CN111238502B

CN111238502B - Road map generation method, device and related system

Info

Publication number: CN111238502B
Application number: CN201811445885.0A
Authority: CN
Inventors: 赖克
Original assignee: Shenyang Meihang Technology Co ltd
Current assignee: Shenyang Meihang Technology Co ltd
Priority date: 2018-11-29
Filing date: 2018-11-29
Publication date: 2023-09-29
Anticipated expiration: 2038-11-29
Also published as: CN111238502A

Abstract

The invention discloses a road map generation method, a road map generation device and a related system. 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 according to each road line segment, and sequentially connecting lanes of each lane group unit into a whole according to the running direction to obtain lane modeling data of the road line segment; map drawing data is obtained according to the lane modeling data, and drawing is performed, so that a road map is generated. When the road map is generated, the lanes of each lane group unit of the road line segment of the road map area are connected into a whole, so that the lane line data of each lane group unit can be obtained, and the lane lines can be drawn when the map is drawn, so that the generated road map realizes the map display of the lane level, improves the fineness of the map display, and displays the lane information more conforming to the real road.

Description

Road map generation method, device and related system

Technical Field

The present invention relates to the field of navigation technologies, and in particular, to a method, an apparatus, and a related system for generating a road map.

Background

When the existing navigation map is displayed on the map, only basic single line images of the road and the navigation route are displayed, but the lane condition of the road cannot be displayed, so that the display fineness of the road is insufficient. With the rapid development of the automobile industry, automobile navigation systems are an essential important link in automobile driving assistance technology and automatic driving technology. Because the navigation map does not realize accurate map display of the lane level of the road, when navigation is performed, the lane where the vehicle is located at the current position and the route of the lane which should be taken cannot be obtained, and thus the lane level navigation of the vehicle cannot be realized.

Disclosure of Invention

The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a road map generating method, apparatus and related system 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 generating method, including:

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 according to each road line segment, and sequentially connecting lanes of each lane group unit into a whole according to the running direction to obtain lane modeling data of the road line segment;

map drawing data is obtained according to the lane modeling data, and drawing is performed, so that a road map is generated.

In one embodiment, the map data may include geographical location information of each lane group unit of the road segment, and the location of each lane group unit may be determined according to the geographical location information.

In one embodiment, the sequentially connecting the lanes of each lane group unit according to the traveling direction into a whole may include:

and according to the running direction of each lane group unit of the road line segment, acquiring lane information of each lane group unit in the map data, sequentially matching lane lines of two adjacent lane group units, and connecting the matched lane lines.

In one embodiment, the lane information of the lane group unit may include start point information and end point information of a lane line;

the lane lines of the adjacent two lane group units are sequentially matched, and the connection of the matched lane lines comprises the following steps: adopting the end point information of each lane line of the previous lane group unit to be matched with the start point information of each lane line of the next lane group unit:

If the end point information of one lane line is only matched with the start point information of one lane line, the two lane lines are matched lane lines, and the matched lane lines are connected;

if the end point information of one lane line is matched with the start point information of at least two lane lines, lanes of the next lane group unit are increased, the lane line of the last lane group unit is a boundary lane line, at least two lane lines of the next lane group unit comprise one boundary lane line, the two boundary lane lines are matched lane lines, and the two matched boundary lane lines are connected;

if the end point information of at least two lane lines is matched with the start point information of one lane line, lanes of the next lane group unit are reduced, at least two lane lines of the last lane group unit comprise one boundary lane line, the lane lines of the next lane group unit are boundary lane lines, the two boundary lane lines are matched lane lines, and the two matched boundary lane lines are connected.

In one embodiment, the obtaining map drawing data according to the lane modeling data and drawing may include:

generating a starting edge line and a ending edge line of a road line segment according to the lane modeling data;

According to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the lane modeling data, a bottom surface graph of the road line segment is obtained through surrounding, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is drawn and generated;

and obtaining shape points of all lane lines of the road line segment in the lane modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, and drawing lane lines of the generated road line segment on the bottom surface of the road line segment.

In one embodiment, the generating the starting edge line and the ending edge line of the road line segment according to the lane modeling data specifically includes:

acquiring starting points of all lane lines of a starting lane group unit of a road line segment in the lane modeling data and connecting the starting points in sequence to obtain a starting edge line of the road line segment; and acquiring the end points of all lane lines of the lane group unit for ending the road line segment in the lane modeling data, and connecting the end points in sequence to obtain the end edge line of the road line segment.

In one embodiment, the road map generating method may further include: when all road segments of a road map area to be generated are obtained from map data, judging whether the road segments are separated road segments or not according to attribute information of each lane group unit of each road segment; the separated road line segment is a road line segment comprising separated lane group units, and the separated lane group units are lane group units comprising multidirectional separation information in the attribute information of the lane group units; if so, the first and second data are not identical,

Determining the position of the separated lane group unit to obtain lane modeling data of the separated lane group unit; map drawing data of each lane of the separated lane group unit is obtained and drawn, and a separated lane group unit map is generated;

determining the positions of all lane group units except the separated lane group units in the separated road line segment, and generating lane modeling data of all lane group units; map drawing data of each lane group unit is obtained and drawn, and a map of each lane group unit is generated.

In one embodiment, the road map generating method may further include: when all road line segments of a road map area to be generated are obtained from map data, judging whether each lane group unit is an intersection lane group unit or not according to attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit which does not contain the shape point information of the center line of the lane in the attribute information of the lane group unit; if so, the first and second data are not identical,

determining the position of an intersection lane group unit, obtaining modeling data of the intersection lane group unit, obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit, drawing, and generating the intersection of the road map.

In one embodiment, the road map generating method may further include: the method comprises the steps of obtaining lane guide information in attribute information of each lane group unit of each road line segment, determining the position of a lane guide line on the lane group unit, obtaining shape points of the lane guide line in lane modeling data of the road line segment, obtaining map drawing data of the lane guide line, drawing, and generating the lane guide line of a 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 all road line segments of a road map area to be generated and each lane group unit of the road line segments from the map data;

the modeling module is used for determining the positions of the lane group units of the road line segments according to each road line segment, and sequentially connecting lanes of the lane group units into a whole according to the running direction to obtain lane modeling data of the road line segments;

and the map drawing module is used for obtaining map drawing data according to the lane modeling data and drawing to generate a road map.

In one embodiment, the modeling module is specifically configured to determine the location of each lane group unit according to the geographic location information of each lane group unit of the road segment in the map data.

In one embodiment, the modeling module is specifically configured to obtain, according to a running direction of each lane group unit of the road line segment, lane information of each lane group unit in the map data, sequentially match lanes of each lane group unit, and connect lane lines of the matched lanes in each lane group unit.

the modeling module is specifically configured to sequentially match lane lines of two adjacent lane group units by adopting the following manner, and connect the matched lane lines:

adopting the end point information of each lane line of the previous lane group unit to be matched with the start point information of each lane line of the next lane group unit:

In one embodiment, the map drawing module is specifically configured to generate a start edge line and an end edge line of a road segment according to the lane modeling data;

In one embodiment, the map drawing module is specifically configured to obtain starting points of respective lane lines of a starting lane group unit of a road segment in the lane modeling data and sequentially connect the starting points to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the lane group unit for ending the road line segment in the lane modeling data, and connecting the end points in sequence to obtain the end edge line of the road line segment.

In one embodiment, the road map generating apparatus may further include: the first judging module is used for judging whether the road line segment is a separated road line segment according to the attribute information of each lane group unit of each road line segment when all the road line segments of the road map area to be generated are acquired from the map data; the separated road line segment is a road line segment comprising separated lane group units, and the separated lane group units are lane group units comprising multidirectional separation information in the attribute information of the lane group units; if so, the first and second data are not identical,

The modeling module is also used for determining the position of the separated lane group unit and obtaining lane modeling data of the separated lane group unit; determining the positions of all lane group units except the separated lane group units in the separated road line segment, and generating lane modeling data of all lane group units;

the map drawing module is also used for obtaining the map drawing data of each lane of the separated lane group unit and drawing to generate a separated lane group unit map; and obtaining map drawing data of each lane group unit except the separated lane group unit in the separated road line segment, and drawing to generate a map of each lane group unit.

In one embodiment, the road map generating apparatus may further include: the second judging module is used for judging whether each lane group unit is an intersection lane group unit 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 which does not contain the shape point information of the center line of the lane in the attribute information of the lane group unit; if so, the first and second data are not identical,

the modeling module is also used for determining the position of the intersection lane group unit and obtaining modeling data of the intersection lane group unit;

The map drawing module is also used for obtaining map drawing data of the road junction according to the modeling data of the road junction lane group unit and drawing the map drawing data to generate the road junction of the road map.

In one embodiment, the modeling module is further configured to obtain lane guidance information in 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 shape point of the lane guide line 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 a third aspect, an embodiment of the present invention provides a road map generating system, including:

a map storage server for storing map data;

the terminal equipment comprises any one of the road map generating devices, and is used for generating and displaying the road map.

In a fourth aspect, an embodiment of the present invention provides a road map generating system, including:

the map generation server comprises any one of the road map generation devices, and is used for storing map data and generating a road map;

And the terminal equipment is used for displaying the road map.

In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform a road map generation method 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 executable on the processor, where the processor implements the road map generating method according to 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 road map generation method provided by the embodiment of the invention, when the road map is generated, the lanes of each lane group unit of the road line segment of the road map area are connected into a whole, so that the lane line data of each lane group unit can be obtained, and the lane lines can be drawn when the map is drawn, so that the generated road map realizes the map display of the lane level, improves the fineness of the map display, and displays the lane information more conforming to the real road.

According to the road map generation method provided by the embodiment of the invention, when the road map is generated, the lanes of each lane group unit of the road line segment of the road map area are connected into a whole and then map drawing is performed, and in the map drawing process, the map drawing data of the road bottom surface of the road line segment and the connected lane line in the road line segment can be drawn once, so that the map drawing times are reduced, the map drawing is simple and convenient, and the map drawing efficiency is improved.

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 thereof as well as the appended drawings.

The technical scheme of the invention is further described in detail through the drawings and the embodiments.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a flowchart of a road map generation method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of connection of lane group units of a lane segment according to an embodiment of the present invention;

FIG. 3 is a schematic view of the bottom graphic structure of the lane segment of FIG. 2;

FIG. 4 is a flowchart of another road map generating method according to an embodiment of the present invention;

FIG. 5 is a flowchart of a third road map generating method according to an embodiment of the present invention;

FIG. 6 is a flowchart of a fourth road map generating method according to an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a road map generating apparatus according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of another road map generating apparatus according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a road map generating system according to an embodiment of the present invention;

fig. 10 is a schematic diagram of another road map generating 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 1

An embodiment of the present invention provides a road map generating method, the flow of which is shown in fig. 1, including:

s101: determining a road map area to be generated according to the current position information;

S102: acquiring all road segments of a road map area to be generated from map data;

s103: determining the position of each lane group unit of each road line segment according to each road line segment, and sequentially connecting lanes of each lane group unit into a whole according to the running direction to obtain lane modeling data of the road line segment;

s104: map drawing data is obtained according to the lane modeling data, and drawing is performed, so that a road map is generated.

In the embodiment of the invention, the map data may be collected in a standard data format according to the collected original map data of real roads and lane lines in reality, for example, NDS (Navigation Date Standard) format data, and the structure cache data is obtained through data compiling (Lane Building Block). Specifically, in the data compiling process, the original map data is divided into different road map areas according to blocks (Tile), each block includes a plurality of road line segments (links), and each road line segment is divided into at least two Lane Group units (Lane Group) according to a travelling Direction (Travel Direction). After the collected lane vector data and attribute information of the road are compiled in the form of lane group units, the lane vector data and attribute information of each lane group unit of the road line 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 a lane line and Shape point data of a lane guide line of each lane of the lane group unit, and the attribute information of the lane group unit includes geographical position information, lane information, shape point attribute information (Boundary Element) of the lane line, and Shape point information of a lane center line of the lane group unit.

In the embodiment of the present invention, the attribute information of the road line segment includes Validity Range attribute information (Validity Range) of each lane group unit, where 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, and the Start information and End information of the road line segment described in the above embodiment are Start Position information of the Start lane group unit and End Position information of the End lane group unit, respectively. The first lane group unit arranged in the road line segment according to the running direction is a starting lane group unit, and the last lane group unit arranged in the running direction is a stopping lane group unit.

In some alternative embodiments, the attribute information of the lane group units comprises geographical position information, and the positions of the lane group units are determined according to the geographical position information by acquiring the geographical position information of the lane group units in the map data. The geographical location information may be coordinate information obtained through earth 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 position information of the lane group unit is not limited to the above-described method, but is not limited in the embodiment of the present invention.

In some alternative embodiments, the sequentially connecting the lanes of each lane group unit into a whole according to the traveling direction includes:

according to the running direction of each lane group unit on the road line segment, lane information of each lane group unit in the map data is obtained, lane lines of two adjacent lane group units are sequentially matched, and the matched lane lines are connected, so that lanes of each lane group unit of the road line segment are connected into a whole according to the running direction.

Specifically, the lane information of the lane group unit may include start point information (Source Connector ID) and end point information (Destination Connector ID) of the lane line; when each road line segment is subjected to data processing to generate lane modeling data, attribute information of each lane group unit of the road line segment is sequentially acquired according to the running direction to obtain starting point information and end point information of the lane line of each lane group unit, and the end point information of each lane line of the previous lane group unit is matched with the starting point information of each lane line of the next lane group unit:

Referring to fig. 2, there are three lane group units 1, 2 and 3 on one road line 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 connected in the traveling direction, 1 lane is reduced on the left side of the road line segment when the lane group unit 1 is connected with the lane group unit 2, and 1 lane is increased on the right side of the road line segment when the lane group unit 2 is connected with the lane group unit 3. When data processing is carried out on the road line segments to generate lane modeling data, attribute information of the lane group units 1-3 is sequentially acquired, the positions of the lane group units 1-3 are positioned according to geographic position information of the lane group units, and boundaries of the road line segments represented by the lane group units are determined; 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, the lane lines of each lane are determined, and the lane lines of the adjacent lane group units are matched according to the starting point information and the end point information of each lane line of each lane group unit in the lane information.

Since each lane of a 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 line between adjacent two lanes is a shared lane line. In the embodiment of the invention, a lane line located at the boundary of a road line segment in a lane line 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, lane lines 1-1 and lane lines 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 lines 2-1 and 2-5 of the lane group unit 2 are left and right boundary lane lines respectively, and the lane lines 2-2 to 2-4 are shared lane lines; the lane lines 3-1 and 3-6 of the lane group unit 3 are left and right boundary lane lines, respectively, and the lane lines 3-2 to 3-5 are shared lane lines. The end information of the lane line 1-1 and the lane line 1-2 is matched with the start information of the lane line 2-1, namely, the end of the lane line 1-1 and the lane line 1-2 corresponds to the start of the lane line 2-1, the lanes of the road line segments are reduced, at the moment, the lane line 1-1 of the lane group unit 1 and the lane line 2-1 of the lane group unit 2 are matched with each other, the lane line 1-1 is connected with the lane line 2-1, and the lane line of the lane line 1-2 does not continue downwards. The end point information of the lane lines 1-3 to 1-6 of the lane group unit 1 is respectively matched with the start point information of the lane lines 2-2 to 2-5 of the lane group unit 2, namely, the end points of the lane lines 1-3 to 1-6 are respectively corresponding to the start points of the lane lines 2-2 to 2-5, the lane lines 1-3 to 1-6 are respectively matched with the lane lines 2-2 to 2-5, and the lane lines 1-3 to 1-6 are respectively connected with the lane lines 2-2 to 2-5. The end point information of the lane line 2-5 of the lane group unit 2 is matched with the start point information of the lane line 3-5 and the lane line 3-6 of the lane group unit 3 respectively, namely, the end points of the lane line 2-5 correspond to the end points of the lane line 3-5 and the lane line 3-6 respectively, the number of lanes of the road line segment is increased, at the moment, the lane line 2-5 and the lane line 3-6 are matched lane lines, the lane line 2-5 is connected with the lane line 3-6, and the lane line 3-5 is not connected with any lane line of the lane group unit. The end point information of the lane lines 2-1 to 2-4 of the lane group unit 2 is respectively matched with the start point information of the lane lines 3-1 to 3-4 of the lane group unit 3, namely, the end points of the lane lines 2-1 to 2-4 are respectively corresponding to the start points of the lane lines 3-1 to 3-4, the lane lines 2-1 to 2-4 are respectively matched with the lane lines 3-1 to 3-4, and the lane lines 2-1 to 2-4 are respectively connected with the lane lines 3-1 to 3-4. Shape point attribute information corresponding to the lane lines is collected and stored in lane modeling data while each lane line connection of the road line segment is made. 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 a lane line which is a white solid line, a long dashed line, a short dashed line, a double yellow line, or a tidal lane.

In some alternative embodiments, after obtaining the lane modeling data, obtaining map drawing data and drawing according to the lane modeling data includes:

In a specific embodiment, the generating a start edge line and an end edge line of a road segment according to the lane modeling data specifically includes:

In a specific embodiment, the generating the drawing data of the bottom surface of the road line segment, drawing the bottom surface of the road line segment includes:

triangulating the bottom surface graph of the road segment to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the road segment formed by the vertexes of the triangles;

and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.

In a specific embodiment, the obtaining the shape point of each lane line of the road line segment in the lane modeling data and performing surfacing, and generating the lane line drawing data of the road line segment includes:

and acquiring shape points of each lane line of the road line segment in the lane modeling data, carrying out surfacing on the shape point data of the lane line according to the line width information of each lane line, generating a wide line graph of the lane line, and obtaining lane line drawing data of the road line segment.

Acquiring the starting points of the lane lines 1-1 to 1-6 of the starting lane group unit 1 of the road line segment in the lane modeling data of the road line segment shown in the figure 2 and sequentially connecting the starting points to obtain a starting edge line of the road line segment; and acquiring the end points of the lane lines 3-1 to 3-6 of the lane line termination lane group unit 3 of the lane line segment in the lane modeling data of the lane line segment shown in the above-mentioned figure 2, and sequentially connecting to obtain the end edge line of the lane line segment.

And obtaining boundary lane line information in the lane modeling data of the road line segment shown in the figure 2, namely a left boundary lane line formed by connecting the lane line 1-1, the lane line 2-1 and the lane line 3-1, and a right boundary lane line formed by connecting the lane line 1-6, the lane line 2-5 and the lane line 3-6, and carrying out the bottom surface surrounding construction of the road line segment to obtain a bottom surface graph of the road line segment, which is formed by surrounding the starting and ending edge lines of the road line segment and the left and right boundary lane lines of the road line segment, as shown in the figure 3.

Triangulation is performed on the bottom surface graph of the road segment shown in fig. 3 to obtain vertexes of a plurality of triangles, and bottom surface drawing data of the road segment composed of the vertexes of each triangle is obtained. Specifically, the bottom surface pattern of the road segment may be split by using a polygon triangulation algorithm in the prior art, so as to obtain vertices of a plurality of triangles of the split bottom surface pattern, and bottom surface map drawing data of the road segment including a plurality of information such as vertex positions, reference points, vectors, color information, and the like may be obtained. And drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment. The specific implementation manner of performing triangulation processing on the bottom surface graph of the road segment can refer to the method in the prior art, and the embodiment of the invention is not limited.

At the same time or after the generation of the map drawing data of the bottom surface of the road line segment, the shape point of each lane line of the road line segment in the lane modeling data is acquired, the shape point data of the lane line is subjected to surfacing according to the line width information of each lane line, and the wide line graph of the lane line, namely the map drawing data of the lane line, is generated. In the embodiment of the present invention, the lane lines are subjected to the surfacing process by the line surfacing algorithm, and the specific embodiment of generating the wide line pattern data capable of laying out the texture picture can refer to the method in the prior art, and is not limited herein.

In the map drawing process, firstly, the map drawing data of the bottom surface of the road line segment is acquired to generate the bottom surface of the road line segment; and obtaining the lane line map drawing data, and generating lane lines of the road line segments on the bottom surface of the generated road line segments.

In the embodiment of the present invention, the conventional OpenGL drawing technique or other map drawing technique may be used in map drawing, and the present invention is not limited thereto.

In some alternative embodiments, referring to fig. 4, the road map generating method further includes:

s105: when all road segments of a road map area to be generated are obtained from map data, judging whether the road segments are separated road segments or not according to attribute information of each lane group unit of each road segment; the separated road line segment is a road line segment comprising separated lane group units, and the separated lane group units are lane group units comprising multidirectional separation information in the attribute information of the lane group units; if so, the first and second data are not identical,

S106: determining the position of the separated lane group unit to obtain lane modeling data of the separated lane group unit; map drawing data of each lane of the separated lane group unit is obtained and drawn, and a separated lane group unit map is generated;

Because the real road in reality does not continue downwards along the running direction, other roads, such as the ramp of a highway, extend out of a specific position of one road, or when one road continues downwards along the running direction, the real road and the other road are combined into one road at a specific position. In the embodiment of the invention, one road extends outwards to form other roads, namely a split (split), one road is combined with other roads to form one road, namely a merge (merge), and when map data are acquired, the information of the split or the merge of the acquired roads is called multi-directional release information. When the road map is generated, the lane group unit including the multidirectional escape information in the attribute information of the lane group unit of the road segment is referred to as an escape lane group unit, and the road segment including the escape lane group unit is referred to as an escape road segment. In map drawing, it is necessary to draw each lane group unit of a separated road line segment individually and draw the separated lane group unit for each lane.

When acquiring all road segments of the road map area to be generated from the map data, after acquiring the attribute information of each lane group unit of the road segments, it may be first determined whether the attribute information of each lane group unit in the road segments contains multi-directional escape information, and if the attribute information of each lane group unit of one road segment does not contain multi-directional escape information, the road map is generated by adopting the method described in the above embodiment. If the attribute information of one lane group unit of one road line segment contains multi-direction escape information, the lane group unit is an escape lane group unit, the road line segment is an escape road line segment, the lane group unit of the escape road line segment is required to be independently drawn, the escape lane group unit generates lane modeling data according to lanes to obtain map drawing data of the escape lane group unit and draw, other lane group units except the escape lane group unit generate lane modeling data according to the lane group unit to obtain map drawing data of the lane group unit and draw, and the map drawing data of the escape lane group unit of the road line segment and the map drawing data of other lane group units are drawn, so that a map of the escape road line segment is obtained.

Specifically, referring to fig. 4, after step S102 of the above embodiment is performed, step S105 may be performed first, and if there is no lane group unit that is separated from the lane group units of a certain road segment, step S103 may be performed; if the lane group unit of a certain road segment includes the lane group unit that is separated, step S106 is performed. Specifically, the position of the extracted lane group unit is determined, and lane modeling data of the extracted lane group unit is generated according to the lane vector data and attribute information of the extracted lane group unit; acquiring lane lines of each lane in lane modeling data of the separated lane group unit, performing bottom surface bounding of each lane to obtain a bottom surface graph of each lane, and performing triangulation to obtain bottom surface map drawing data of each lane; carrying out surface treatment on the shape points of the lane lines of each lane of the separated lane group unit to obtain lane line map drawing data of each lane of the separated lane group unit; drawing the map drawing data of the bottom surface of each lane of the separated lane group unit to generate the bottom surface of the separated lane group unit; drawing lane lines of the separated lane group units on the bottom surface of the separated lane group units to generate lane lines of all lanes of the separated lane group units, and obtaining a separated lane group unit map.

And determining the positions of all lane group units except the separated lane group units in the separated road line segment, and acquiring the vehicle line vector data and attribute information of all lane group units in the map data according to the running direction of all lane group units of the separated road line segment to obtain the lane modeling data of the lane group units. Acquiring the starting point and the end point of each lane line in the lane modeling data of the lane group unit, and sequentially connecting the starting points of the lane lines of the lane group unit to obtain the starting edge line of the lane group unit; sequentially connecting the end points of the lane lines of the lane group units to obtain a termination edge line of the lane group units; according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, surrounding to obtain a bottom surface graph of the lane group unit, triangulating the bottom surface graph of the lane group unit to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the lane group unit formed by the vertexes of each triangle; drawing each triangle in the data aiming at the bottom surface of the lane group unit, acquiring the vertex of the triangle and drawing to obtain the bottom surface of the lane group unit; and acquiring shape points of all lane lines of the lane group unit in the lane modeling data, carrying out surfacing on the shape point data of the lane lines according to the line width information of all the lane lines, generating a wide line graph of the lane lines, and obtaining lane line drawing data of the lane group unit to draw the lane lines of the lane group unit on the bottom surface of the lane group unit.

In some alternative embodiments, referring to fig. 5, the road map generating method further includes:

s107: when all road line segments of a road map area to be generated are obtained from map data, judging whether each lane group unit is an intersection lane group unit or not according to attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit which does not contain the shape point information of the center line of the lane in the attribute information of the lane group unit; if so, the first and second data are not identical,

s108: determining the position of an intersection lane group unit, obtaining modeling data of the intersection lane group unit, obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit, drawing, and generating the intersection of the road map.

Since a lane of a real road in reality Has a certain width, when map data is acquired, a center line of the lane is used as a virtual line to collect shape point information of the center line of the lane, and the shape point information of the center line of the lane is called as shape point information (Has Geometry) of the center line of the lane. When different roads are intersected, intersections with different forms such as an intersection, a Y-shaped intersection or a T-shaped intersection can appear, when map data are acquired, as no lane center line exists in the intersections, the shape point information of the lane center line is not acquired, when structure cache data are generated, the intersections of the roads are used as independent lane group units, namely an intersection lane group unit (Inter Section Lane Group), and the shape information of the intersection lane group unit can be stored in advance in the data compiling process. In the course of road map generation, it is necessary to perform map drawing by the intersection lane group unit alone.

When all the road line segments of the road map area to be generated are acquired from the map data, after the attribute information of each lane group unit of the road line segments is acquired, whether the attribute information of each lane group unit in the road line segments contains the lane center line shape point information can be judged, and if the attribute information of each lane group unit of one road line segment contains the 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 line segment does not contain the lane line shape point information, 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 performed, step S107 may be performed first, and if there is no intersection lane group unit in the lane group units of a certain road segment, step S103 is performed; if the lane group unit of a certain road segment includes an intersection lane group unit, step S108 is executed to determine the position of the intersection lane group unit, obtain modeling data of the intersection lane group unit, obtain map drawing data of the intersection according to the modeling data of the intersection lane group unit, and draw the map drawing data of the intersection. When modeling data of the intersection lane group unit is obtained, shape information of the intersection lane group unit is obtained, a bottom surface graph of the intersection lane group unit is obtained according to the shape information of the intersection, and data processing is carried out on the bottom surface graph to obtain map drawing data of the intersection. The data processing process of the bottom surface graph of the road-mouth lane group unit may refer to the manner in the foregoing embodiment, and will not be described herein again.

In some optional embodiments, when acquiring attribute information of each lane group unit of a road segment when acquiring all road segments of a road map area to be generated from map data, and when judging that an intersection lane group unit is included in the road segments, in the process of generating the road map, map drawing data 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 map drawing is performed on the intersection lane group unit, pavement capping is performed on the connection part of the intersection lane group unit and the adjacent lane group unit, specifically, when 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 as an arc line.

In some alternative embodiments, some lanes will have lane guide lines, such as turn arrows, stop lines, crosswalk lines, etc., identifying road traffic indication information, due to the fact that in real roads there will be lanes. 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. In order to generate a road map, it is necessary to draw a lane guide line on a lane.

In some alternative embodiments, referring to fig. 6, the road map generating method further includes:

s109: the method comprises the steps of obtaining lane guide information in attribute information of each lane group unit of each road line segment, determining the position of a lane guide line on the lane group unit, obtaining the shape point of the lane guide line in lane modeling data of the road line segment, obtaining map drawing data of the lane guide line, drawing, and generating the lane guide line of a road map.

In the embodiment of the invention, when all road line segments of a road map area to be generated are acquired from map data, after the attribute information of each lane group unit of the road line segments is acquired, whether the lane guide information of a target lane guide line is contained in the attribute information of each lane group unit of the road line segments can be judged, and if the lane guide information is contained in the attribute information of a certain lane group unit of one road line segment, the lane guide line is drawn. Specifically, the position of the lane guide line in the lane group unit of the road line segment may be determined, the shape point of the lane guide line may be obtained, the shape point data of the lane guide line may be drawn according to the line width information of the lane guide line, the wide line pattern of the lane guide line may be generated, the 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.

Example two

Based on the same inventive concept, an embodiment of the present invention further provides a road map generating apparatus, which may be disposed in a navigation server or a navigation terminal, where the apparatus has a structure as shown in fig. 7, and includes:

a map region determining module 101, configured to determine a road map region to be generated according to the current location information;

an obtaining module 102, configured to obtain, from map data, all road segments and each lane group unit of the road segments in a road map area to be generated;

the modeling module 103 is configured to determine, for each road segment, a position of each lane group unit of the road segment, and sequentially connect lanes of each lane group unit into a whole according to a running direction, so as to obtain lane modeling data of the road segment;

the map drawing module 104 is configured to obtain map drawing data from the lane modeling data, draw the map drawing data, and generate a road map.

The implementation manner of the road map generating apparatus provided by the embodiment of the present invention is similar to the technical problem solved by the road map generating method described in the first embodiment, and the specific implementation manner may refer to the description of the road map generating method in the foregoing embodiment, which is not repeated herein.

According to the road map generation device provided by the embodiment of the invention, when the road map is generated, the lanes of each lane group unit of the road line segment of the road map area are connected into a whole, so that the lane line data of each lane group unit can be obtained, and the lane lines can be drawn when the map is drawn, so that the generated road map realizes the map display of the lane level, improves the fineness of the map display, and displays the lane information more conforming to the real road.

The road map generation device provided by the embodiment of the invention is characterized in that when a road map is generated, the lanes of each lane group unit of the road line segment of the road map area are connected into a whole and then map drawing is performed, and in the map drawing process, the map drawing data of the road bottom surface of the road line segment and the connected lane line in the road line segment can be drawn once, so that the map drawing times are reduced, the map drawing is simple and convenient, and the map drawing efficiency is improved.

In some alternative embodiments, the modeling module 103 is specifically configured to determine the location of each lane group unit according to the geographic location information of each lane group unit of the road segment in the map data.

In some optional embodiments, the modeling module 103 is specifically configured to obtain, according to a running direction of each lane group unit of the road line segment, lane information of each lane group unit in the map data, sequentially match lanes of each lane group unit, and connect lane lines of the matched lanes in each lane group unit.

In some alternative embodiments, the lane information of the lane group unit includes start point information and end point information of a lane line;

the modeling module 103 is specifically configured to match lane lines of two adjacent lane group units in sequence by adopting the following manner, and connect the matched lane lines:

In some optional embodiments, the map drawing module 104 is specifically configured to generate a start edge line and an end edge line of a road segment according to the lane modeling data;

In some optional embodiments, the map drawing module 104 is specifically configured to obtain starting points of respective lane lines of a starting lane group unit of a road segment in the lane modeling data and sequentially connect the starting points of the respective lane lines, so as to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the lane group unit for ending the road line segment in the lane modeling data, and connecting the end points in sequence to obtain the end edge line of the road line segment.

In some alternative embodiments, referring to fig. 8, the road map generating apparatus further includes a first judging module 105, configured to judge whether the road segment is a broken road segment according to attribute information of each lane group unit of each road segment when acquiring all the road segments of the road map area to be generated from the map data; the separated road line segment is a road line segment comprising separated lane group units, and the separated lane group units are lane group units comprising multidirectional separation information in the attribute information of the lane group units; if so, the first and second data are not identical,

the modeling module 103 is further configured to determine a position of the extracted lane group unit, and obtain lane modeling data of the extracted lane group unit; determining the positions of all lane group units except the separated lane group units in the separated road line segment, and generating lane modeling data of all lane group units;

the map drawing module 104 is further configured to obtain map drawing data of each lane of the extracted lane group unit and draw the map drawing data, so as to generate an extracted lane group unit map; and obtaining map drawing data of each lane group unit except the separated lane group unit in the separated road line segment, and drawing to generate a map of each lane group unit.

In some alternative embodiments, referring to fig. 8, the road map generating apparatus further includes a second judging module 106, configured to judge whether each lane group unit is an intersection lane group unit according to attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit which does not contain the shape point information of the center line of the lane in the attribute information of the lane group unit; if so, the first and second data are not identical,

the modeling module 103 is further configured to determine a position of an intersection lane group unit, and obtain modeling data of the intersection lane group unit;

the map drawing module 104 is further configured to obtain map drawing data of the road junction according to the modeling data of the road junction lane group unit, and draw the map drawing data to generate the road junction of the road map.

In some optional embodiments, the modeling module 103 is further configured to obtain lane guidance information in 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 shape point of the lane guide line in the lane modeling data of the road segment;

the map drawing module 104 is further configured to obtain map drawing data of the lane guide line according to the shape point of the lane guide line, and draw the map drawing data to generate the lane guide line of the road map.

Example III

Based on the same inventive concept, an embodiment of the present invention further provides a road map generating system, referring to fig. 9, including:

a map storage server 1 for storing map data;

the terminal device 2 comprises the road map generating means 10 described in any of the embodiments above for generating and presenting a road map.

The implementation manner of the road map generating system provided by the embodiment of the present invention is similar to the technical problem solved by the road map generating method described in the first embodiment, and the specific implementation manner may refer to the description of the road map generating method in the foregoing embodiment, which is not repeated herein.

Example IV

Based on the same inventive concept, an embodiment of the present invention further provides a road map generating system, referring to fig. 10, including:

the map generation server 3 includes the road map generation device 10 described in any 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.

Example five

Based on the same inventive concept, the embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform the road map generation method as described in any of the above embodiments.

Example six

Based on the same inventive concept, the embodiment of the present invention further provides a computer device, including a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the road map generating method according to any of the above embodiments when executing the program.

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 or 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 are examples of exemplary approaches. Based on 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 meant 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 this detailed description, with each claim standing on its own as a separate preferred embodiment of this 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. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. The processor and the storage medium may reside as discrete components in a user terminal.

For a software implementation, the techniques described in this disclosure may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. These 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.

The foregoing description 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, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as 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 "non-exclusive or".

Claims

1. A road map generation method, characterized by comprising:

acquiring all road segments of a road map area to be generated from map data;

determining the position of each lane group unit of the road line segment according to each lane group unit of the road line segment, acquiring lane information of each lane group unit in the map data according to the running direction of each lane group unit of the road line segment, sequentially matching lane lines of two adjacent lane group units, and connecting the matched lane lines to obtain lane modeling data of the road line segment;

Generating a starting edge line and a ending edge line of a road line segment according to the lane modeling data; according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the lane modeling data, a bottom surface graph of the road line segment is obtained through surrounding, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is drawn and generated; and obtaining shape points of all lane lines of the road line segment in the lane modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, drawing lane lines of the road line segment on the bottom surface of the road line segment, and generating a road map.

2. The road map generation method of claim 1, wherein the map data includes geographical position information of each lane group unit of a road segment, and the position of each lane group unit is determined based on the geographical position information.

3. The road map generation method according to claim 1, wherein the lane information of the lane group unit includes start point information and end point information of a lane line; the lane lines of the adjacent two lane group units are sequentially matched, and the connection of the matched lane lines comprises the following steps: adopting the end point information of each lane line of the previous lane group unit to be matched with the start point information of each lane line of the next lane group unit:

4. The road map generation method of claim 3, wherein the generating of the start edge line and the end edge line of the road segment from the lane modeling data specifically includes:

5. The road map generation method according to any one of claims 1 to 4, characterized by further comprising: when all road segments of a road map area to be generated are obtained from map data, judging whether the road segments are separated road segments or not according to attribute information of each lane group unit of each road segment; the separated road line segment is a road line segment comprising separated lane group units, and the separated lane group units are lane group units comprising multidirectional separation information in the attribute information of the lane group units; if so, the first and second data are not identical,

6. The road map generation method according to any one of claims 1 to 4, characterized by further comprising: when all road line segments of a road map area to be generated are obtained from map data, judging whether each lane group unit is an intersection lane group unit or not according to attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit which does not contain the shape point information of the center line of the lane in the attribute information of the lane group unit; if so, the first and second data are not identical,

7. The road map generation method according to any one of claims 1 to 4, characterized by further comprising: the method comprises the steps of obtaining lane guide information in attribute information of each lane group unit of each road line segment, determining the position of a lane guide line on the lane group unit, obtaining shape points of the lane guide line in lane modeling data of the road line segment, obtaining map drawing data of the lane guide line, drawing, and generating the lane guide line of a road map.

8. A road map generation apparatus, comprising:

the modeling module is used for determining the position of each lane group unit of the road line segment according to each lane group unit of the road line segment, acquiring the lane information of each lane group unit in the map data according to the running direction of each lane group unit of the road line segment, sequentially matching the lane lines of two adjacent lane group units, and connecting the matched lane lines to obtain the lane modeling data of the road line segment;

the map drawing module is used for generating a starting edge line and a stopping edge line of the road line segment according to the lane modeling data; according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the lane modeling data, a bottom surface graph of the road line segment is obtained through surrounding, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is drawn and generated; and obtaining shape points of all lane lines of the road line segment in the lane modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, drawing lane lines of the road line segment on the bottom surface of the road line segment, and generating a road map.