CN111696048B - Smoothing processing method and device for wall sampling line - Google Patents
Smoothing processing method and device for wall sampling line Download PDFInfo
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Abstract
The application provides a smoothing method and device for a wall sampling line. The method comprises the following steps: according to the wall body sampling line to be processed and the road boundary line, determining a virtual sampling line, wherein the virtual sampling line is parallel to the road boundary line; and carrying out smoothing treatment on the wall body sampling line to be treated according to the distance from each shape point on the wall body sampling line to be treated to the virtual sampling line. Compared with the method for editing the shape points one by one in a manual mode in the prior art, the method improves the working efficiency.
Description
Technical Field
The application relates to the technical field of high-precision maps, in particular to a smoothing method and device for wall sampling lines.
Background
The high-precision map is one of core technologies in the automatic driving field, and the high-precision map needs to store various traffic elements in traffic scenes in a formatted mode, including road network data, lane lines, traffic signs and other data of the traditional map. The accuracy and integrity of the high-precision map data directly affect the safety of automatic driving, and therefore, is important for the operation and editing of the high-precision map data.
When the wall sampling line is generated, vegetation and guardrails possibly exist near the wall, and the shape points of the sampling line can be shielded by obstacles such as the vegetation or the guardrails to fly, so that the shape points are manually edited one by one to adjust the shape in the prior art, and the method is time-consuming and labor-consuming, and has large manual intervention quantity.
Disclosure of Invention
The application provides a smoothing processing method and device of a wall sampling line, which are used for improving the editing efficiency of a high-precision map.
In a first aspect, the present application provides a smoothing method for a wall sampling line, including:
according to the wall body sampling line to be processed and the road boundary line, determining a virtual sampling line, wherein the virtual sampling line is parallel to the road boundary line;
and carrying out smoothing treatment on the wall body sampling line to be treated according to the distance from each shape point on the wall body sampling line to be treated to the virtual sampling line.
Optionally, the smoothing processing is performed on the wall sampling line according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line, including:
determining shape points to be processed according to the distances from each shape point on the wall body sampling line to be processed to the virtual sampling line;
and moving the shape point to be processed to a corresponding position on the virtual sampling line.
Optionally, the determining the virtual sampling line according to the wall sampling line to be processed and the road boundary line includes:
determining the position of the shape point farthest from the road boundary line according to the distance between each shape point on the wall body sampling line to be processed and the road boundary line;
and determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line.
Optionally, the determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line includes:
a line that can cover the furthest shape point and that is parallel to the road boundary line is determined as the virtual sampling line.
Optionally, the determining the shape point to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line includes:
determining shape points with the distance to the virtual sampling line larger than a preset value from the shape points according to the distance from the shape points to the virtual sampling line on the wall body sampling line to be processed;
and determining the shape points with the distances to the virtual sampling line larger than a preset value from the shape points as the shape points to be processed.
Optionally, the moving the shape point to be processed to a corresponding position on the virtual sampling line includes:
determining the corresponding drop foot of the shape point to be processed on the virtual sampling line according to the shape point to be processed and the virtual sampling line;
and moving the shape point to be processed to the position of the corresponding drop foot.
Optionally, the preset value is 20cm.
In a second aspect, the present application provides a smoothing unit for a wall sampling line, including:
the determining module is used for determining a virtual sampling line according to the wall body sampling line to be processed and the road boundary line, wherein the virtual sampling line is parallel to the road boundary line;
and the processing module is used for carrying out smoothing processing on the wall body sampling line to be processed according to the distance from each shape point on the wall body sampling line to be processed to the virtual sampling line.
Optionally, the processing module is specifically configured to:
determining shape points to be processed according to the distances from each shape point on the wall body sampling line to be processed to the virtual sampling line;
and moving the shape point to be processed to a corresponding position on the virtual sampling line.
Optionally, the determining module is specifically configured to:
determining the position of the shape point farthest from the road boundary line according to the distance between each shape point on the wall body sampling line to be processed and the road boundary line;
and determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line.
Optionally, the determining module is specifically configured to:
a line that can cover the furthest shape point and that is parallel to the road boundary line is determined as the virtual sampling line.
Optionally, the processing module is specifically configured to:
determining shape points with the distance to the virtual sampling line larger than a preset value from the shape points according to the distance from the shape points to the virtual sampling line on the wall body sampling line to be processed;
and determining the shape points with the distances to the virtual sampling line larger than a preset value from the shape points as the shape points to be processed.
Optionally, the processing module is specifically configured to:
determining the corresponding drop foot of the shape point to be processed on the virtual sampling line according to the shape point to be processed and the virtual sampling line;
and moving the shape point to be processed to the position of the corresponding drop foot.
Optionally, the preset value is 20cm.
In a third aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of smoothing a wall sampling line.
In a fourth aspect, the present application provides a high-precision map editing platform, including the above-mentioned smoothing processing unit.
The smoothing processing method and the smoothing processing device for the wall sampling line provided by the application take the road boundary line as a reference, determine the virtual sampling line, and then carry out smoothing processing on the wall sampling line to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic flow chart of a first embodiment of a method for smoothing a wall sampling line according to the present application;
FIG. 2 is a schematic diagram I of a road boundary line and a wall sampling line to be processed according to the present application;
FIG. 3 is a schematic diagram II of a road boundary line and a wall sampling line to be processed provided by the application;
fig. 4 is a schematic flow chart of a second embodiment of a smoothing method for a wall sampling line according to the present application;
FIG. 5 is a schematic diagram III of a road boundary line and a wall sampling line to be processed provided by the application;
FIG. 6 is a schematic diagram of a road boundary line and a wall sampling line to be processed according to the present application;
FIG. 7 is a schematic diagram V of a road boundary line and a wall sampling line to be processed according to the present application;
fig. 8 is a schematic structural diagram of a smoothing unit of a wall sampling line according to the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to ensure the running safety of an automatic driving automobile, a high-precision map needs to display a road, walls on two sides of the road, environments around the road and the like, when a sampling line of the road is generated, the situation that the shape points of the sampling line fly can occur, and in the face of the situation, the shape points are manually edited one by one to adjust the shape, however, the method is time-consuming and labor-consuming, and has a large manual intervention quantity.
Based on the technical problems, the application provides a smoothing processing method of a wall sampling line, which comprises the steps of firstly, taking a road boundary line as a reference, determining a virtual sampling line, and then, carrying out smoothing processing on the wall sampling line to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a first embodiment of a smoothing method for a wall sampling line according to the present application. As shown in fig. 1, the smoothing method for the wall sampling line provided by the application includes:
s101, determining a virtual sampling line according to a wall sampling line to be processed and a road boundary line, wherein the virtual sampling line is parallel to the road boundary line.
Referring to fig. 2, the wall sampling lines to be processed are generated according to the positions and the trends of the walls on two sides of a certain road, and a plurality of wall sampling lines to be processed can be used for carrying out smoothing treatment on any wall sampling line to be processed by using the method provided by the application. As can be seen from fig. 2, the road boundary line and the wall sampling line have similar trends.
In one embodiment, the process of determining the virtual sampling line may be:
firstly, determining the position of a shape point farthest from a road boundary line according to the distance between each shape point on a wall body sampling line to be processed and the road boundary line; then, the virtual sampling line is determined according to the position of the shape point farthest from the road boundary line and the road boundary line.
In particular, a line that can cover the furthest shape point and that is parallel to the road boundary line may be determined as the virtual sampling line.
Since vegetation and guardrails on both sides of a road are generally planned between a road boundary line and a wall, shape points on a wall sampling line are usually flown in a direction approaching the road boundary line, and it can be deduced that shape points nearer to the road boundary line have a high probability of flying, while shape points farthest from the road boundary line hardly fly, and the position accuracy of the virtual sampling line can be improved by determining the virtual sampling line with reference to shape points farthest from the road boundary line.
Specifically, referring to fig. 3, assuming that the generated wall sampling line to be processed includes a sampling line 1, a sampling line 2 and a sampling line 3, the sampling line 1 may be used as a wall side line without smoothing. Taking the sample line 3 as an example, the above process of determining the virtual sample line will be described:
assuming that the sampling line 3 comprises shape points 1, 2, … shape points 7, which are represented in fig. 3 by correspondingly numbered circles. The position of the shape point farthest from the road boundary line among the shape points is found based on the distance between the shape points and the road boundary line, and as is apparent from fig. 3, the shape point 1 is the shape point farthest from the road boundary line. The line that can cover the shape point 1 is a virtual sampling line by shifting the road boundary line to a position that can cover the shape point 1.
S102, smoothing the wall body sampling line to be processed according to the distance between each shape point on the wall body sampling line to be processed and the virtual sampling line.
In one embodiment, the smoothing process may be:
determining shape points to be processed according to the distances from each shape point on the wall body sampling line to be processed to the virtual sampling line; and moving the shape point to be processed to a corresponding position on the virtual sampling line.
According to the smoothing processing method for the wall sampling line, the virtual sampling line is determined by taking the road boundary line as a reference, and then the smoothing processing is carried out on the wall sampling line to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line.
The process of determining the shape point to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line, and the process of moving the shape point to be processed to the corresponding position on the virtual sampling line will be described in detail below with reference to specific embodiments.
Fig. 4 is a schematic flow chart of a second embodiment of a smoothing method for a wall sampling line according to the present application. As shown in fig. 4, the smoothing method for the wall sampling line provided by the application includes:
s401, determining the position of the shape point farthest from the road boundary line according to the distance between each shape point on the wall body sampling line to be processed and the road boundary line.
And S402, determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line.
The specific implementation manner of S401 to S402 refers to S101 in the foregoing embodiment, and the disclosure is not repeated here.
S403, determining the shape points with the distance to the virtual sampling line larger than a preset value in the shape points according to the distance from the shape points to the virtual sampling line on the wall body sampling line to be processed.
S404, determining the shape points with the distances from the shape points to the virtual sampling line being larger than a preset value as the shape points to be processed.
Specifically, the preset value may be flexibly set according to the actual situation, and the preset value may be an empirical value, for example, the preset value may be set to 20cm.
Specifically, the distance from each shape point on the wall body sampling line to be processed to the virtual sampling line is the vertical distance from each shape point to the virtual sampling line. After determining the virtual sampling line in S401-S402, the distance from each shape point on the wall sampling line to be processed to the virtual sampling line can be calculated. Then comparing the distance from each shape point on the wall body sampling line to be processed to the virtual sampling line with a preset value, and if the distance from the shape point on the wall body sampling line to be processed to the virtual sampling line is smaller than or equal to the preset value, not performing any processing on the shape point; and if the distance from the shape point on the sampling line of the wall to be processed to the virtual sampling line is larger than a preset value, determining the shape point as the shape point to be processed.
The process of S403 to S404 will be described with reference to fig. 5:
referring to fig. 5, assuming that the preset value is 20cm, the sampling line 3 includes a shape point 1 and a shape point 2, …, and since the virtual sampling line covers the shape point 1, the distance from the shape point 1 to the virtual sampling line is zero, i.e., the distance from the shape point 1 to the virtual sampling line is less than 20cm. The distances from the shape point 2, the shape point 3 … and the shape point 7 to the virtual sampling line are calculated respectively, so that the distances from the shape point 2, the shape point 6 and the shape point 7 to the virtual sampling line are smaller than or equal to a preset value, and the distances from the shape point 3, the shape point 4 and the shape point 5 to the virtual sampling line are larger than the preset value, and the shape point 3, the shape point 4 and the shape point 5 are used as the shape points to be processed.
S405, determining the corresponding drop foot of the shape point to be processed on the virtual sampling line according to the shape point to be processed and the virtual sampling line.
S406, moving the shape point to be processed to the position of the corresponding drop foot.
Specifically, after determining the shape points to be processed in S403 to S404, the shape points to be processed may be smoothed in S405 to S406.
The process of S405 to S406 will be described with reference to fig. 6 and 7:
referring to fig. 6, as can be seen from fig. 5 and the above description, the shape points to be processed include shape point 3, shape point 4, and shape point 5. The projection position of the shape point on the virtual sampling line is the position of the foot drop of the shape point on the virtual sampling line. The drop feet of shape points 3, 4 and 5 on the virtual sampling line are indicated by asterisks. The shape points 3, 4 and 5 are translated to the positions corresponding to the feet, so that the smoothing process of the shape points to be processed is completed, and the processing result shown in fig. 7 can be obtained after the shape points 3, 4 and 5 are translated to the positions corresponding to the feet.
The method for smoothing the wall sampling line provided by the embodiment provides an implementation mode for determining the shape points to be processed according to the distance from each shape point on the wall sampling line to the virtual sampling line, specifically, the shape points with the distance from each shape point to the virtual sampling line being greater than a preset value in each shape point are determined according to the distance from each shape point on the wall sampling line to the virtual sampling line to be processed, and the shape points with the distance from each shape point to the virtual sampling line being greater than the preset value are determined as the shape points to be processed. The method comprises the steps of determining the corresponding drop foot of the shape point to be processed on the virtual sampling line according to the shape point to be processed and the virtual sampling line, and moving the shape point to be processed to the position of the corresponding drop foot. Compared with the method for editing the shape points one by one in a manual mode in the prior art, the method improves the working efficiency.
Fig. 8 is a schematic structural diagram of a smoothing unit of a wall sampling line according to the present application. As shown in fig. 8, the smoothing unit of the wall sampling line provided by the present application includes:
a determining module 801, configured to determine a virtual sampling line according to a wall sampling line to be processed and a road boundary line, where the virtual sampling line is parallel to the road boundary line;
and a processing module 802, configured to smooth the wall sampling line to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line.
Optionally, the processing module 802 is specifically configured to:
determining shape points to be processed according to the distances from each shape point on the wall body sampling line to be processed to the virtual sampling line;
and moving the shape point to be processed to a corresponding position on the virtual sampling line.
Optionally, the determining module 801 is specifically configured to:
determining the position of the shape point farthest from the road boundary line according to the distance between each shape point on the wall body sampling line to be processed and the road boundary line;
and determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line.
Optionally, the determining module 801 is specifically configured to:
a line that can cover the furthest shape point and that is parallel to the road boundary line is determined as the virtual sampling line.
Optionally, the processing module 802 is specifically configured to:
determining shape points with the distance to the virtual sampling line larger than a preset value from the shape points according to the distance from the shape points to the virtual sampling line on the wall body sampling line to be processed;
and determining the shape points with the distances to the virtual sampling line larger than a preset value from the shape points as the shape points to be processed.
Optionally, the processing module 802 is specifically configured to:
determining the corresponding drop foot of the shape point to be processed on the virtual sampling line according to the shape point to be processed and the virtual sampling line;
and moving the shape point to be processed to the position of the corresponding drop foot.
Optionally, the preset value is 20cm.
The smoothing unit of the wall sampling line provided by the application can be used for executing the smoothing method of the wall sampling line described in the embodiment. The implementation principle and the technical effect are similar, and are not repeated here.
The application also provides a high-precision map editing platform, which comprises the smoothing processing unit described in the above embodiment, and the specific implementation principle can be referred to the above embodiment, and the detailed description of this embodiment is omitted here.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the smoothing method of wall sampling lines described in the above embodiments.
The present application also provides a program product comprising a computer program stored in a readable storage medium, from which at least one processor can read, the at least one processor executing the computer program causing a server to implement the method for smoothing a wall sampling line described in the above embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the application. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
It should be understood that the above processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuits (english: application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (8)
1. A smoothing method of a wall sampling line is characterized by comprising the following steps:
according to the wall body sampling line to be processed and the road boundary line, determining a virtual sampling line, wherein the virtual sampling line is parallel to the road boundary line;
smoothing the wall body sampling line to be processed according to the distance from each shape point on the wall body sampling line to be processed to the virtual sampling line;
the determining a virtual sampling line according to the wall sampling line to be processed and the road boundary line comprises the following steps:
determining the position of the shape point farthest from the road boundary line according to the distance between each shape point on the wall body sampling line to be processed and the road boundary line;
determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line;
and smoothing the wall sampling line to be processed according to the distance from each shape point on the wall sampling line to be processed to the virtual sampling line, wherein the smoothing comprises the following steps:
determining shape points to be processed according to the distances from each shape point on the wall body sampling line to be processed to the virtual sampling line; wherein, the shape points to be processed are the shape points with the distance from each shape point to the virtual sampling line being larger than a preset value;
and moving the shape point to be processed to a corresponding position on the virtual sampling line, wherein the corresponding position on the virtual sampling line is a foot drop corresponding to the shape point to be processed on the virtual sampling line.
2. The method of claim 1, wherein the determining the virtual sampling line from the position of the shape point furthest from the road boundary line and the road boundary line comprises:
a line that can cover the furthest shape point and that is parallel to the road boundary line is determined as the virtual sampling line.
3. The method according to claim 1, wherein the determining the shape points to be processed according to the distances between the shape points on the wall sampling line to be processed and the virtual sampling line comprises:
determining shape points with the distance to the virtual sampling line larger than a preset value from the shape points according to the distance from the shape points to the virtual sampling line on the wall body sampling line to be processed;
and determining the shape points with the distances to the virtual sampling line larger than a preset value from the shape points as the shape points to be processed.
4. The method of claim 1, wherein said moving the shape point to be processed to a corresponding location on the virtual sampling line comprises:
determining the corresponding drop foot of the shape point to be processed on the virtual sampling line according to the shape point to be processed and the virtual sampling line;
and moving the shape point to be processed to the position of the corresponding drop foot.
5. A method according to claim 3, wherein the preset value is 20cm.
6. A smoothing unit for a wall sampling line, comprising:
the determining module is used for determining a virtual sampling line according to the wall body sampling line to be processed and the road boundary line, wherein the virtual sampling line is parallel to the road boundary line;
the processing module is used for carrying out smoothing processing on the wall body sampling line to be processed according to the distance between each shape point on the wall body sampling line to be processed and the virtual sampling line;
the determining module is specifically configured to determine, according to the distance between each shape point on the wall sampling line to be processed and the road boundary line, the position of the shape point farthest from the road boundary line; determining the virtual sampling line according to the position of the shape point farthest from the road boundary line and the road boundary line;
the processing module is specifically used for determining the shape points to be processed according to the distance between each shape point on the wall sampling line to be processed and the virtual sampling line; wherein, the shape points to be processed are the shape points with the distance from each shape point to the virtual sampling line being larger than a preset value; and moving the shape point to be processed to a corresponding position on the virtual sampling line, wherein the corresponding position on the virtual sampling line is a foot drop corresponding to the shape point to be processed on the virtual sampling line.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1-5.
8. A high-precision map editing platform comprising the smoothing processing unit of claim 6.
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