CN109737976A - Map road section and lane line automatic Generation - Google Patents
Map road section and lane line automatic Generation Download PDFInfo
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- CN109737976A CN109737976A CN201910012070.1A CN201910012070A CN109737976A CN 109737976 A CN109737976 A CN 109737976A CN 201910012070 A CN201910012070 A CN 201910012070A CN 109737976 A CN109737976 A CN 109737976A
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Abstract
The present invention provides a kind of map road section and lane line automatic Generation, comprising steps of S1: obtaining form point sampled data；S2: pretreatment；S3: coordinate and direction of first reference point in the first coordinate system are calculated；S4: the second coordinate system of record and lane sideline number of intersections；S5: coordinate and direction of second reference point in the first coordinate system are calculated；S6: the number of intersections of record the second coordinate system and lane sideline；S7: whether lane sideline number of intersections changes；S8: new the second reference point and the first reference point are selected；S9: whether the angle of the two intersection point directions formation of two second coordinate systems and lane out conductor is established less than the first preset threshold with two new reference points；S10: lane constant interval is determined；S11: judge whether to terminate.A kind of map road section of the invention and lane line automatic Generation, fully automated can accurately generate road interval and lane line, and robustness it is high, without manual intervention, high-efficient.
Description
Technical field
The present invention relates to map datum process fields more particularly to a kind of map road section and lane line automatically to generate
Method.
Background technique
Highway sideline refers to, due to physical condition (spacer, road surfacing terminate), leads to the practical current range of vehicle
The boundary line of end.
Lane sideline is the left and right sideline for determining a runway range.Under normal circumstances, lane range is printed by ground
Lane line determine, in the case where no practical track, row is determined using physical barrier edge wired-OR logic circuits lane line
Lane range.
Road interval refers to, along garage direction, lane is interrupted when number of track-lines changes, and is formed by one group of lane and claims
For road interval.
Currently, still lack it is a kind of full automation and robustness it is very high automatically generate road interval and lane sideline letter
The method of breath.
Summary of the invention
In view of the deficiency of the prior art, the present invention provides a kind of map road section and lane line automatically generates
Method can be fully automated and accurately generate road interval and lane line, and robustness is high, is not necessarily to manual intervention, is high-efficient.
To achieve the goals above, the present invention provides a kind of map road section and lane line automatic Generation, packet
Include step:
S1: obtaining the form point sampled data in the sideline of a continuous road, and the sideline includes highway sideline, lane outside
Line and lane sideline；
S2: pre-processing the form point sampled data, and obtains a pretreatment form point data and a sideline curve graph；
S3: establishing one first coordinate system in the sideline curve graph, along one first extension side of a highway sideline
One first reference point is selected into the pretreatment form point data corresponding to the highway sideline, and calculates first reference point
Coordinate and direction in first coordinate system；
S4: one second coordinate system is established by origin of first reference point, records presently described second coordinate system and institute
State the number of intersections in lane sideline；
S5: described is selected in the pretreatment form point data corresponding to the highway sideline along first extending direction
The next point of one reference point as the second reference point, and calculate coordinate of second reference point in first coordinate system and
Direction；
S6: establishing second coordinate system by origin of second reference point, record presently described second coordinate system with
The number of intersections in the lane sideline；
S7: judge first reference point, second coordinate system corresponding with second reference point institute with it is described
Whether the number of intersections in lane sideline changes, and step S8 is carried out when changing, step S11 is skipped to when unchanged；
S8: select the next point of second reference point as new second reference along first extending direction
Point selects the upper as newly of first reference point along one second extending direction reversed with first extending direction
First reference point；
S9: second coordinate is established using presently described first reference point and presently described second reference point as origin respectively
System, and whether the angle for judging that the direction of two second coordinate systems and two intersection points of the same lane out conductor is formed is less than
One first preset threshold；Such as less than continue subsequent step, otherwise return step S8；
S10: the region between presently described first reference point and presently described second reference point is set to lane variation zone
Between；
S11: judging whether to meet termination condition, such as meet end step, otherwise using presently described second reference point as
New first reference point and return step S5.
Preferably, it in the S1 step, is adopted by the form point that AI or artificial mode obtain the sideline of a continuous road
Sample data.
Preferably, in the S2 step, the grid of a pre-set dimension is established to institute using the bounding box of form point sampled data
Form point sampled data is stated to be smoothed and resampling.
Preferably, the S2 step further comprises step:
S21: a sampling form point curve graph is formed according to the form point sampled data；
S22: a grid is established using the bounding box of the form point sampled data, the grid includes multiple default rulers
Very little grid cell；
S23: make according to the central point that the extending direction in the sideline chooses each grid cell that the sideline is passed through
Attach most importance to sampled point；
S24: gaussian filtering is carried out to the line of the resampling point, obtains the pretreatment form point data and the sideline
Curve graph.
Preferably, in the S3 step, a sideline middle position is selected in the sideline curve graph or in
Between position a little establish first coordinate system as origin；The tangential direction conduct of the origin of first coordinate system
The x-axis of first coordinate system, using vertical direction as the y-axis of first coordinate system；It will be in first coordinate system and institute
State the tangential direction mean value that the first reference point x-axis coordinate in first coordinate system is worth the point on the identical whole sideline
Direction as first reference point；
In the S5 step, by first coordinate system with second reference point x-axis in first coordinate system
Direction of the tangential direction mean value of point on the coordinate value identical whole sideline as second reference point.
Preferably, in the S4 step, using first reference point as origin, and with the direction of first reference point work
The second coordinate system of rectangular coordinate system is established for the x-axis of second coordinate system；Record the y-axis of second coordinate system with it is described
The number of intersections in lane sideline；
In the S6 step, using second reference point as origin, and using the direction of second reference point described in
The x-axis of second coordinate system establishes the second coordinate system of rectangular coordinate system；Record second coordinate system y-axis and the lane side
The number of intersections of line.
Preferably, in the S9 step: judging the y-axis and the two of the same lane out conductor of two second coordinate systems
Whether the angle that the tangential direction of intersection point is formed is less than first preset threshold.
Preferably, in the S10 step, presently described first reference point and presently described second reference point institute is right respectively
Region between the y-axis for second coordinate system answered is set to lane constant interval.
Preferably, in the S11 step, presently described second reference point and the highway sideline are along the first extension side
To terminal distance less than second preset threshold when meet termination condition.
The present invention due to use above technical scheme, make it have it is following the utility model has the advantages that
Road interval and lane sideline are automatically generated by means of the invention it is also possible to be fully automated, it can be accurate
Road interval and lane line is calculated, robustness is very high；Using the method for automation, manual intervention is not needed, it is high-efficient,
Save human cost；And the efficiency of map datum operation can be improved.It, can by the setting of grid and the use of gaussian filtering step
Realize the smoothing processing and resampling to form point sampled data.
Detailed description of the invention
Fig. 1 is the flow chart in the map road section and lane line automatic Generation of the embodiment of the present invention.
Specific embodiment
Below according to attached drawing 1, presently preferred embodiments of the present invention is provided, and is described in detail, makes to be better understood when this
Function, the feature of invention.
Referring to Fig. 1, a kind of map road section and the lane line automatic Generation of the embodiment of the present invention, including step
It is rapid:
S1: obtaining the form point sampled data in the sideline of a continuous road, sideline include highway sideline, lane out conductor and
Lane sideline.
In this step, the form point sampled data in the sideline of a continuous road is obtained by AI or artificial mode.
Sample point data is some points on highway sideline, these points contain geography information (longitude and latitude, height or projection
Coordinate), by these points it is known that the shape of this highway sideline, position.
S2: pre-processing form point sampled data, and obtains a pretreatment form point data and a sideline curve graph.
In the present embodiment, the grid of a pre-set dimension is established to form point sampled data using the bounding box of form point sampled data
It is smoothed and resampling.
S2 step further comprises step:
S21: a sampling form point curve graph is formed according to form point sampled data；
S22: a grid is established using the bounding box of form point sampled data, grid includes the grid list of multiple pre-set dimensions
Member；
S23: the central point for each grid cell that sideline is passed through is chosen as resampling point according to the extending direction in sideline；
S24: the line of counterweight sampled point carries out gaussian filtering, obtains pretreatment form point data and sideline curve graph.
May be by the sideline form point that the modes such as AI or artificial are extracted it is rough, data point may also can it is excessively intensive or
It is sparse, it needs to carry out resampling processing to data point.Since the sampling of sideline track is irregular, the resampling of data point cannot be used
Common smooth and interpolation method.By the setting of this step grid and the use of gaussian filtering step, it can be achieved that being adopted to form point
The smoothing processing and resampling of sample data.
S3: establishing one first coordinate system in the curve graph of sideline, and one first extending direction along a highway sideline is from road
One first reference point is selected in pretreatment form point data corresponding to sideline, and calculates the first reference point in the first coordinate system
Coordinate and direction.
In S3 step, a sideline middle position is selected in the curve graph of sideline or close to middle position a little as origin
Establish the first coordinate system；X-axis of the tangential direction of the origin of first coordinate system as the first coordinate system, using vertical direction as
The y-axis of one coordinate system；By x-axis coordinate is worth identical whole sidelines in the first coordinate system with the first reference point in the first coordinate system
On point direction of the tangential direction mean value as the first reference point.
S4: establishing one second coordinate system by origin of the first reference point, records current second coordinate system and lane sideline
Number of intersections.
In this step, using the first reference point as origin, and built using the x-axis of the direction of the first reference point as the second coordinate system
Second coordinate system of vertical rectangular coordinate system；Record the y-axis of the second coordinate system and the number of intersections in lane sideline.
S5: it is selected under the first reference point in the pretreatment form point data corresponding to the highway sideline along the first extending direction
It is a little used as the second reference point, and calculates coordinate and direction of second reference point in the first coordinate system.
By x-axis coordinate is worth the point on identical whole sidelines in the first coordinate system with the second reference point in the first coordinate system
Direction of the tangential direction mean value as the second reference point.
S6: establishing the second coordinate system by origin of the second reference point, records the friendship of current second coordinate system and lane sideline
Point quantity.
Using the second reference point as origin, and right angle is established using the x-axis of the direction of the second reference point as the second coordinate system and is sat
Mark the second coordinate system of system；Record the y-axis of the second coordinate system and the number of intersections in lane sideline.
S7: judge the first reference point and the second reference point corresponding second coordinate system and lane sideline number of hits
Whether amount changes, and step S8 is carried out when changing, step S11 is skipped to when unchanged.
S8: select the next point of the second reference point as the second new reference point along the first extending direction, edge is prolonged with first
It stretches one second reversed extending direction of direction and selects the upper as the first new reference point of the first reference point.
S9: the second coordinate system is established using current first reference point and current second reference point as origin respectively, and judges two
Whether the angle that the direction of two intersection points of the second coordinate system and same lane out conductor is formed is less than one first preset threshold；It is such as small
In continuing subsequent step, otherwise return step S8.
In this step: the tangential direction of the y-axis and two intersection points of same lane out conductor that judge two second coordinate systems is formed
Angle whether less than the first preset threshold.
S10: the region between current first reference point and current second reference point is set to lane constant interval.
In this step, by current first reference point and current second reference point corresponding second coordinate system y-axis
Between region be set to lane constant interval.
S11: judging whether to meet termination condition, such as meet end step, otherwise using current second reference point as new
First reference point and return step S5.
In this step, current second reference point is with highway sideline less than one second at a distance from the terminal of the first extending direction
Meet termination condition when preset threshold.
A kind of map road section of the embodiment of the present invention and lane line automatic Generation, can be fully automated from
Road interval and lane sideline are generated dynamicly, road interval and lane line can accurately be calculated, robustness is very high；It adopts
With the method for automation, manual intervention is not needed, it is high-efficient, save human cost；And the efficiency of map datum operation can be improved.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (9)
1. a kind of map road section and lane line automatic Generation, comprising steps of
S1: obtaining the form point sampled data in the sideline of a continuous road, the sideline include highway sideline, lane out conductor and
Lane sideline；
S2: pre-processing the form point sampled data, and obtains a pretreatment form point data and a sideline curve graph；
S3: establishing one first coordinate system in the sideline curve graph, along a highway sideline one first extending direction from
One first reference point is selected in pretreatment form point data corresponding to the highway sideline, and calculates first reference point in institute
State the coordinate in the first coordinate system and direction；
S4: one second coordinate system is established by origin of first reference point, records presently described second coordinate system and the vehicle
The number of intersections in road sideline；
S5: first ginseng is selected in the pretreatment form point data corresponding to the highway sideline along first extending direction
The next point of examination point calculates coordinate and side of second reference point in first coordinate system as the second reference point
To；
S6: establishing second coordinate system by origin of second reference point, record presently described second coordinate system with it is described
The number of intersections in lane sideline；
S7: judge first reference point and second reference point corresponding second coordinate system of institute and the lane
Whether the number of intersections in sideline changes, and step S8 is carried out when changing, step S11 is skipped to when unchanged；
S8: select the next point of second reference point as new second reference point, edge along first extending direction
One second reversed extending direction selects the upper as described in newly of first reference point with first extending direction
First reference point；
S9: establishing second coordinate system using presently described first reference point and presently described second reference point as origin respectively,
And judge angle that the direction of two intersection points of two second coordinate systems and the same lane out conductor is formed whether less than one
First preset threshold；Such as less than continue subsequent step, otherwise return step S8；
S10: the region between presently described first reference point and presently described second reference point is set to lane constant interval；
S11: judging whether to meet termination condition, such as meet end step, otherwise using presently described second reference point as new
First reference point and return step S5.
2. map road section according to claim 1 and lane line automatic Generation, which is characterized in that the S1
In step, the form point sampled data in the sideline of a continuous road is obtained by AI or artificial mode.
3. map road section according to claim 2 and lane line automatic Generation, which is characterized in that the S2
In step, the form point sampled data is carried out using the grid that the bounding box of form point sampled data establishes a pre-set dimension smooth
Processing and resampling.
4. map road section according to claim 3 and lane line automatic Generation, which is characterized in that the S2
Step further comprises step:
S21: a sampling form point curve graph is formed according to the form point sampled data；
S22: a grid is established using the bounding box of the form point sampled data, the grid includes multiple pre-set dimensions
Grid cell；
S23: the central point for each grid cell that the sideline is passed through is chosen as weight according to the extending direction in the sideline
Sampled point；
S24: gaussian filtering is carried out to the line of the resampling point, obtains the pretreatment form point data and the sideline curve
Figure.
5. map road section according to claim 4 and lane line automatic Generation, which is characterized in that the S3
In step, a sideline middle position or a little building as origin close to middle position are selected in the sideline curve graph
Found first coordinate system；X-axis of the tangential direction of the origin of first coordinate system as first coordinate system, with
Y-axis of the vertical direction as first coordinate system；By in first coordinate system with first reference point described first
X-axis coordinate is worth side of the tangential direction mean value of the point on the identical whole sideline as first reference point in coordinate system
To；
In the S5 step, by first coordinate system with second reference point x-axis coordinate in first coordinate system
It is worth direction of the tangential direction mean value of the point on the identical whole sideline as second reference point.
6. map road section according to claim 5 and lane line automatic Generation, which is characterized in that the S4
In step, using first reference point as origin, and using the direction of first reference point as the x-axis of second coordinate system
Establish the second coordinate system of rectangular coordinate system；Record the y-axis of second coordinate system and the number of intersections in the lane sideline；
In the S6 step, using second reference point as origin, and using the direction of second reference point as described second
The x-axis of coordinate system establishes the second coordinate system of rectangular coordinate system；Record second coordinate system y-axis and the lane sideline
Number of intersections.
7. map road section according to claim 6 and lane line automatic Generation, which is characterized in that the S9
In step: judging what the tangential direction of the y-axis of two second coordinate systems and two intersection points of the same lane out conductor was formed
Whether angle is less than first preset threshold.
8. map road section according to claim 7 and lane line automatic Generation, which is characterized in that described
In S10 step, by corresponding second coordinate system of presently described first reference point and presently described second reference point institute
Y-axis between region be set to lane constant interval.
9. map road section according to claim 8 and lane line automatic Generation, which is characterized in that described
In S11 step, presently described second reference point is less than at a distance from the terminal of first extending direction with the highway sideline
Meet termination condition when one second preset threshold.
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| CN111578948A (en) * | 2020-06-12 | 2020-08-25 | 弗徕威智能机器人科技（上海）有限公司 | Lane adding method and system |
| CN112697155A (en) * | 2019-10-23 | 2021-04-23 | 北京京东乾石科技有限公司 | Method and device for generating lane sideline |
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| CN111551185A (en) * | 2020-06-12 | 2020-08-18 | 弗徕威智能机器人科技（上海）有限公司 | Method for adding traffic lane |
| CN113758501A (en) * | 2021-09-08 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | Method for detecting abnormal lane line in map and readable storage medium |
| CN113758501B (en) * | 2021-09-08 | 2024-06-04 | 广州小鹏自动驾驶科技有限公司 | Method for detecting abnormal lane line in map and readable storage medium |
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