CN110006440A - A kind of expression, device, electronic equipment and the storage medium of map relationship - Google Patents
A kind of expression, device, electronic equipment and the storage medium of map relationship Download PDFInfo
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- CN110006440A CN110006440A CN201910294034.9A CN201910294034A CN110006440A CN 110006440 A CN110006440 A CN 110006440A CN 201910294034 A CN201910294034 A CN 201910294034A CN 110006440 A CN110006440 A CN 110006440A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
The embodiment of the invention discloses expression, device, electronic equipment and the storage mediums of a kind of map relationship.The described method includes: extracting the corresponding each lane line of the road in the corresponding point cloud data of road；The corresponding each lane line of the road is divided at least one fragment region；According at least one corresponding fragment region of each lane line, the map relationship of the road Yu predetermined each three-dimension object object is expressed.The map relationship of road Yu three-dimension object object can be efficiently and accurately expressed, so as to improve the ease for use of high-precision map, reduces the maintenance cost of high-precision map.
Description
Technical field
The present embodiments relate to automatic Pilot technical field more particularly to a kind of expression of map relationship, device,
Electronic equipment and storage medium.
Background technique
As consumer is higher and higher to vehicle intellectualized requirement, automated driving system is as the intelligentized product of height
Attention by more and more vehicle factors and scientific & technical corporation.Automatic Pilot technology at this stage can be divided according to scene are as follows: high speed
Highway, downtown roads and road in park.Highway will become automatic Pilot skill since its scene is simple, roadway characteristic is similar
One of the scene that art is most landed fastly.
Autonomous driving vehicle speed on highway is fast, needs sensing capability remote enough just and can guarantee the peace from vehicle
It is complete to drive.For automatic Pilot, high-precision map is essential module.There are numerous ground pels in high-precision map
Element, map relationship are the positional relationships in high-precision map between a map element and another map element, it can be
Automatic Pilot vehicle provides better sensing range, and the reply decision in the case of secondary emergency.Millimetre-wave radar possesses ranging survey
Fast precision is high, the advantages that small, moderate cost is interfered by weather, becomes the standard configuration of highway autonomous driving vehicle.Towards vehicle
The millimetre-wave radar of direction of advance installation is capable of providing the metals such as vehicle front automobile, motorcycle, guardrail wires, sign board
The exact position of target and relative velocity.
In the expression of existing map relationship, usually first constructed using the collected point cloud data of millimetre-wave radar
Corresponding each lane line of road out, then interrupts each lane line constructed, after each interrupt
Lane line gives expression to the map relationship of road Yu each three-dimension object object；Alternatively, each lane that can not also will be constructed
Line is interrupted, and directly according to each lane line constructed, gives expression to the map relationship of road Yu each three-dimension object object.
But in the expression of existing map relationship, the corresponding each lane line of road is ranked up in the form of two-dimensional points
Composition, it undoubtedly will increase computation complexity and maintenance cost when being interrupted each lane line in this way；Moreover, because vehicle
The coverage area of diatom is smaller, so the map relationship of the road and each three-dimension object object given expression to according to lane line is inadequate
Accurately；In addition, if there are phantom line segments in the corresponding each lane line of road, using the expression of existing map relationship,
Then be beyond expression out the map relationship of road and each three-dimension object object.
Summary of the invention
In view of this, expression, device, electronic equipment and storage that the embodiment of the present invention provides a kind of map relationship are situated between
Matter can efficiently and accurately express the map relationship of road Yu three-dimension object object, so as to improve the easy-to-use of high-precision map
Property, reduce the maintenance cost of high-precision map.
In a first aspect, the embodiment of the invention provides a kind of expressions of map relationship, which comprises
In the corresponding point cloud data of road, the corresponding each lane line of the road is extracted；
The corresponding each lane line of the road is divided at least one fragment region；
According at least one corresponding fragment region of each lane line, the road and predetermined each three-dimensional are expressed
The map relationship of subject.
In the above-described embodiments, described in the corresponding point cloud data of road, extract the corresponding each vehicle of the road
Diatom, comprising:
In the corresponding point cloud data of the road, the corresponding road area of the road is determined；
The corresponding road area of the road is marked off at least one lane according to pre-set road width threshold value
Region；
The corresponding each lane line of the road is extracted at least one described lane region.
In the above-described embodiments, described that the corresponding each lane line of the road is divided at least one fragment region
In, comprising:
The corresponding each lane line of the road is divided into the segmentation of at least one lane line according to preset length；
The corresponding each lane line segmentation of each lane line is divided into corresponding fragment region according to predetermined width
In.
In the above-described embodiments, described according at least one corresponding fragment region of each lane line, express the road
With the map relationship of predetermined each three-dimension object object, comprising:
In at least one corresponding fragment region of each lane line, the corresponding fragment area of each three-dimension object object is obtained
Domain；
By the corresponding relationship in each three-dimension object object corresponding fragment region and each three-dimension object object, it is expressed as institute
State the map relationship of road Yu each three-dimension object object.
In the above-described embodiments, the method also includes:
Obtain the position coordinates of each three-dimension object object and the position in the corresponding fragment region of each three-dimension object object
Set coordinate；
According to the position coordinates of each three-dimension object object and the position in the corresponding fragment region of each three-dimension object object
Coordinate is set, the corresponding fragment region of each three-dimension object object and each three-dimensional article are saved in pre-set map data base
The corresponding relationship of body object.
Second aspect, the embodiment of the invention provides a kind of expression device of map relationship, described device includes: extraction mould
Block, division module and expression module；Wherein,
The extraction module, for extracting the corresponding each lane of the road in the corresponding point cloud data of road
Line；
The division module, for the corresponding each lane line of the road to be divided at least one fragment region；
The expression module, for according at least one corresponding fragment region of each lane line, express the road with
The map relationship of predetermined each three-dimension object object.
In the above-described embodiments, the extraction module comprises determining that submodule, divides submodule and extracting sub-module；Its
In,
The determining submodule, for determining the corresponding road of the road in the corresponding point cloud data of the road
Road region；
The division submodule, for according to pre-set road width threshold value by the corresponding road area of the road
Mark off at least one lane region；
The extracting sub-module, for extracting the corresponding each vehicle of the road at least one described lane region
Diatom.
In the above-described embodiments, the division module is specifically used for according to preset length that the road is corresponding each
Lane line is divided into the segmentation of at least one lane line；The corresponding each lane line segmentation of each lane line is drawn according to predetermined width
It assigns in corresponding fragment region.
In the above-described embodiments, the expression module includes: acquisition submodule and expression submodule；Wherein,
The acquisition submodule, for obtaining each three-dimensional at least one corresponding fragment region of each lane line
The corresponding fragment region of subject；
The expression submodule is used for the corresponding fragment region of each three-dimension object object and each three-dimension object object
Corresponding relationship, be expressed as the map relationship of the road Yu each three-dimension object object.
In the above-described embodiments, the acquisition submodule, be also used to obtain the position coordinates of each three-dimension object object with
And the position coordinates in the corresponding fragment region of each three-dimension object object；According to the position coordinates of each three-dimension object object and
The position coordinates in the corresponding fragment region of each three-dimension object object, save each three-dimensional in pre-set map data base
The corresponding relationship in subject corresponding fragment region and each three-dimension object object.
The third aspect, the embodiment of the invention provides a kind of electronic equipment, comprising:
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the expression of map relationship described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention provides a kind of storage mediums, are stored thereon with computer program, the program quilt
The expression of map relationship described in any embodiment of that present invention is realized when processor executes.
The embodiment of the present invention proposes expression, device, electronic equipment and the storage medium of a kind of map relationship, first exists
In the corresponding point cloud data of road, the corresponding each lane line of road is extracted；Then the corresponding each lane line of road is drawn
It assigns at least one fragment region；Further according at least one corresponding fragment region of each lane line, road and in advance is expressed
The map relationship of determining each three-dimension object object.That is, in the inventive solutions, it can be according to each vehicle
The map relationship of road and predetermined each three-dimension object object is expressed at least one corresponding fragment region of diatom.And
In the expression of existing map relationship, the corresponding each lane line of road is to be ranked up to form in the form of two-dimensional points
, it undoubtedly will increase computation complexity and maintenance cost when being interrupted each lane line in this way；Moreover, because lane line
Coverage area it is smaller, so the map relationship of the road and each three-dimension object object given expression to according to lane line is not smart enough
Really；In addition, if there are phantom line segments in the corresponding each lane line of road, using the expression of existing map relationship, then
Be beyond expression out the map relationship of road and each three-dimension object object.Therefore, compared to the prior art, the embodiment of the present invention mentions
Expression, device, electronic equipment and the storage medium of map relationship out, can efficiently and accurately express road and three-dimensional article
The map relationship of body object reduces the maintenance cost of high-precision map so as to improve the ease for use of high-precision map；Also, this
The technical solution realization of inventive embodiments is simple and convenient, it is universal to be convenient for, and the scope of application is wider.
Detailed description of the invention
Fig. 1 is the flow diagram of the expression for the map relationship that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of the expression of map relationship provided by Embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram in lane region provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram in fragment region provided by Embodiment 2 of the present invention；
Fig. 5 is the flow diagram of the expression for the map relationship that the embodiment of the present invention three provides；
Fig. 6 is the first structure diagram of the expression device for the map relationship that the embodiment of the present invention four provides；
Fig. 7 is the second structural schematic diagram of the expression device for the map relationship that the embodiment of the present invention four provides；
Fig. 8 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention five provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.
Embodiment one
Fig. 1 is the flow diagram for the expression of map relationship that the embodiment of the present invention one provides, and this method can be by
The expression device of map relationship perhaps electronic equipment come execute the device or electronic equipment can be by software and/or hardware
Mode realizes that the device or electronic equipment can integrate in any smart machine with network communicating function.Such as Fig. 1 institute
Show, the expression of map relationship may comprise steps of:
S101, in the corresponding point cloud data of road, extract the corresponding each lane line of road.
In a specific embodiment of the present invention, electronic equipment can extract road in the corresponding point cloud data of road
Corresponding each lane line.Specifically, electronic equipment can determine that road is corresponding first in the corresponding point cloud data of road
Road area；Then the corresponding road area of road is marked off at least one lane according to pre-set road width threshold value
Region；The corresponding each lane line of road is extracted at least one lane region again.
S102, the corresponding each lane line of road is divided at least one fragment region.
In a specific embodiment of the present invention, the corresponding each lane line of road can be divided at least one by electronic equipment
In a fragment region.Specifically, electronic equipment can first according to preset length by the corresponding each lane line of road be divided into
Few lane line segmentation；Then it is right with it to be divided into the corresponding each lane line segmentation of each lane line according to predetermined width
In the fragment region answered.
S103, according at least one corresponding fragment region of each lane line, express road and predetermined each three
Tie up the map relationship of subject.
In a specific embodiment of the present invention, electronic equipment can be according at least one corresponding fragment area of each lane line
The map relationship of road and predetermined each three-dimension object object is expressed in domain.Specifically, electronic equipment can be first each
In at least one corresponding fragment region of lane line, the corresponding fragment region of each three-dimension object object is obtained；It then will be each
The corresponding relationship in three-dimension object object corresponding fragment region and each three-dimension object object, is expressed as road and each three-dimensional article
The map relationship of body object.For example, the corresponding fragment region of some three-dimension object object is 1, electronic equipment can the three-dimensional article
The corresponding relationship in body object corresponding fragment region 1 and the three-dimension object object, is expressed as road and the three-dimension object object
Map relationship.
The expression for the map relationship that the embodiment of the present invention proposes extracts first in the corresponding point cloud data of road
The corresponding each lane line of road；Then the corresponding each lane line of road is divided at least one fragment region；Root again
According at least one corresponding fragment region of each lane line, the map of road and predetermined each three-dimension object object is expressed
Relationship.That is, in the inventive solutions, can according at least one corresponding fragment region of each lane line,
Express the map relationship of road and predetermined each three-dimension object object.And in the expression of existing map relationship
In, the corresponding each lane line of road is to be ranked up to form in the form of two-dimensional points, is carried out in this way by each lane line
It undoubtedly will increase computation complexity and maintenance cost when interrupting；Moreover, because the coverage area of lane line is smaller, so according to vehicle
The map relationship of the road that diatom gives expression to and each three-dimension object object is inaccurate；In addition, if road is corresponding each
There are phantom line segments in lane line, and using the expression of existing map relationship, then be beyond expression out road and each three-dimensional article
The map relationship of body object.Therefore, compared to the prior art, the expression for the map relationship that the embodiment of the present invention proposes, energy
Enough map relationships for efficiently and accurately expressing road and three-dimension object object, so as to improve the ease for use of high-precision map, drop
The maintenance cost of low high-precision map；Also, the technical solution realization of the embodiment of the present invention is simple and convenient, it is universal to be convenient for, and is applicable in model
It encloses wider.
Embodiment two
Fig. 2 is the flow diagram of the expression of map relationship provided by Embodiment 2 of the present invention.As shown in Fig. 2, ground
The expression of figure relationship may comprise steps of:
S201, in the corresponding point cloud data of road, determine the corresponding road area of road.
In a specific embodiment of the present invention, electronic equipment can determine road in the corresponding point cloud data of road
Corresponding road area.Specifically, the corresponding road area of road can be the region of a regular shape；It is also possible to one
The region of irregular shape.Under normal circumstances, the corresponding road area of road is a rectangular area.
S202, the corresponding road area of road is marked off at least one lane according to pre-set road width threshold value
Region.
In a specific embodiment of the present invention, electronic equipment can be according to pre-set road width threshold value by road pair
The road area answered marks off at least one lane region.Specifically, pre-set road width threshold value can be 4 meters.
S203, the corresponding each lane line of road is extracted at least one lane region.
In a specific embodiment of the present invention, it is corresponding can to extract road at least one lane region for electronic equipment
Each lane line.Specifically, electronic equipment can extract the lane line 1 of road object in lane region 1；It can also be
The lane line 2 of road object is extracted in lane region 2；…；The lane of road object can also be extracted in the N of lane region
Line N；Wherein, N is the natural number more than or equal to 1.
Fig. 3 is the structural schematic diagram in lane region provided by Embodiment 2 of the present invention.As shown in figure 3, determining road
After corresponding road area, electronic equipment can first calculate the road width of the corresponding road area of road；It then can be with
The corresponding road area of road is marked off at least one lane region according to pre-set road width threshold value；Again at least
The corresponding each lane line of road is extracted in the region of one lane.For example, it is assumed that the width of the corresponding road area of road is
14 meters, pre-set road width threshold value is 4 meters, and in this step, electronic equipment can be in the corresponding road area of road
The road width for extracting 12 meters (4 meters × 3), this 12 meters road width is then divided into 3 lanes region, respectively
Are as follows: lane region 1, lane region 2 and lane region 3；Wherein, left-hand lane line and right-hand lane the line difference in lane region 1
For lane line 1 and lane line 2；The left-hand lane line and right-hand lane line in lane region 2 are respectively lane line 2 and lane line 3；Vehicle
The left-hand lane line and right-hand lane line in road region 3 are respectively lane line 3 and lane line 4.
S204, the corresponding each lane line of road is divided into the segmentation of at least one lane line according to preset length.
In a specific embodiment of the present invention, electronic equipment can be according to preset length by the corresponding each lane line of road
It is divided into the segmentation of at least one lane line.Specifically, electronic equipment can be in the corresponding each lane line of road, every default
Length is divided into a lane line segmentation.For example, it is assumed that the length of some lane line is 2 meters, preset length is 0.5 meter, electronics
The lane line can be divided into 4 lane line segmentations by equipment, be respectively as follows: 0-0.5 meters, 0.5-1 meters, 1-1.5 meters, 1.5 meter -2
Rice.
S205, the corresponding each lane line segmentation of each lane line is divided into corresponding fragment according to predetermined width
In region.
In a specific embodiment of the present invention, electronic equipment can be corresponding each by each lane line according to predetermined width
Lane line segmentation is divided into corresponding fragment region.Specifically, the left side that electronic equipment can be segmented in each lane
The region for extracting one fixed width respectively with the right side of each lane line segmentation is segmented corresponding fragment area as each lane line
Domain；Then the segmentation of each lane line is divided into its corresponding fragment region.
Fig. 4 is the structural schematic diagram in fragment region provided by Embodiment 2 of the present invention.As shown in figure 4, lane line 1 can wrap
It includes: lane line segmentation 1, lane line segmentation 2, lane line segmentation 3, lane line segmentation 4, lane line segmentation 5；Lane line 2 can wrap
It includes: lane line segmentation 6, lane line segmentation 7, lane line segmentation 8, lane line segmentation 9, lane line segmentation 10；Lane line 3 can wrap
It includes: lane line segmentation 11, lane line segmentation 12, lane line segmentation 13, lane line segmentation 14, lane line segmentation 15；Lane line 4 can
To include: lane line segmentation 16, lane line segmentation 17, lane line segmentation 18, lane line segmentation 19, lane line segmentation 20.Specifically
Ground, in lane line 1, lane line segmentation 1 is divided into corresponding fragment region 1；Lane line segmentation 2 be divided into
In its corresponding fragment region 1；Lane line segmentation 3 is divided into corresponding fragment region 3；Lane line segmentation 4 is drawn
It assigns in corresponding fragment region 4；Lane line segmentation 5 is divided into corresponding fragment region 5；And so on.
For example, it is assumed that predetermined width is 0.3 meter, in this step, electronic equipment can be in the left side and each vehicle that each lane is segmented
The right side of diatom segmentation extracts 0.15 meter of region respectively, is segmented corresponding fragment region as each lane line；Then will
Each lane line segmentation is divided into its corresponding fragment region.
S206, according at least one corresponding fragment region of each lane line, express road and predetermined each three
Tie up the map relationship of subject.
In a specific embodiment of the present invention, electronic equipment can be according at least one corresponding fragment area of each lane line
The map relationship of road and predetermined each three-dimension object object is expressed in domain.Specifically, electronic equipment can be first each
In at least one corresponding fragment region of lane line, the corresponding fragment region of each three-dimension object object is obtained；It then will be each
The corresponding relationship in three-dimension object object corresponding fragment region and each three-dimension object object, is expressed as road and each three-dimensional article
The map relationship of body object.For example, the corresponding fragment region of some three-dimension object object is 1, electronic equipment can the three-dimensional article
The corresponding relationship in body object corresponding fragment region 1 and the three-dimension object object, is expressed as road and the three-dimension object object
Map relationship.
The expression for the map relationship that the embodiment of the present invention proposes extracts first in the corresponding point cloud data of road
The corresponding each lane line of road；Then the corresponding each lane line of road is divided at least one fragment region；Root again
According at least one corresponding fragment region of each lane line, the map of road and predetermined each three-dimension object object is expressed
Relationship.That is, in the inventive solutions, can according at least one corresponding fragment region of each lane line,
Express the map relationship of road and predetermined each three-dimension object object.And in the expression of existing map relationship
In, the corresponding each lane line of road is to be ranked up to form in the form of two-dimensional points, is carried out in this way by each lane line
It undoubtedly will increase computation complexity and maintenance cost when interrupting；Moreover, because the coverage area of lane line is smaller, so according to vehicle
The map relationship of the road that diatom gives expression to and each three-dimension object object is inaccurate；In addition, if road is corresponding each
There are phantom line segments in lane line, and using the expression of existing map relationship, then be beyond expression out road and each three-dimensional article
The map relationship of body object.Therefore, compared to the prior art, the expression for the map relationship that the embodiment of the present invention proposes, energy
Enough map relationships for efficiently and accurately expressing road and three-dimension object object, so as to improve the ease for use of high-precision map, drop
The maintenance cost of low high-precision map；Also, the technical solution realization of the embodiment of the present invention is simple and convenient, it is universal to be convenient for, and is applicable in model
It encloses wider.
Embodiment three
Fig. 5 is the flow diagram of the expression for the map relationship that the embodiment of the present invention three provides.As shown in figure 5, ground
The expression of figure relationship may comprise steps of:
S501, in the corresponding point cloud data of road, determine the corresponding road area of road.
In a specific embodiment of the present invention, electronic equipment can determine road in the corresponding point cloud data of road
Corresponding road area.Specifically, the corresponding road area of road can be the region of a regular shape；It is also possible to one
The region of irregular shape.Under normal circumstances, the corresponding road area of road is a rectangular area.
S502, the corresponding road area of road is marked off at least one lane according to pre-set road width threshold value
Region.
In a specific embodiment of the present invention, electronic equipment can be according to pre-set road width threshold value by road pair
The road area answered marks off at least one lane region.Specifically, pre-set road width threshold value can be 4 meters.
S503, the corresponding each lane line of road is extracted at least one lane region.
In a specific embodiment of the present invention, it is corresponding can to extract road at least one lane region for electronic equipment
Each lane line.Specifically, electronic equipment can extract the lane line 1 of road object in lane region 1；It can also be
The lane line 2 of road object is extracted in lane region 2；…；The lane of road object can also be extracted in the N of lane region
Line N；Wherein, N is the natural number more than or equal to 1.
S504, the corresponding each lane line of road is divided into the segmentation of at least one lane line according to preset length.
In a specific embodiment of the present invention, electronic equipment can be according to preset length by the corresponding each lane line of road
It is divided into the segmentation of at least one lane line.Specifically, electronic equipment can be in the corresponding each lane line of road, every default
Length is divided into a lane line segmentation.For example, it is assumed that the length of some lane line is 2 meters, preset length is 0.5 meter, electronics
The lane line can be divided into 4 lane line segmentations by equipment, be respectively as follows: 0-0.5 meters, 0.5-1 meters, 1-1.5 meters, 1.5 meter -2
Rice.
S505, the corresponding each lane line segmentation of each lane line is divided into corresponding fragment according to predetermined width
In region.
In a specific embodiment of the present invention, electronic equipment can be corresponding each by each lane line according to predetermined width
Lane line segmentation is divided into corresponding fragment region.Specifically, the left side that electronic equipment can be segmented in each lane
The region for extracting one fixed width respectively with the right side of each lane line segmentation is segmented corresponding fragment area as each lane line
Domain；Then the segmentation of each lane line is divided into its corresponding fragment region.For example, it is assumed that predetermined width is 0.3 meter, at this
In step, the right side in left side and the segmentation of each lane line that electronic equipment can be segmented in each lane extracts 0.15 meter respectively
Region, be segmented corresponding fragment region as each lane line；Then the segmentation of each lane line is divided into its corresponding point
In panel region.
S506, at least one corresponding fragment region of each lane line, it is corresponding to obtain each three-dimension object object
Fragment region.
In a specific embodiment of the present invention, electronic equipment can be at least one corresponding fragment region of each lane line
In, obtain the corresponding fragment region of each three-dimension object object.Specifically, electronic equipment can be corresponding extremely by each lane line
A few fragment region is matched with each three-dimension object object, using the fragment region of successful match as each three-dimension object
The corresponding fragment region of object.
S507, by the corresponding relationship in each three-dimension object object corresponding fragment region and each three-dimension object object, table
Up to the map relationship for road and each three-dimension object object.
In a specific embodiment of the present invention, electronic equipment can by the corresponding fragment region of each three-dimension object object with
The corresponding relationship of each three-dimension object object is expressed as the map relationship of road Yu each three-dimension object object.For example, some three
Tieing up the corresponding fragment region of subject is 1, and electronic equipment can the corresponding fragment region 1 of the three-dimension object object and the three-dimensional
The corresponding relationship of subject is expressed as the map relationship of road Yu the three-dimension object object.
The expression for the map relationship that the embodiment of the present invention proposes extracts first in the corresponding point cloud data of road
The corresponding each lane line of road；Then the corresponding each lane line of road is divided at least one fragment region；Root again
According at least one corresponding fragment region of each lane line, the map of road and predetermined each three-dimension object object is expressed
Relationship.That is, in the inventive solutions, can according at least one corresponding fragment region of each lane line,
Express the map relationship of road and predetermined each three-dimension object object.And in the expression of existing map relationship
In, the corresponding each lane line of road is to be ranked up to form in the form of two-dimensional points, is carried out in this way by each lane line
It undoubtedly will increase computation complexity and maintenance cost when interrupting；Moreover, because the coverage area of lane line is smaller, so according to vehicle
The map relationship of the road that diatom gives expression to and each three-dimension object object is inaccurate；In addition, if road is corresponding each
There are phantom line segments in lane line, and using the expression of existing map relationship, then be beyond expression out road and each three-dimensional article
The map relationship of body object.Therefore, compared to the prior art, the expression for the map relationship that the embodiment of the present invention proposes, energy
Enough map relationships for efficiently and accurately expressing road and three-dimension object object, so as to improve the ease for use of high-precision map, drop
The maintenance cost of low high-precision map；Also, the technical solution realization of the embodiment of the present invention is simple and convenient, it is universal to be convenient for, and is applicable in model
It encloses wider.
Example IV
Fig. 6 is the first structure diagram of the expression device for the map relationship that the embodiment of the present invention four provides.Such as Fig. 6 institute
Show, the expression device of map relationship described in the embodiment of the present invention may include: extraction module 601, division module 602 and expression
Module 603；Wherein,
The extraction module 601, for extracting the corresponding each vehicle of the road in the corresponding point cloud data of road
Diatom；
The division module 602, for the corresponding each lane line of the road to be divided at least one fragment region
In；
The expression module 603, for expressing the road according at least one corresponding fragment region of each lane line
With the map relationship of predetermined each three-dimension object object.
Fig. 7 is the second structural schematic diagram of the expression device for the map relationship that the embodiment of the present invention four provides.Such as Fig. 7 institute
Show, the extraction module 601 comprises determining that submodule 6011, divides submodule 6012 and extracting sub-module 6013；Wherein,
The determining submodule 6011, in the corresponding point cloud data of the road, determining that the road is corresponding
Road area；
The division submodule 6012, for according to pre-set road width threshold value by the corresponding road of the road
Region division goes out at least one lane region；
The extracting sub-module 6013, it is corresponding each for extracting the road at least one described lane region
A lane line.
Further, the division module 602 is specifically used for the corresponding each lane of the road according to preset length
Line is divided into the segmentation of at least one lane line；The corresponding each lane line segmentation of each lane line is divided into according to predetermined width
In corresponding fragment region.
Further, the expression module 603 includes: acquisition submodule 6031 and expression submodule 6032；Wherein,
The acquisition submodule 6031, for obtaining each at least one corresponding fragment region of each lane line
The corresponding fragment region of three-dimension object object；
The expression submodule 6032 is used for the corresponding fragment region of each three-dimension object object and each three-dimension object
The corresponding relationship of object is expressed as the map relationship of the road Yu each three-dimension object object.
Further, the acquisition submodule 6031, be also used to obtain each three-dimension object object position coordinates and
The position coordinates in the corresponding fragment region of each three-dimension object object；According to the position coordinates of each three-dimension object object and respectively
The position coordinates in the corresponding fragment region of a three-dimension object object, save each three-dimensional article in pre-set map data base
The corresponding relationship in body object corresponding fragment region and each three-dimension object object.
Method provided by any embodiment of the invention can be performed in the expression device of above-mentioned map relationship, has execution method
Corresponding functional module and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the present invention is arbitrarily real
The expression of the map relationship of example offer is provided.
Embodiment five
Fig. 8 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention five provides.Fig. 8, which is shown, to be suitable for being used to realizing this
The block diagram of the example electronic device of invention embodiment.The electronic equipment 12 that Fig. 8 is shown is only an example, should not be to this
The function and use scope of inventive embodiments bring any restrictions.
As shown in figure 8, electronic equipment 12 is showed in the form of universal computing device.The component of electronic equipment 12 may include
But be not limited to: one or more processor or processing unit 16, system storage 28, connect different system components (including
System storage 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be electric
The usable medium that sub- equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Electronic equipment 12 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 8 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 8, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiment described in the invention.
Electronic equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.)
Communication, can also be enabled a user to one or more equipment interact with the electronic equipment 12 communicate, and/or with make the electricity
Any equipment (such as network interface card, modem etc.) that sub- equipment 12 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 22.Also, electronic equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet)
Communication.As shown, network adapter 20 is communicated by bus 18 with other modules of electronic equipment 12.Although should be understood that
It is not shown in Fig. 8, other hardware and/or software module can be used in conjunction with electronic equipment 12, including but not limited to: microcode,
Device driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage
System etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the expression of map relationship provided by the embodiment of the present invention.
Embodiment six
The embodiment of the present invention six provides a kind of computer storage medium.
The computer readable storage medium of the embodiment of the present invention, can be using one or more computer-readable media
Any combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer
Readable storage medium storing program for executing for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, dress
It sets or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium wraps
It includes: there is the electrical connection of one or more conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable
Storage medium can be it is any include or storage program tangible medium, the program can be commanded execution system, device or
Device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of expression of map relationship, which is characterized in that the described method includes:
In the corresponding point cloud data of road, the corresponding each lane line of the road is extracted；
The corresponding each lane line of the road is divided at least one fragment region；
According at least one corresponding fragment region of each lane line, the road and predetermined each three-dimension object are expressed
The map relationship of object.
2. extracting institute the method according to claim 1, wherein described in the corresponding point cloud data of road
State the corresponding each lane line of road, comprising:
In the corresponding point cloud data of the road, the corresponding road area of the road is determined；
The corresponding road area of the road is marked off at least one lane region according to pre-set road width threshold value；
The corresponding each lane line of the road is extracted at least one described lane region.
3. the method according to claim 1, wherein described be divided into the corresponding each lane line of the road
In at least one fragment region, comprising:
The corresponding each lane line of the road is divided into the segmentation of at least one lane line according to preset length；
The corresponding each lane line segmentation of each lane line is divided into corresponding fragment region according to predetermined width.
4. the method according to claim 1, wherein described according at least one corresponding fragment of each lane line
Express the map relationship of the road Yu predetermined each three-dimension object object in region, comprising:
In at least one corresponding fragment region of each lane line, the corresponding fragment region of each three-dimension object object is obtained；
By the corresponding relationship in each three-dimension object object corresponding fragment region and each three-dimension object object, it is expressed as the road
The map relationship on road and each three-dimension object object.
5. according to the method described in claim 4, it is characterized in that, the method also includes:
The position of the position coordinates and the corresponding fragment region of each three-dimension object object that obtain each three-dimension object object is sat
Mark；
It is sat according to the position in the position coordinates of each three-dimension object object and the corresponding fragment region of each three-dimension object object
Mark, saves the corresponding fragment region of each three-dimension object object and each three-dimension object pair in pre-set map data base
The corresponding relationship of elephant.
6. a kind of expression device of map relationship, which is characterized in that described device includes: extraction module, division module and expression
Module；Wherein,
The extraction module, for extracting the corresponding each lane line of the road in the corresponding point cloud data of road；
The division module, for the corresponding each lane line of the road to be divided at least one fragment region；
The expression module, for according at least one corresponding fragment region of each lane line, expressing the road and in advance
The map relationship of determining each three-dimension object object.
7. device according to claim 6, which is characterized in that the extraction module comprises determining that submodule, divides submodule
Block and extracting sub-module；Wherein,
The determining submodule, for determining the corresponding roadway area of the road in the corresponding point cloud data of the road
Domain；
The division submodule, for dividing the corresponding road area of the road according to pre-set road width threshold value
At least one lane region out；
The extracting sub-module, for extracting the corresponding each lane of the road at least one described lane region
Line.
8. device according to claim 6, it is characterised in that:
The division module, specifically for the corresponding each lane line of the road is divided at least one according to preset length
Lane line segmentation；The corresponding each lane line segmentation of each lane line is divided into corresponding fragment area according to predetermined width
In domain.
9. device according to claim 6, which is characterized in that the expression module includes: acquisition submodule and expressor
Module；Wherein,
The acquisition submodule, for obtaining each three-dimension object at least one corresponding fragment region of each lane line
The corresponding fragment region of object；
The expression submodule, for by pair in each three-dimension object object corresponding fragment region and each three-dimension object object
It should be related to, be expressed as the map relationship of the road Yu each three-dimension object object.
10. device according to claim 9, it is characterised in that:
The acquisition submodule is also used to obtain the position coordinates and each three-dimension object object pair of each three-dimension object object
The position coordinates in the fragment region answered；It is corresponding according to the position coordinates of each three-dimension object object and each three-dimension object object
Fragment region position coordinates, the corresponding fragment area of each three-dimension object object is saved in pre-set map data base
The corresponding relationship in domain and each three-dimension object object.
11. a kind of electronic equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now expression of the map relationship as described in any one of claims 1 to 5.
12. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
The expression of map relationship as described in any one of claims 1 to 5.
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| WO2022205616A1 (en) * | 2021-03-31 | 2022-10-06 | 上海商汤临港智能科技有限公司 | Method and apparatus for constructing navigation elements in map |
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