CN114578401B - Method and device for generating lane track points, electronic equipment and storage medium - Google Patents
Method and device for generating lane track points, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN114578401B CN114578401B CN202210462392.8A CN202210462392A CN114578401B CN 114578401 B CN114578401 B CN 114578401B CN 202210462392 A CN202210462392 A CN 202210462392A CN 114578401 B CN114578401 B CN 114578401B
- Authority
- CN
- China
- Prior art keywords
- track
- point
- track point
- points
- discrete
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Databases & Information Systems (AREA)
- Data Mining & Analysis (AREA)
- Radar, Positioning & Navigation (AREA)
- Mathematical Physics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Operations Research (AREA)
- Algebra (AREA)
- Software Systems (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The embodiment of the application discloses a method and a device for generating lane track points, electronic equipment and a storage medium, and relates to the technical field of computers. Wherein, the method comprises the following steps: acquiring an initial track point set of a current lane; constructing a track curve equation according to the initial track point set; discretizing a track curve equation to obtain a discrete track point set; and performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane. According to the technical scheme, the uniform and regular high-precision target track points can be generated quickly and at low cost through the acquired non-uniform discrete initial track points in places where high-precision maps do not cover the original track points.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for generating lane track points, an electronic device, and a storage medium.
Background
An Augmented Reality-Head Up Display (AR-HUD) navigation system is a vehicle-mounted navigation system integrating an Augmented Reality technology, a Head-Up Display technology and a map navigation technology. The system can provide intuitive and accurate route guidance for the driver to go to the destination, and the accuracy degree of the route guidance is very dependent on the high-precision track point. The high-precision track point is a series of coordinate points which can be matched with a lane in the driving process of the vehicle.
The current high-precision track mainly depends on a high-precision map, and the high-precision map acquisition mainly depends on a special data acquisition vehicle. Various sensors such as a Global Positioning System (GPS), an inertial measurement unit, a laser radar, a camera and the like are installed on the data acquisition vehicle, and map information is continuously acquired, so that the map data is always in the latest state. However, the cost of the acquisition mode is too high, the cost of a data acquisition vehicle with complete functions is nearly ten million, and the high cost causes that large-scale acquisition cannot be carried out, so that the coverage range of a high-precision map is limited, and by the end of 2020, the total mileage of a highway in China is 519 ten thousand kilometers, and the high-precision map only covers less than 30 ten kilometers. In the places where the high-precision map is not covered, the track information of the vehicle is only a few discrete GPS points, and therefore the function of the AR-HUD navigation system is influenced.
Disclosure of Invention
The embodiment of the application provides a lane track point generation method and device, electronic equipment and a storage medium, and uniform and regular high-precision target track points can be generated quickly and at low cost through acquired non-uniform discrete initial track points in places where high-precision maps are not covered.
In a first aspect, an embodiment of the present application provides a method for generating lane track points, where the method includes:
acquiring an initial track point set of a current lane;
constructing a track curve equation according to the initial track point set;
discretizing the track curve equation to obtain a discrete track point set;
and performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane.
In a second aspect, an embodiment of the present application provides an apparatus for generating a lane track point, where the apparatus includes:
the initial track point acquisition module is used for acquiring an initial track point set of the current lane;
the curve equation building module is used for building a track curve equation according to the initial track point set;
the discrete track point determining module is used for carrying out discretization processing on the track curve equation to obtain a discrete track point set;
and the target track point generating module is used for performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as the target track points of the current lane.
In a third aspect, an embodiment of the present application provides an electronic device, including:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method for generating lane waypoints as described in any of the embodiments of the present application.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for generating lane waypoints according to any of the embodiments of the present application.
The embodiment of the application provides a method and a device for generating lane track points, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring an initial track point set of a current lane; constructing a track curve equation according to the initial track point set; discretizing a track curve equation to obtain a discrete track point set; and performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane. This application only needs to acquire initial track point for vehicle configuration GPS receiver and GPS record appearance through road measurement simply, carries out data processing to this initial track point again and obtains the track curve, carries out the discretization after that, falls the sampling, and the homogenization finally obtains a series of even target track points of high accuracy. Compared with the prior art that the high-precision track mainly depends on a high-precision map, the method and the device can generate uniform high-precision target track points through the acquired non-uniform discrete initial track points in the place where the high-precision map is not covered. By the lane track point generation method, regular high-precision track points can be generated quickly and at low cost.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a first flow chart of a method for generating a lane track point according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a process for generating a current lane target track point according to an embodiment of the present disclosure;
fig. 3 is a second flow chart of a method for generating track points of a lane according to an embodiment of the present disclosure;
fig. 4 is a third flow chart of a method for generating a lane track point according to the embodiment of the present application;
fig. 5 is a schematic diagram of a process for generating a track point of a whole road target according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a lane track point generation device according to an embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device for implementing a method for generating lane waypoints according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a first flow diagram of a method for generating a lane track point according to an embodiment of the present disclosure, and this embodiment is applicable to generating a target track point of a current lane without high-precision map coverage. The lane track point generation method provided by the embodiment of the present application may be executed by the lane track point generation device provided by the embodiment of the present application, which may be implemented by software and/or hardware and integrated in an electronic device executing the method.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
and S110, acquiring an initial track point set of the current lane.
It should be noted that, different from the current data acquisition vehicle for acquiring lane map information, the scheme of the application acquires an initial track point of a lane, wherein the initial track point is a series of non-uniform discrete GPS track points or track points of other navigation positioning systems (such as a beidou navigation positioning system). For example, the GPS receiver and the GPS recorder are only needed to be configured for the vehicle for collecting the initial track point, and the position information of the initial track point in the driving process can be recorded by driving the vehicle on a lane of the initial track point to be collected.
In this embodiment of the present application, the process of obtaining the initial track point set may be: when the vehicle runs on the current lane, recording the initial track points through recording software matched with the GPS positioning equipment to obtain an initial track point set. Optionally, high-precision GPS positioning equipment can be adopted, and the requirement for the measurement precision of the initial track point of the lane can be in the sub-meter level, such as decimeter, centimeter or even millimeter.
And S120, constructing a track curve equation according to the initial track point set.
Wherein, the track curve equation is used for performing mathematical representation on non-uniform discrete track points.
In the embodiment of the application, after the initial track point set of the current lane is obtained, a track curve equation needs to be constructed according to a preset method based on the initial track point set. The preset method may be an interpolation method or a fitting method.
Optionally, the interpolation method may be a path curve equation obtained by interpolating the initial path points in the initial path point set according to a lagrange interpolation method or other polynomial interpolation methods; the fitting method can be to fit the initial track points in the initial track point set according to a least square method or other curve fitting methods to obtain a track curve equation; the track curve equation may be a bezier curve or other two-dimensional mathematical curve.
And S130, discretizing the track curve equation to obtain a discrete track point set.
The discretization process is to select some representative points (discrete track points) on the track curve and represent the track curve with the discrete track points.
In the embodiment of the application, after the track curve equation is constructed according to the initial track point set, discretization is carried out on the track curve equation to obtain a discretized track point set. Specifically, because the track curve equation is constructed in different ways, different discretization processing ways are required to discretize the track curve.
For example, if the track curve equation is constructed by an interpolation method, discretization needs to be performed on the track curve according to a discrete method corresponding to the interpolation method; if the flight path curve equation is constructed through the fitting method, discretization needs to be carried out on the flight path curve according to a discretization method corresponding to the fitting method.
S140, conducting down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane.
The down-sampling is a process of reducing the sampling rate of discrete track points, and the down-sampling factor is generally an integer or rational number greater than 1. The down-sampling processing refers to sampling processing of discrete track points according to a lower sampling rate so as to obtain standard track points. Since down-sampling reduces the sampling rate, it is necessary to ensure that the nyquist sampling theorem still holds at the new lower sampling rate.
In the embodiment of the application, after the track curve equation is discretized to obtain the discrete track point set, the discrete track points in the discrete track point set are sampled according to the preset sampling rate, so that the discrete track points are homogenized to obtain a series of uniform high-precision track points (namely standard track points), and finally the standard track points are used as the target track points of the current lane.
As shown in fig. 2, which is a schematic diagram of a process for generating a target track point of a current lane, reference sign a indicates an obtained initial track point of the current lane, and the obtained initial track point generally does not have equal spacing because a vehicle speed is not constant during a driving process, and the initial track point does not lie on a straight line because of accuracy limitation. Reference b denotes a track curve constructed from the set of initial track points, which may be a curve that intersects all of the initial track points or a curve calculated from all of the initial track points, i.e., intersects only a portion of the initial track points. Reference character c denotes the target track point after discretization and downsampling, which is a series of uniform track points on a straight line.
According to the technical scheme provided by the embodiment, an initial track point set of the current lane is obtained; constructing a track curve equation according to the initial track point set; discretizing a track curve equation to obtain a discrete track point set; and performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane. This application only needs to acquire initial track point for vehicle configuration GPS receiver and GPS record appearance through road measurement simply, carries out data processing to this initial track point again and obtains the track curve, carries out the discretization after that, falls the sampling, and the homogenization finally obtains a series of even target track points of high accuracy. Compared with the prior art that the high-precision track mainly depends on a high-precision map, the method and the device can generate uniform high-precision target track points through the acquired non-uniform discrete initial track points in the place where the high-precision map is not covered. By the lane track point generation method, regular high-precision track points can be generated quickly and at low cost.
The method for generating lane track points according to the embodiment of the present invention is further described below, and fig. 3 is a second flow chart of the method for generating lane track points according to the embodiment of the present invention. The embodiment of the application is optimized on the basis of the embodiment, and the optimization is specifically as follows: the present embodiment explains the track curve equation construction process, the discrete track point determination process, and the target track point generation process of the current lane in detail.
Referring to fig. 3, the method of the present embodiment includes, but is not limited to, the following steps:
and S210, acquiring an initial track point set of the current lane.
The relevant content of this step is referred to step S110 in fig. 1, and is not described here again.
S220, determining the slope between two adjacent track points in the initial track point set; and interpolating the initial track point set through a preset interpolation function based on the slope to obtain a track curve equation.
In the embodiment of the application, after the initial track point set of the current lane is obtained, interpolation is performed on the initial track points in the initial track point set according to a preset interpolation function to obtain a track curve equation.
The method specifically comprises the following steps: firstly, determining the slope between two adjacent track points according to the coordinate information of the initial track point, and inserting a proper point into each two track points according to a preset interpolation function based on the slope, thereby calculating and obtaining a corresponding track curve equation, wherein the preset interpolation function can comprise a catmulrom interpolation algorithm, a Bezier curve algorithm and the like. It should be noted that if the track curve equation is calculated by using other types of interpolation functions (such as lagrange interpolation or other polynomial interpolation), the slope between two adjacent track points may not be used.
In the embodiment of the present application, the track curve equation can be expressed by the following formula (1):
in the formula (I), the compound is shown in the specification,latlatitude coordinate information representing the initial course point,f(t) The expression of the latitude is represented by,lotrepresenting initial trackInformation on the longitude coordinates of the points is obtained,g(t) A representation of the expression of longitude is shown,twhich represents a normalization parameter, is given by,tis taken as value of [0,1]，tCorresponding to different positions on the track curve, e.g. whent=0 represents the starting point of the track curve,tand 1 represents the end point of the track curve.
Alternatively, the track curve equation may be an nth order polynomial, or a piecewise lower order polynomial, or other curve form depending on the interpolation function selected. If the track curve equation is a piecewise curve, it is necessary to keep both sides of the connection point between the segments as second-order conductible to the above equation (1).
And S230, determining a dispersion factor based on a preset halving numerical value.
In the embodiment of the application, after the initial track points in the initial track point set are interpolated according to a preset interpolation function to obtain a track curve equation, a preset equant value N is firstly obtained, and then a discrete factor is determined based on the equant value. The equant numerical value may be a numerical value summarized and set in practical application according to experience, or may be a numerical value arbitrarily set by a user, which is not limited herein.
For example, discretization can be to factor t ∈ [0,1 ] in equation (1)]The value range of (1/N, 2/N, 3/N, … … N/N is obtained by dividing into N parts, and then the discrete factor is t k = s × k, where s =1/N, k =0,1,2,3, … …, N.
Preferably, in order to achieve a good effect of discretizing the track curve equation, N should be selected to be as large as possible.
S240, discretizing the track curve equation based on the discrete factors to obtain a discrete track point set.
In the embodiment of the application, after the dispersion factor is determined based on the preset bisection number value, the dispersion factor t is determined k Substituting into the track curve equation (i.e. formula (1)), calculate each t k And after the corresponding coordinate points are taken as discrete track points, so that a discrete track point set is obtained.
And S250, determining the minimum interval distance of down sampling and the sampling precision standard.
In the embodiment of the application, the downsampling processing refers to sampling processing on discrete track points according to a lower sampling rate so as to obtain standard track points. Determining the minimum spacing distance and the sampling precision standard for performing down-sampling processing on the discrete track points, and recording the minimum spacing distance asdThe sampling accuracy criterion is denoted as ε.
The specific values of the minimum separation distance and the sampling accuracy standard may be values set according to experience summary in actual application, or may be values set by a user at will, which is not limited herein.
And S260, calculating the relative distance between two adjacent track points in the discrete track point set.
In the embodiment of the application, the relative distance between two adjacent track points in the discrete track point set is calculated, and the relative distance between the kth track point and the (k + 1) th track point is recorded asD k 。
And S270, selecting standard course points which accord with a preset standard from the discrete course point set based on the relative distance between two adjacent course points, the minimum spacing distance and the sampling precision standard, and taking the standard course points as target course points of the current lane.
In the embodiment of the application, starting from a first track point in a discrete track point set, the relative distances between two adjacent track points are accumulated to obtain an accumulated result, and if the mathematical relationship between the accumulated result and the minimum spacing distance and the sampling precision standard at a certain track point meets a preset standard, the track point is marked as a standard track point.
Specifically, based on the relative distance between two adjacent track points, the minimum distance and the sampling precision standard, the standard track point meeting the preset standard is selected from the discrete track point set, and the method comprises the following steps: determining an initial track point of the sampling of the current round from the discrete track point set, accumulating relative distances between a plurality of track points behind the initial track point to obtain an accumulation result, and recording the accumulation result as an accumulation result
(ii) a The initial track point of the sampling of the current round is the termination track point of the sampling of the previous round; when the absolute value of the sum minus the minimum separation distance is less than the sampling accuracy standard, that is
Taking an ending track point in the plurality of track points as a standard track point and an initial track point of the lower wheel sampling; sampling wheel by wheel and determining whether the ending track point is the last track point in the discrete track point set or not; if the route point is not the last route point in the discrete route point set, the starting route point of the sampling in the current round is determined from the discrete route point set, the relative distances between a plurality of route points behind the starting route point are accumulated to obtain an accumulated result until the ending route point is the last route point in the discrete route point set, and therefore all standard route points are selected from the discrete route point set.
In the embodiment of the present application, the accumulation result is expressed by the following formula (2):
in the formula (I), the compound is shown in the specification,D k indicating the relative distance between the kth track point and the (k + 1) th track point, i indicating the index number of the starting track point, j indicating the index number of the ending track point,
and representing the accumulated result of the relative distance between the starting track point and the ending track point.
According to the technical scheme provided by the embodiment, an initial track point set of a current lane is obtained; determining the slope between two adjacent track points in the initial track point set; interpolating the initial track point set through a preset interpolation function based on the slope to obtain a track curve equation; determining a discrete factor based on a preset halving numerical value; discretizing a track curve equation based on the discrete factors to obtain a discrete track point set; determining the minimum interval distance of down-sampling and a sampling precision standard; calculating the relative distance between two adjacent track points in the discrete track point set; and selecting standard track points which accord with a preset standard from the discrete track point set based on the relative distance between two adjacent track points, the minimum spacing distance and the sampling precision standard, and taking the standard track points as target track points of the current lane. According to the method and the device, interpolation is carried out on the initial track points in the initial track point set according to a preset interpolation function to obtain a track curve equation, discretization processing is carried out on the track curve equation according to discrete factors, and then downsampling processing is carried out on the discrete track points to obtain uniform high-precision target track points. Compared with the prior art that the high-precision track mainly depends on a high-precision map, the method and the device can generate uniform high-precision target track points through the acquired non-uniform discrete initial track points in the place where the high-precision map is not covered. By the lane track point generation method, regular high-precision track points can be generated quickly and at low cost.
The method for generating the lane track point according to the embodiment of the present invention is further described below, and fig. 4 is a third flow diagram of the method for generating the lane track point according to the embodiment of the present invention. The embodiment of the application is optimized on the basis of the embodiment, and specifically optimized as follows: this embodiment explains in detail another construction process of the track curve equation, another determination process of the discrete track points, and a generation process of the target track points of the entire road.
Referring to fig. 4, the method of the present embodiment includes, but is not limited to, the following steps:
and S310, acquiring an initial track point set of the current lane.
The relevant content of this step is referred to step S110 in fig. 1, and is not described here again.
S320, determining an offset track point from the initial track point set according to the distance between the track point in the initial track point set and the lane line of the current lane, and removing the offset track point from the initial track point set.
In the embodiment of the application, after the initial track point set of the current lane is acquired, the initial track point needs to be preprocessed, and the initial track point with a large lane line offset is filtered. This has the advantage that the track curve constructed in step S330 described below can be made more accurate and more practical. For example, an offset track point having a distance from a lane line of the current lane greater than a preset threshold may be determined from the initial set of track points, and then the offset track point may be removed from the initial set of track points.
Specifically, the method comprises the following steps: firstly, judging the distance between an initial track point and two surrounding lane lines, and when the distance is less than or equal to a preset threshold value, determining the initial track point as a useful point; when the distance is greater than the preset threshold, the initial track point is a useless point, and the useless track point needs to be removed from the initial track point set.
And S330, fitting the initial track point set based on a preset fitting function to obtain a track curve equation.
In the embodiment of the application, the initial track points in the initial track point set are fitted according to a preset fitting function to obtain a track curve equation, wherein the preset fitting function may be a least square method or other curve fitting methods.
Specifically, the method comprises the following steps: firstly, a curve is estimated in advance according to initial track points in an initial track point set, and then the distance from the initial track points to the curve is obtained. The parameters of the curve are then adjusted so that all of the initial track points are the shortest distance from the curve. The track curve equation can be expressed by the following formula (3):
in the formula, y represents a track curve equation, x is an independent variable of the track curve equation,
representing the polynomial coefficients. The collected initial track points are flat to the curveA sum of squares, as
. By calculating
Are respectively paired
The partial derivative of (A) can be solved to obtain a polynomial coefficient
And determining a track curve equation.
Preferably, the fitted track curve equation is a curve that intersects all of the initial track points.
S340, calculating the curve length of the track curve equation, and obtaining the average distance of each equal part based on the curve length and a preset equal fraction value.
In the embodiment of the application, firstly, the curve length of the whole track curve is calculated according to numerical integration and is marked as L; acquiring a preset halving value, and recording the preset halving value as N; and dividing the length of the curve by a preset halved number to obtain the average distance of each halved part, and recording as L/N.
And S350, discretizing the track curve equation based on the average distance to obtain a discrete track point set.
In the embodiment of the application, the curve starting point of the discrete processing in the current round is determined from the track curve, and the point which is approximately equal to the average distance away from the curve starting point is calculated from the curve starting point and is taken as the discrete track point. And then, taking the point as a curve starting point of the next round of discrete processing, searching the discrete track points again according to the method, and circulating in sequence to obtain a discrete track point set. When the discrete processing of the current round is the discrete processing of the first round, the starting point of the curve is the first point in the flight path curve.
And S360, performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane.
In the embodiment of the application, after the track curve equation is discretized to obtain the discrete track point set, the discrete track points in the discrete track point set are sampled according to the preset sampling rate, so that the discrete track points are homogenized to obtain a series of uniform high-precision track points (namely standard track points), and finally the standard track points are used as the target track points of the current lane.
Specifically, the minimum interval distance of down-sampling and the sampling precision standard are determined; calculating the relative distance between two adjacent track points in the discrete track point set; and selecting standard track points which accord with a preset standard from the discrete track point set based on the relative distance between two adjacent track points, the minimum spacing distance and the sampling precision standard, and taking the standard track points as target track points of the current lane.
And S370, determining the target track point of the lane adjacent to the current lane according to the target track point of the current lane and the lane offset, so as to obtain the target track point of the whole road.
In the embodiment of the application, since the lanes are generally standard and the lane widths are consistent, after the target track point of one lane in the road is generated, the lane offset can be added on the basis of the target track point, so that the target track point of the adjacent lane can be obtained. By analogy, the target track point of the whole road can be obtained.
As shown in fig. 5, which is a schematic diagram of the generation process of the target track point of the whole road, reference sign c indicates the target track point after discretization and downsampling, and the target track point is a series of uniform track points on a straight line. Reference numeral d denotes a determination of a target course point of a lane adjacent to the current lane from the target course point of the current lane and the lane offset. Reference character e denotes a target track point of the entire road.
According to the technical scheme provided by the embodiment, an initial track point set of the current lane is obtained; determining an offset track point with the distance from the lane line of the current lane being greater than a preset threshold value from the initial track point set, and removing the offset track point from the initial track point set; fitting the initial track point set based on a preset fitting function to obtain a track curve equation; calculating the curve length of a track curve equation, and obtaining the average distance of each equal part based on the curve length and a preset equal fraction value; discretizing the track curve equation based on the average distance to obtain a discrete track point set; performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane; and determining the target track point of the lane adjacent to the current lane according to the target track point of the current lane and the lane offset, so as to obtain the target track point of the whole road. The method and the device have the advantages that the initial track points are fitted according to the preset fitting function to obtain the track curve equation, discretization is carried out on the track curve equation according to the average distance, then the discretization is carried out on the discretization track points, the downsampling processing is carried out on the discretization track points to obtain the uniform high-precision target track points, and finally the target track points of the whole road are obtained according to the lane offset. Compared with the prior art that the high-precision track mainly depends on a high-precision map, the method and the device can generate uniform high-precision target track points through the acquired non-uniform discrete initial track points in the place where the high-precision map is not covered. By the lane track point generation method, regular high-precision track points can be generated quickly and at low cost.
Fig. 6 is a schematic structural diagram of an apparatus for generating track points of a lane according to an embodiment of the present application, and as shown in fig. 6, the apparatus 600 may include:
the initial track point acquisition module 610 is used for acquiring an initial track point set of a current lane;
a curve equation constructing module 620, configured to construct a track curve equation according to the initial track point set;
the discrete track point determining module 630 is configured to perform discretization on the track curve equation to obtain a discrete track point set;
and the target track point generating module 640 is used for performing downsampling processing on the discrete track point set to obtain standard track points meeting a preset standard, and taking the standard track points as the target track points of the current lane.
Further, the curve equation constructing module 620 may be specifically configured to: determining the slope between two adjacent track points in the initial track point set; and interpolating the initial track point set through a preset interpolation function based on the slope to obtain the track curve equation.
Further, the curve equation constructing module 620 may be specifically configured to: and fitting the initial track point set based on a preset fitting function to obtain the track curve equation.
Further, the discrete track point determining module 630 may be specifically configured to: determining a discrete factor based on a preset halving numerical value; and discretizing the track curve equation based on the discrete factors to obtain the discrete track point set.
Further, the discrete track point determining module 630 may be specifically configured to: calculating the curve length of the track curve equation; obtaining the average distance of each equal part based on the curve length and a preset equal division value; and discretizing the track curve equation based on the average distance to obtain the discrete track point set.
Further, the target track point generating module 640 may be specifically configured to: determining the minimum interval distance of down-sampling and a sampling precision standard; calculating the relative distance between two adjacent track points in the discrete track point set; and selecting standard track points meeting a preset standard from the discrete track point set based on the relative distance between two adjacent track points, the minimum spacing distance and the sampling precision standard.
Further, the target track point generating module 640 may be further specifically configured to: determining an initial track point sampled in the current round from the discrete track point set, and accumulating relative distances between a plurality of track points behind the initial track point to obtain an accumulation result; when the absolute value of the minimum spacing distance subtracted from the accumulated result is smaller than the sampling precision standard, taking an ending course point in the plurality of course points as the standard course point and an initial course point of the next round of sampling; sampling in turn and determining whether the ending track point is the last track point in the discrete track point set or not; if the path point is not the last path point in the discrete path point set, returning to execute the initial path point which is determined by sampling in the discrete path point set, accumulating the relative distances among a plurality of path points behind the initial path point to obtain an accumulation result, and selecting all standard path points from the discrete path point set until the final path point is the last path point in the discrete path point set.
Further, the target track point generating module 640 may be further specifically configured to: and determining the target track point of the lane adjacent to the current lane according to the target track point of the current lane and the lane offset, so as to obtain the target track point of the whole road.
Further, the device for generating lane track points may further include: a preprocessing module;
the preprocessing module is used for determining an offset track point from the initial track point set according to the distance between the track point in the initial track point set and the lane line of the current lane before a track curve equation is constructed according to the initial track point set; removing the offset course points from the initial set of course points.
Specifically, the preprocessing module may determine, from the initial track point set, an offset track point whose distance from the lane line of the current lane is greater than a preset threshold; removing the offset course points from the initial set of course points.
The device for generating the lane track points provided by the embodiment can be applied to the method for generating the lane track points provided by any embodiment, and has corresponding functions and beneficial effects.
Fig. 7 is a block diagram of an electronic device for implementing a method for generating lane waypoints according to an embodiment of the present application, and fig. 7 shows a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present application. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and applicable scope of the embodiments of the present application. The electronic device can be a smart phone, a tablet computer, a notebook computer, a vehicle-mounted terminal, a wearable device and the like.
As shown in fig. 7, electronic device 700 is embodied in the form of a general purpose computing device. The components of the electronic device 700 may include, but are not limited to: one or more processors or processing units 716, a memory 728, and a bus 718 that couples the various system components (including the memory 728 and the processing unit 716).
Program/utility 740 having a set (at least one) of program modules 742 may be stored, for instance, in memory 728, such program modules 742 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 742 generally perform the functions and/or methods described in embodiments herein.
The electronic device 700 may also communicate with one or more external devices 714 (e.g., keyboard, pointing device, display 724, etc.), with one or more devices that enable a user to interact with the electronic device 700, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 700 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interfaces 722. Also, the electronic device 700 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 720. As shown in fig. 7, the network adapter 720 communicates with the other modules of the electronic device 700 via the bus 718. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.
The processing unit 716 executes various functional applications and data processing by running a program stored in the memory 728, for example, implementing a lane point generation method provided in any of the embodiments of the present application.
The embodiment of the present application further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the program, when executed by a processor, can be used to execute the method for generating the lane track point provided in any one of the above embodiments of the present application.
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A method for generating lane track points, the method comprising:
acquiring an initial track point set of a current lane;
constructing a track curve equation according to the initial track point set;
discretizing the track curve equation to obtain a discrete track point set;
and performing down-sampling processing on the discrete track point set to obtain standard track points meeting a preset standard, wherein the down-sampling processing comprises the following steps:
determining the minimum interval distance of down-sampling and a sampling precision standard;
calculating the relative distance between two adjacent track points in the discrete track point set;
based on the relative distance between the two adjacent track points, the minimum spacing distance and the sampling precision standard, selecting a standard track point meeting a preset standard from the discrete track point set, wherein the standard track point comprises the following steps:
determining an initial track point sampled in the current round from the discrete track point set, and accumulating relative distances between a plurality of track points behind the initial track point to obtain an accumulation result;
when the absolute value of the minimum spacing distance subtracted from the accumulated result is smaller than the sampling precision standard, taking an ending course point in the plurality of course points as the standard course point and an initial course point of the next round of sampling; sampling in turn and determining whether the ending track point is the last track point in the discrete track point set or not; if the path point is not the last path point in the discrete path point set, returning to execute the initial path point for determining the sampling of the current round from the discrete path point set, and accumulating the relative distances among a plurality of path points behind the initial path point to obtain an accumulated result until the final path point is the last path point in the discrete path point set, thereby selecting all standard path points from the discrete path point set;
taking the standard track point as a target track point of the current lane;
and determining the target track point of the lane adjacent to the current lane according to the target track point of the current lane and the lane offset, so as to obtain the target track point of the whole road.
2. The method for generating lane track points according to claim 1, wherein the constructing a track curve equation from the initial set of track points comprises:
determining the slope between two adjacent track points in the initial track point set;
and interpolating the initial track point set through a preset interpolation function based on the slope to obtain the track curve equation.
3. The method for generating lane track points according to claim 1, wherein the constructing a track curve equation from the initial set of track points comprises:
and fitting the initial track point set based on a preset fitting function to obtain the track curve equation.
4. The method for generating the lane track point according to claim 2, wherein discretizing the track curve equation to obtain a discrete track point set comprises:
determining a discrete factor based on a preset halving numerical value;
and discretizing the track curve equation based on the discrete factors to obtain the discrete track point set.
5. The method for generating the lane track point according to claim 3, wherein discretizing the track curve equation to obtain a discrete track point set comprises:
calculating the curve length of the track curve equation;
obtaining the average distance of each equal part based on the curve length and a preset equal division value;
and discretizing the track curve equation based on the average distance to obtain the discrete track point set.
6. The method for generating lane track points according to claim 1, further comprising, before constructing a track curve equation from the initial set of track points:
determining an offset track point from the initial track point set according to the distance between the track point in the initial track point set and the lane line of the current lane;
removing the offset course points from the initial set of course points.
7. A lane waypoint generating apparatus, characterized by comprising:
the initial track point acquisition module is used for acquiring an initial track point set of the current lane;
the curve equation building module is used for building a track curve equation according to the initial track point set;
the discrete track point determining module is used for carrying out discretization processing on the track curve equation to obtain a discrete track point set;
the target track point generating module is used for performing down-sampling processing on the discrete track point set to obtain standard track points which accord with a preset standard, and taking the standard track points as target track points of the current lane;
the target track point generating module is specifically configured to: determining the minimum interval distance of down-sampling and a sampling precision standard; calculating the relative distance between two adjacent track points in the discrete track point set; selecting standard course points which accord with a preset standard from the discrete course point set based on the relative distance between the two adjacent course points, the minimum spacing distance and the sampling precision standard;
the target track point generating module is further specifically configured to: determining an initial track point sampled in the current round from the discrete track point set, and accumulating relative distances between a plurality of track points behind the initial track point to obtain an accumulation result; when the absolute value of the minimum spacing distance subtracted from the accumulated result is smaller than the sampling precision standard, taking an ending course point in the plurality of course points as the standard course point and an initial course point of the next round of sampling; sampling wheel by wheel and determining whether the ending track point is the last track point in the discrete track point set or not; if the path point is not the last path point in the discrete path point set, returning to execute the initial path point for determining the sampling of the current round from the discrete path point set, and accumulating the relative distances among a plurality of path points behind the initial path point to obtain an accumulated result until the final path point is the last path point in the discrete path point set, thereby selecting all standard path points from the discrete path point set;
the target track point generating module is further specifically configured to: and determining the target track point of the lane adjacent to the current lane according to the target track point of the current lane and the lane offset, so as to obtain the target track point of the whole road.
8. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method of generating lane waypoints in accordance with any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out a method of generating a lane track point according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210462392.8A CN114578401B (en) | 2022-04-29 | 2022-04-29 | Method and device for generating lane track points, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210462392.8A CN114578401B (en) | 2022-04-29 | 2022-04-29 | Method and device for generating lane track points, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114578401A CN114578401A (en) | 2022-06-03 |
| CN114578401B true CN114578401B (en) | 2022-08-30 |
Family
ID=81779382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210462392.8A Active CN114578401B (en) | 2022-04-29 | 2022-04-29 | Method and device for generating lane track points, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114578401B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114838737B (en) * | 2022-07-05 | 2022-10-04 | 泽景(西安)汽车电子有限责任公司 | Method and device for determining driving path, electronic equipment and storage medium |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4990629B2 (en) * | 2003-12-24 | 2012-08-01 | オートモーティブ システムズ ラボラトリー インコーポレーテッド | Road curvature estimation system |
| CN102998684B (en) * | 2012-11-21 | 2016-12-21 | 厦门雅迅网络股份有限公司 | A kind of terminal positioning track fitting method based on Bezier |
| CN103149937B (en) * | 2013-02-26 | 2015-10-21 | 北京航空航天大学 | A kind of horizontal side direction curved path tracking based on curvature compensation |
| CN106227726B (en) * | 2016-06-30 | 2020-01-21 | 北京航空航天大学 | Path extraction method based on vehicle track data |
| CN106444740B (en) * | 2016-07-15 | 2019-03-12 | 浙江工业大学 | Unmanned plane two dimension path planning method based on MB-RRT |
| CN106781466B (en) * | 2016-12-06 | 2019-10-22 | 北京中交兴路信息科技有限公司 | A kind of determination method and device of vehicle parking point information |
| EP3364211B1 (en) * | 2017-02-21 | 2022-08-17 | Continental Autonomous Mobility Germany GmbH | Method and device for detecting a possible collision, and vehicle |
| CN110487288B (en) * | 2018-05-14 | 2024-03-01 | 华为技术有限公司 | Road estimation method and road estimation system |
| CN112382121A (en) * | 2020-10-30 | 2021-02-19 | 河南工业大学 | Vehicle track optimization method based on moving average algorithm |
| CN112562372B (en) * | 2020-11-30 | 2021-11-16 | 腾讯科技（深圳）有限公司 | Track data processing method and related device |
| CN113327264B (en) * | 2021-06-01 | 2023-01-13 | 星觅(上海)科技有限公司 | Trajectory fitting method, device, equipment and storage medium |
-
2022
- 2022-04-29 CN CN202210462392.8A patent/CN114578401B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114578401A (en) | 2022-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200192402A1 (en) | Algorithm and infrastructure for robust and efficient vehicle localization | |
| CN109931944B (en) | AR navigation method, AR navigation device, vehicle-side equipment, server side and medium | |
| CN110260870B (en) | Map matching method, device, equipment and medium based on hidden Markov model | |
| CN109284348B (en) | Electronic map updating method, device, equipment and storage medium | |
| CN109116374B (en) | Method, device and equipment for determining distance of obstacle and storage medium | |
| CN109931945B (en) | AR navigation method, device, equipment and storage medium | |
| US20180225968A1 (en) | Autonomous vehicle localization based on walsh kernel projection technique | |
| US20170307384A1 (en) | Storing trajectory | |
| US11193789B2 (en) | Method, apparatus, and computer program product for identifying at-risk road infrastructure | |
| CN110411440B (en) | Road acquisition method, device, server and storage medium | |
| CN112798004B (en) | Positioning method, device and equipment for vehicle and storage medium | |
| CN109635861B (en) | Data fusion method and device, electronic equipment and storage medium | |
| CN111380546A (en) | Vehicle positioning method and device based on parallel road, electronic equipment and medium | |
| CN113537362A (en) | Perception fusion method, device, equipment and medium based on vehicle-road cooperation | |
| CN114578401B (en) | Method and device for generating lane track points, electronic equipment and storage medium | |
| CN109073406B (en) | Processing map-related user input to detect route requests | |
| CN111121755B (en) | Multi-sensor fusion positioning method, device, equipment and storage medium | |
| CN110008921B (en) | Road boundary generation method and device, electronic equipment and storage medium | |
| CN109635868B (en) | Method and device for determining obstacle type, electronic device and storage medium | |
| CN110017840B (en) | Navigation data processing method and device, electronic equipment and computer readable medium | |
| CN110542425B (en) | Navigation path selection method, navigation device, computer equipment and readable medium | |
| CN110647600B (en) | Three-dimensional map construction method, device, server and storage medium | |
| CN113758492A (en) | Map detection method and device | |
| CN109270566B (en) | Navigation method, navigation effect testing method, device, equipment and medium | |
| US10371535B1 (en) | Automatic map generation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |