unit; the lane line map drawing data of each lane is drawn on the bottom surface of the generated lane group unit, and the lane line of each lane of the lane group unit is generated.
In some optional embodiments, the map drawing module 105 is specifically configured to, when generating lane lines of each lane of the lane group unit, determine whether the lane lines are shared lane lines with two adjacent lanes,
if yes, the map drawing data of the shared lane line of the two adjacent lanes is drawn only once.
In some optional embodiments, the modeling module 103 is further configured to obtain lane guide information in the attribute information of each lane group unit of each road segment, determine a position of a lane guide line on the lane group unit, and obtain a lane guide line shape point in the lane modeling data of the road segment;
the map drawing module 104 is further configured to obtain and draw map drawing data of the lane guide line according to the shape point of the lane guide line, and generate the lane guide line of the road map.
In some optional embodiments, referring to fig. 7, the road map generating apparatus further includes:
the judging module 106 is configured to judge whether each lane group unit is an intersection lane group unit according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
the modeling module 103 is further configured to determine the position of the intersection lane group unit to obtain lane modeling data of the intersection lane group unit;
the map drawing module 104 is further configured to obtain map drawing data of the intersection according to the modeling data of the intersection lane group unit, and generate an intersection of the road map.
EXAMPLE III
Based on the same inventive concept, an embodiment of the present invention further provides a road map generation system, which is shown in fig. 8 and includes:
a map storage server 1 for storing map data;
the terminal device 2 includes the road map generating apparatus 10 described in any of the above embodiments, and is configured to generate and display a road map.
The implementation of the road map generation system provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the specific implementation may refer to the description of the road map generation method in the above embodiment, and therefore, the description thereof is omitted here.
Example four
Based on the same inventive concept, an embodiment of the present invention further provides a road map generation system, which is shown in fig. 9 and includes:
a map generation server 3 including the road map generation apparatus 10 described in any one of the above embodiments, for storing map data and generating a road map;
and the terminal equipment 4 is used for displaying the road map.
The implementation of the road map generation system provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the specific implementation may refer to the description of the road map generation method in the above embodiment, and therefore, the description thereof is omitted here.
EXAMPLE five
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, where the program is executed by a processor to perform a road map generation method of lane-level display as described in any of the above embodiments.
EXAMPLE six
Based on the same inventive concept, an embodiment of the present invention further provides a computer device, which includes a memory, a processor and a computer program stored on the memory and running on the processor, and the processor executes the program to implement the road map generation method of lane-level display as described in any of the above embodiments.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Claims (10)
1. A road map generation method for lane-level display, comprising:
determining a road map area to be generated according to the current position information;
acquiring all lane group units of all road segments of a road map area to be generated from map data;
for each lane group unit of each road line segment, acquiring vehicle line vector data and attribute information of each lane group unit in map data, determining the position of the lane group unit, and generating lane modeling data of the lane group unit;
and obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
2. The method of claim 1, wherein obtaining and drawing map drawing data for each lane of a lane group unit based on lane modeling data for the lane group unit comprises:
acquiring left and right lane lines of each lane in lane modeling data of a lane group unit, respectively connecting the starting point and the ending point of the left and right lane lines of each lane, enclosing to obtain a bottom surface graph of each lane, and generating bottom surface map drawing data of each lane; drawing the bottom map drawing data of each lane to generate the bottom of a lane group unit;
performing surface processing on the shape points of the lane lines of each lane of the lane group unit to obtain lane line map drawing data of each lane of the lane group unit; the lane line map drawing data of each lane is drawn on the bottom surface of the generated lane group unit, and the lane line of each lane of the lane group unit is generated.
3. The method of claim 2, wherein the generating lane lines for the lanes of the lane group unit specifically comprises:
when generating the lane line of each lane of the lane group unit, judging whether the lane line is a shared lane line with two adjacent lanes,
if yes, the map drawing data of the shared lane line of the two adjacent lanes is drawn only once.
4. The method of any one of claims 1-3, further comprising: acquiring lane guide information in the attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring a lane guide line shape point in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.
5. The method of any one of claims 1-3, further comprising: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.
6. A road map generation device, characterized by comprising:
the map area determining module is used for determining a road map area to be generated according to the current position information;
the acquisition module is used for acquiring each lane group unit of all road segments of a road map area to be generated from the map data;
the modeling module is used for acquiring vehicle line vector data and attribute information of each lane group unit in the map data aiming at each lane group unit of each road line segment, determining the position of the lane group unit and generating lane modeling data of the lane group unit;
and the map drawing module is used for obtaining and drawing map drawing data of each lane of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
7. The apparatus of claim 6, wherein the map drawing module is specifically configured to obtain left and right lane lines of each lane in the lane modeling data of the lane group unit, respectively connect start points and end points of the left and right lane lines of each lane, enclose to obtain a bottom surface graph of each lane, and generate bottom surface map drawing data of each lane; drawing the bottom map drawing data of each lane to generate the bottom of a lane group unit;
performing surface processing on the shape points of the lane lines of each lane of the lane group unit to obtain lane line map drawing data of each lane of the lane group unit; the lane line map drawing data of each lane is drawn on the bottom surface of the generated lane group unit, and the lane line of each lane of the lane group unit is generated.
8. The apparatus of claim 7, wherein the map drawing module is specifically configured to determine whether a lane line of each lane of the lane group unit is a shared lane line with two adjacent lanes when generating the lane line,
if yes, the map drawing data of the shared lane line of the two adjacent lanes is drawn only once.
9. The apparatus of any one of claims 6-8, wherein the modeling module is further configured to obtain lane guidance information in the attribute information of the respective lane group unit of each road segment, determine a position of a lane guidance line on the lane group unit, and obtain a lane guidance line shape point in the lane modeling data of the road segment;
the map drawing module is also used for obtaining the map drawing data of the lane guide line according to the shape point of the lane guide line and drawing the map drawing data to generate the lane guide line of the road map.
10. The apparatus of any of claims 6-8, further comprising:
the judging module is used for judging whether each lane group unit is an intersection lane group unit or not according to the attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
the modeling module is also used for determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;
the map drawing module is also used for obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and generating the intersection of the road map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811445876.1A CN111238498B (en) | 2018-11-29 | 2018-11-29 | Road map generation method, device and related system for lane-level display |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811445876.1A CN111238498B (en) | 2018-11-29 | 2018-11-29 | Road map generation method, device and related system for lane-level display |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111238498A true CN111238498A (en) | 2020-06-05 |
| CN111238498B CN111238498B (en) | 2023-09-29 |
Family
ID=70863887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811445876.1A Active CN111238498B (en) | 2018-11-29 | 2018-11-29 | Road map generation method, device and related system for lane-level display |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111238498B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111797722A (en) * | 2020-06-18 | 2020-10-20 | 北京三快在线科技有限公司 | Method and device for drawing lane line |
| CN112131335A (en) * | 2020-10-15 | 2020-12-25 | 北京百度网讯科技有限公司 | Lane-level map data processing method and device, electronic equipment and storage medium |
| CN113888671A (en) * | 2021-10-19 | 2022-01-04 | 智道网联科技(北京)有限公司 | Map road rendering method, map road rendering device, map road rendering equipment and storage medium |
| CN114216471A (en) * | 2021-12-01 | 2022-03-22 | 北京百度网讯科技有限公司 | Electronic map determination method and device, electronic equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103206956A (en) * | 2012-01-17 | 2013-07-17 | 北京四维图新科技股份有限公司 | Navigation method and navigation device |
| CN103292816A (en) * | 2012-02-23 | 2013-09-11 | 北京四维图新科技股份有限公司 | Electronic map generation method and device as well as route planning method and device |
| JP2015004814A (en) * | 2013-06-20 | 2015-01-08 | 株式会社豊田中央研究所 | Lane map generation device and program |
| JP2015155857A (en) * | 2014-02-21 | 2015-08-27 | 三菱電機株式会社 | Driving assist screen generation device, driving assist device, and method for generating driving assist screen |
| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
| CN108088448A (en) * | 2017-11-21 | 2018-05-29 | 武汉中海庭数据技术有限公司 | The matching process and device of a kind of high-precision track group and traditional road |
| CN108225342A (en) * | 2016-12-22 | 2018-06-29 | 沈阳美行科技有限公司 | A kind of map datum system, generation and application method and its application |
| CN108871368A (en) * | 2018-08-06 | 2018-11-23 | 武汉中海庭数据技术有限公司 | Construction method, system and the memory of a kind of high-precision map lane transverse direction topological relation |
-
2018
- 2018-11-29 CN CN201811445876.1A patent/CN111238498B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103206956A (en) * | 2012-01-17 | 2013-07-17 | 北京四维图新科技股份有限公司 | Navigation method and navigation device |
| CN103292816A (en) * | 2012-02-23 | 2013-09-11 | 北京四维图新科技股份有限公司 | Electronic map generation method and device as well as route planning method and device |
| JP2015004814A (en) * | 2013-06-20 | 2015-01-08 | 株式会社豊田中央研究所 | Lane map generation device and program |
| JP2015155857A (en) * | 2014-02-21 | 2015-08-27 | 三菱電機株式会社 | Driving assist screen generation device, driving assist device, and method for generating driving assist screen |
| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
| CN108225342A (en) * | 2016-12-22 | 2018-06-29 | 沈阳美行科技有限公司 | A kind of map datum system, generation and application method and its application |
| CN108088448A (en) * | 2017-11-21 | 2018-05-29 | 武汉中海庭数据技术有限公司 | The matching process and device of a kind of high-precision track group and traditional road |
| CN108871368A (en) * | 2018-08-06 | 2018-11-23 | 武汉中海庭数据技术有限公司 | Construction method, system and the memory of a kind of high-precision map lane transverse direction topological relation |
Non-Patent Citations (1)
| Title |
|---|
| 左小清,李清泉,谢智颖: "基于车道的道路数据模型", no. 02 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111797722A (en) * | 2020-06-18 | 2020-10-20 | 北京三快在线科技有限公司 | Method and device for drawing lane line |
| CN112131335A (en) * | 2020-10-15 | 2020-12-25 | 北京百度网讯科技有限公司 | Lane-level map data processing method and device, electronic equipment and storage medium |
| CN112131335B (en) * | 2020-10-15 | 2023-09-05 | 北京百度网讯科技有限公司 | Lane-level map data processing method and device, electronic equipment and storage medium |
| CN113888671A (en) * | 2021-10-19 | 2022-01-04 | 智道网联科技(北京)有限公司 | Map road rendering method, map road rendering device, map road rendering equipment and storage medium |
| CN113888671B (en) * | 2021-10-19 | 2024-04-19 | 智道网联科技(北京)有限公司 | Map road rendering method, device, equipment and storage medium |
| CN114216471A (en) * | 2021-12-01 | 2022-03-22 | 北京百度网讯科技有限公司 | Electronic map determination method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111238498B (en) | 2023-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111238502B (en) | Road map generation method, device and related system | |
| CN111238504B (en) | Road segment modeling data generation method and device of road map and related system | |
| EP3673407B1 (en) | Automatic occlusion detection in road network data | |
| CN111238498B (en) | Road map generation method, device and related system for lane-level display | |
| CN108362295B (en) | Vehicle path guiding apparatus and method | |
| US7920966B2 (en) | Navigation apparatuses, methods, and programs | |
| CN111380539B (en) | Vehicle positioning and navigation method and device and related system | |
| CN106461402B (en) | For determining the method and system of the position relative to numerical map | |
| US8040343B2 (en) | Map display device and map display method | |
| US9142147B2 (en) | Map database generating systems, methods, and programs | |
| US9978161B2 (en) | Supporting a creation of a representation of road geometry | |
| CN103389104B (en) | A kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device thereof | |
| EP1584897B1 (en) | Navigation apparatus, and data processing method and computer program used therewith | |
| US7734410B2 (en) | Navigation system | |
| EP2503291A1 (en) | Signposts in digital maps | |
| EP2503293B1 (en) | Labelling of map elements in digital maps | |
| CN107850448A (en) | Method and system for generating and using locating reference datum | |
| CN102037325A (en) | Computer arrangement and method for displaying navigation data in 3D | |
| EP2503289A1 (en) | Management of icons for digital maps | |
| RU2716363C1 (en) | Method of marking locations along roads on map | |
| CN111238503B (en) | Map generation method, device and related system for road segments | |
| CN108801289B (en) | Induced arrow planning method and device, navigation system and storage medium | |
| CN109544443A (en) | A kind of route drawing generating method and device | |
| EP2659227B1 (en) | Incremental network generation providing seamless network | |
| CN111238500B (en) | Map generation method, device and system for road segments of road map area |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 110000 No. 861-6, shangshengou village, Hunnan District, Shenyang City, Liaoning Province Applicant after: Shenyang Meihang Technology Co.,Ltd. Address before: 110167 13th floor, Debao building, No. 1, Jinhui street, Hunnan New Area, Shenyang, Liaoning Applicant before: SHENYANG MXNAVI Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |