CN109520513A - A kind of three-dimensional map method for drafting and device - Google Patents
A kind of three-dimensional map method for drafting and device Download PDFInfo
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- CN109520513A CN109520513A CN201811230549.4A CN201811230549A CN109520513A CN 109520513 A CN109520513 A CN 109520513A CN 201811230549 A CN201811230549 A CN 201811230549A CN 109520513 A CN109520513 A CN 109520513A
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
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Abstract
The present invention provides a kind of three-dimensional map method for drafting and devices.The method includes extracting target figure layer from map initial data, the map initial data includes basic point coordinate set and basic point attribute with figure layer data organization, each figure layer data；Basic point coordinate set in target figure layer is coordinately transformed, to obtain the point data under ECEF coordinate system；The 3D shape that target figure layer indicates is drawn according to the point data.The map datum that the present invention is directly come using acquisition, is compiled without to map, and the time required to saving map datum processing, also ensuring will not cause primary data information (pdi) to lose because of compilation process.By modeling to data Direct Three-dimensional, the work of manually map orientation data is eliminated.Moreover, road neighboring buildings are carried out three dimensional stress compared to existing three-dimensional map, the road model that this method is drawn out more has space three-dimensional sense.
Description
Technical field
The present invention relates to map datum processing and its visualization field more particularly to a kind of three-dimensional map method for drafting and dress
It sets.
Background technique
Before intelligent driving automobile formally upper road, in order to save cost and guarantee vehicle and road pedestrian safety, need
The driving algorithm of unmanned intelligent driving automobile is tested in the virtual environment that a computer generates.It is feasible in order to be provided to automobile
The path space sailed, and as much as possible simulate real roads, in the virtual environment of building, need be with practical map datum
Draw out corresponding three-dimensional traverse in basis.
A part indispensable as unmanned intelligent driving technology, high-precision map have been widely used for automobile intelligent
In driving field.Different from conditional electronic map, the service object of high-precision electronic map is automatic driving car；In addition to describing road
Except the essential information of road rank, high-precision map is further comprised to information such as lane, lane line, pavement strip and traffic signs
Description, and then provide a centimetre rank high-precision independent positioning function for automobile, provide possibility for intelligent driving function
And feasibility.
The Internet enterprises of traditional map data provider and offer Map Services diagram data can carry out over the ground
A degree of visualization.But the mapping involved by them is shown with two-dimensional map.In recent years, more maps
Manufacturer also starts to provide three-dimensional map display function.But existing three-dimensional map display function is tended to show both sides of the road mostly
Three-dimensional building object, and can not show for the vital three-dimensional road of simulation real roads training smart driving.
Further, the data mart modeling that map data provider generally carrys out acquired original in map datum processing is at certain
Kind intermediate form, the transfer algorithm of this intermediate form is typically all core technology, will not be disclosed to vehicle development quotient, this just gives
Vehicle development quotient obtains three-dimensional traverse and brings bigger difficulty.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of three-dimensional map method for drafting and devices.
The present invention is realized with following technical solution:
A kind of three-dimensional map method for drafting, which comprises
Target figure layer is extracted from map initial data, the map initial data is with figure layer data organization, each figure layer
Data include basic point coordinate set and basic point attribute；
Basic point coordinate set in target figure layer is coordinately transformed, to obtain the point digit under ECEF coordinate system
According to；
The 3D shape that target figure layer indicates is drawn according to the point data.
Further, each figure layer data include basic point coordinate set and basic point attribute, and basic point coordinate set is definition
The coordinate data of basic configuration, basic point attribute can be recorded among presetting database.
Further, the 3D shape for drawing the expression of target figure layer according to the point data includes drawing road mould
Type, the drafting road model include:
The corresponding point data of lane figure layer are obtained, the point data indicate basic point in ECEF coordinate system
Coordinate；
The corresponding attribute data of each basic point is obtained, the attribute includes the lane centered on the basic point
Width；
According to point data and attribute data drawing three-dimensional road.
Further, described to include: according to point data and attribute data drawing three-dimensional road
Obtain the direction of each basic point；
According to the direction of each basic point, a plane is being expanded out with towards vertical direction；
The corresponding lane of point data or so critical point is calculated according to point data and attribute data in the plane；
Each left critical point and right critical point are connected, to obtain three-dimensional lane.
Further, the line of the basic point and next basic point characterizes the direction of the basic point.
Further, after drawing out three-dimensional lane, the map sub-model drawn is exported, to each before export
Lane carries out coordinate shift, and migration process includes:
Obtain local coordinate system central point；
The each point in three-dimensional lane is deviated according to local coordinate system central point.
Further, all vertex in one section of lane face are xi, the local coordinate system central point of model is after exportIt will
All vertex in lane, which carry out offset, becomes its coordinate
A kind of three-dimensional map drawing apparatus, described device include:
Data extraction module, for extracting target figure layer from map initial data, the map initial data is with figure layer
Data organization, each figure layer data include basic point coordinate set and basic point attribute；
Conversion module is sat for being coordinately transformed the basic point coordinate set in target figure layer with obtaining ground heart admittedly
Point data under mark system；
Drafting module, for drawing the 3D shape that target figure layer indicates according to the point data.
Further, the drafting module includes:
Lane point extraction unit, for obtaining the corresponding point data of lane figure layer, the point data indicate basic
Coordinate of the point in ECEF coordinate system；
Attribute data extraction unit, for obtaining the corresponding attribute data of each basic point, the attribute includes with described
The width in the lane centered on basic point；
Lane drawing unit, for according to point data and attribute data drawing three-dimensional road.
Further, the lane drawing unit includes:
Towards acquiring unit, for obtaining the direction of each basic point；
It expands unit and is expanding out a plane with towards vertical direction for the direction according to each basic point；
It is corresponding to calculate point data according to point data and attribute data in the plane for critical point acquiring unit
Lane or so critical point；
Connection unit, for connecting each left critical point and right critical point, to obtain three-dimensional lane.
The beneficial effects of the present invention are:
The present invention provides a kind of three-dimensional map method for drafting and device in fact.The map number that the present invention is directly come using acquisition
According to and without map compile work, save map datum processing the time required to, also ensure will not because of compilation process and
Primary data information (pdi) is caused to lose.By modeling to data Direct Three-dimensional, the work of manually map orientation data is eliminated.
Drawing work is carried out in a three-dimensional space always, is not in the conversion of two dimensional image and threedimensional model.Moreover, phase
Road neighboring buildings are subjected to three dimensional stress than existing three-dimensional map, the road model that this method is drawn out more has space multistory
Sense.
Detailed description of the invention
Fig. 1 is a kind of three-dimensional map method for drafting flow chart provided in an embodiment of the present invention；
Fig. 2 is the method for drafting flow chart of the road model in a kind of three-dimensional map provided in an embodiment of the present invention；
Fig. 3 is the method for drafting flow chart of three-dimensional road provided in an embodiment of the present invention；
Fig. 4 is a kind of three-dimensional map drawing apparatus block diagram provided in an embodiment of the present invention；
Fig. 5 is drafting module block diagram provided in an embodiment of the present invention；
Fig. 6 is drawing unit block diagram in lane provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
For vehicle development quotient, the map datum obtained is the original ESRI formatted data that acquisition comes.Accurately
Figure introduces the information of lane rank, and content had not only included the data of road grade, but also the data including lane rank.These are not
The lane rank data of intermediate form are processed into, have constituted the condition of drawing three-dimensional road model, it is only necessary to develop one kind
The algorithm of three-dimensional traverse and three-dimensional map can be drawn out.
It carries out map calibration in addition, traditional mapping process needs to expend a large amount of manpower and material resources and describes work, and
High-precision map passes through the high accuracy data sampled point more crypto set that laser radar sampled, and increases and manually handles such
The difficulty of information.In order to improve the drafting efficiency of three-dimensional traverse and three-dimensional map, need rendering algorithm can be not right
ESRI initial data is completed in the case where being compiled.
In view of this, the embodiment of the invention provides a kind of three-dimensional map method for drafting, as shown in Figure 1, comprising:
S101. target figure layer is extracted from map initial data, the map initial data is with figure layer data organization, each
Figure layer data include basic point coordinate set and basic point attribute.
Map initial data component layer define road axis, lane center, road tie point, lane tie point,
Line/planar traffic marking, point/line/planar means of transportation.Each figure layer data include basic point coordinate set and basic point category
Property, basic point coordinate set is the coordinate data for defining basic configuration, and basic point attribute can be recorded among presetting database.
In order to the road model in drawing three-dimensional map, target figure layer should include the relevant figure layer in lane.
S102. the basic point coordinate set in target figure layer is coordinately transformed, to obtain under ECEF coordinate system
Point data.
S103. the 3D shape that target figure layer indicates is drawn according to the point data.
The record format of basic point coordinate set is longitude and latitude and elevation data under WGS84 earth coordinates.In order to
It more clearly shows the detailed information inside small range longitude and latitude, needs to sit the WGS84 longitude and latitude height above sea level as unit of spending
It marks the ground heart being converted into as unit of rice and consolidates (ECEF) coordinate.It is modeled using the point data obtained by coordinate transform
In, it can be obtained the basic configuration in basic point coordinate set representations point or line or face.
Three-dimensional modeling is directly carried out when drawing the 3D shape that figure layer indicates, drawing work is in a three-dimensional space always
Middle progress, the application programming interface (API) that drawing process uses 3 d modeling software to provide.
Specifically, the present invention provides a kind of method for drafting of the road model in three-dimensional map, as shown in Figure 2, comprising:
S1031. the corresponding point data of lane figure layer are obtained, the point data indicate basic point in the earth's core body-fixed coordinate system
Coordinate in system.
S1032. the corresponding attribute data of each basic point is obtained, the attribute includes described centered on the basic point
The width in lane.
S1033. according to point data and attribute data drawing three-dimensional road.
Specifically, the method for drafting of the three-dimensional road is as shown in Figure 3, comprising:
S10331. the direction of each basic point is obtained.
Specifically, the line of the basic point and next basic point characterizes the direction of the basic point.
S10332. according to the direction of each basic point, a plane is being expanded out with towards vertical direction.
S10333. corresponding lane of point data or so is calculated according to point data and attribute data in the plane to face
Boundary's point.
S10334. each left critical point and right critical point are connected, to obtain three-dimensional lane.
Specifically, the normal vector in the three-dimensional lane is upward.
Further, after drawing out lane face, due to other needs, the map sub-model drawn can also be led
Out.The origin of actually each road model is overlapped the origin under ECEF coordinate system, but has in derived map
Different local coordinate system origins deviates for this purpose, needing to export after carrying out coordinate shift to each road model before export
Process includes:
(1) local coordinate system central point is obtained.
Assuming that all vertex in one section of lane face are xi, the local coordinate system central point of model is after export
(2) each point in the model of lane is deviated according to local coordinate system central point.
By the above-mentioned scalar of all apex offsets in lane, then for other points, coordinate becomes
The embodiment of the invention provides a kind of three-dimensional map method for drafting.Directly come using acquisition in the embodiment of the present invention
Map datum and without map compile work, save map datum processing the time required to, also ensuring will not be because of compiling
Process and cause primary data information (pdi) to lose.Directly using the 3 d modeling software of profession, manually map orientation is eliminated
The work of data.Drawing work is carried out in a three-dimensional space always, is not in two dimensional image and threedimensional model
Conversion.Moreover, road neighboring buildings are carried out three dimensional stress, the road directly drawn out with three-dimensional software compared to existing three-dimensional map
Road model more has space three-dimensional sense.
Further, the embodiment of the present invention can rely on automatized script and execute automatically, so that mapping process
In be not necessarily to manual intervention, largely save manpower and material resources, also significantly reduce the mistake that manual intervention may cause.
The embodiment of the present invention further provides a kind of three-dimensional map drawing apparatus, as shown in figure 4, described device includes:
Data extraction module 201, for extracting target figure layer from map initial data, the map initial data is to scheme
Layer data tissue, each figure layer data include basic point coordinate set and basic point attribute；
Conversion module 202, it is solid to obtain ground heart for the basic point coordinate set in target figure layer to be coordinately transformed
Point data under coordinate system；
Drafting module 203, for drawing the 3D shape that target figure layer indicates according to the point data.
As shown in figure 5, the drafting module 203 includes:
Lane point extraction unit 2031, for obtaining the corresponding point data of lane figure layer, the point data are indicated
Coordinate of the basic point in ECEF coordinate system；
Attribute data extraction unit 2032, for obtaining the corresponding attribute data of each basic point, the attribute include with
The width in the lane centered on the basic point；
Lane drawing unit 2033, for according to point data and attribute data drawing three-dimensional road.
As shown in fig. 6, the lane drawing unit 2033 includes:
Towards acquiring unit 20331, for obtaining the direction of each basic point；
It expands unit 203332 and is expanding out one with towards vertical direction for the direction according to each basic point
Plane；
Critical point acquiring unit 20333, for calculating point digit according to point data and attribute data in the plane
According to corresponding lane or so critical point；
Connection unit 20334, for connecting each left critical point and right critical point, to obtain three-dimensional lane.
Apparatus of the present invention embodiment and embodiment of the method are based on identical inventive concept.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, such as this hair
As bright claims reflect, inventive aspect is all features less than single embodiment disclosed above.Cause
This, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment, wherein each claim
Itself is all as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although embodiment described herein includes institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in claims of the present invention, embodiment claimed it is any
One of can in any combination mode come using.
The present invention be also implemented as some or all equipment for executing method as described herein or
System program (such as computer program and computer program product).It is such to realize that program of the invention can store in computer
On readable medium, or it may be in the form of one or more signals.Such signal can be above and below internet website
Load obtains, and can also be provided on the carrier signal, or be provided in any other form.
It should be noted that above-described embodiment is that illustrate the present invention rather than limit it, and
Those skilled in the art can be designed alternative embodiment without departing from the scope of the appended claims.In claim
In, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In elements or steps etc. not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of more
A such element.The present invention can be by means of including the hardware of several different elements and by means of properly programmed calculating
Machine is realized.If several in these systems can be by same in the unit claim for listing dry systems
Hardware branch embodies.The use of word first, second and third etc. does not indicate any sequence, can explain these words
For title.
Claims (10)
1. a kind of three-dimensional map method for drafting, which is characterized in that the described method includes:
Target figure layer is extracted from map initial data, the map initial data is with figure layer data organization, each figure layer data
Including basic point coordinate set and basic point attribute；
Basic point coordinate set in target figure layer is coordinately transformed, to obtain the point data under ECEF coordinate system；
The 3D shape that target figure layer indicates is drawn according to the point data.
2. according to the method described in claim 1, it is characterized by:
Each figure layer data include basic point coordinate set and basic point attribute, and basic point coordinate set is the coordinate for defining basic configuration
Data, basic point attribute are recorded among presetting database.
3. according to the method described in claim 1, it is characterized by:
The 3D shape for drawing the expression of target figure layer according to the point data includes drawing road model, the drafting road
Road model includes:
The corresponding point data of lane figure layer are obtained, the point data indicate seat of the basic point in ECEF coordinate system
Mark；
The corresponding attribute data of each basic point is obtained, the attribute includes using the basic point as the width in center lane；
According to point data and attribute data drawing three-dimensional road.
4. according to the method described in claim 3, it is characterized in that, described according to point data and attribute data drawing three-dimensional road
Road includes:
Obtain the direction of each basic point；
According to the direction of each basic point, a plane is being expanded out with towards vertical direction；
The corresponding lane of point data or so critical point is calculated according to point data and attribute data in the plane；
Each left critical point and right critical point are connected, to obtain three-dimensional lane.
5. according to the method described in claim 4, it is characterized by:
The line of the basic point and next basic point characterizes the direction of the basic point.
6. according to the method described in claim 4, it is characterized by:
After drawing out three-dimensional lane, the map sub-model drawn is exported, coordinate is carried out to each lane before export
Offset, migration process include:
Obtain local coordinate system central point；
The each point in three-dimensional lane is deviated according to local coordinate system central point.
7. according to the method described in claim 6, it is characterized by:
All vertex in one section of lane face are xi, the local coordinate system central point of model is after exportBy all tops in lane
Clicking through line displacement becomes its coordinate
8. a kind of three-dimensional map drawing apparatus, which is characterized in that described device includes:
Data extraction module, for extracting target figure layer from map initial data, the map initial data is with figure layer data
Tissue, each figure layer data include basic point coordinate set and basic point attribute；
Conversion module, for the basic point coordinate set in target figure layer to be coordinately transformed, to obtain ECEF coordinate system
Under point data；
Drafting module, for drawing the 3D shape that target figure layer indicates according to the point data.
9. device according to claim 8, which is characterized in that the drafting module includes:
Lane point extraction unit, for obtaining the corresponding point data of lane figure layer, the point data indicate that basic point exists
Coordinate in ECEF coordinate system；
Attribute data extraction unit, for obtaining the corresponding attribute data of each basic point, the attribute includes with described basic
The width in the lane centered on point；
Lane drawing unit, for according to point data and attribute data drawing three-dimensional road.
10. device according to claim 9, which is characterized in that the lane drawing unit includes:
Towards acquiring unit, for obtaining the direction of each basic point；
It expands unit and is expanding out a plane with towards vertical direction for the direction according to each basic point；
Critical point acquiring unit, for calculating the corresponding vehicle of point data according to point data and attribute data in the plane
Road or so critical point；
Connection unit, for connecting each left critical point and right critical point, to obtain three-dimensional lane.
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