CN110006440B - Map relation expression method and device, electronic equipment and storage medium - Google Patents
Map relation expression method and device, electronic equipment and storage medium Download PDFInfo
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- CN110006440B CN110006440B CN201910294034.9A CN201910294034A CN110006440B CN 110006440 B CN110006440 B CN 110006440B CN 201910294034 A CN201910294034 A CN 201910294034A CN 110006440 B CN110006440 B CN 110006440B
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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
Abstract
The embodiment of the invention discloses a method and a device for expressing map relations, electronic equipment and a storage medium. The method comprises the following steps: extracting each lane line corresponding to the road from the point cloud data corresponding to the road; dividing each lane line corresponding to the road into at least one partition area; and expressing the map relation between the road and each predetermined three-dimensional object according to at least one fragment area corresponding to each lane line. The map relation between the road and the three-dimensional object can be efficiently and accurately expressed, so that the usability of the high-precision map can be improved, and the maintenance cost of the high-precision map can be reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a device for expressing map relations, electronic equipment and a storage medium.
Background
With the increasing demand of consumers for automobile intellectualization, the automatic driving system is receiving more and more attention from the whole automobile factories and technology companies as a highly intelligent product. The current automatic driving technology can be divided into: highways, urban roads and garden roads. The expressway is one of the scenes that the automatic driving technology lands on the ground most quickly due to the simple scene and the similar road characteristics.
The automatic driving on the highway is fast, and the safe driving of the self-vehicle can be ensured only by having enough far sensing capability. For automatic driving, a high-precision map is an essential module. A plurality of map elements exist in the high-precision map, the map relationship is the position relationship between one map element and another map element in the high-precision map, and the map element can provide a better perception range for the automatic driving vehicle and assist the coping decision in emergency. The millimeter wave radar has the advantages of high ranging and speed measuring precision, small weather interference, moderate cost and the like, and becomes a standard for highway automatic driving automobiles. The millimeter wave radar installed facing the forward direction of the vehicle can provide an accurate position and relative speed of a metal target such as an automobile, a motorcycle, a metal guardrail, a signboard, and the like in front of the vehicle.
In the existing map relationship expression method, point cloud data acquired by a millimeter wave radar is used to construct each lane line corresponding to a road, the constructed lane lines are broken, and the map relationship between the road and each three-dimensional object is expressed according to each broken lane line; or, the map relationship between the road and each three-dimensional object may be expressed directly according to each constructed lane line without breaking each constructed lane line. However, in the existing map relation expression method, the lane lines corresponding to the roads are formed by sequencing in a two-dimensional point form, so that the calculation complexity and the maintenance cost are undoubtedly increased when the lane lines are interrupted; moreover, because the coverage area of the lane lines is small, the map relationship between the roads expressed according to the lane lines and the three-dimensional object objects is not accurate enough; in addition, if a virtual line segment exists in each lane line corresponding to the road, the map relationship between the road and each three-dimensional object cannot be expressed by adopting the existing expression method of the map relationship.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for representing a map relationship, an electronic device, and a storage medium, which can efficiently and accurately represent a map relationship between a road and a three-dimensional object, so as to improve usability of a high-precision map and reduce maintenance cost of the high-precision map.
In a first aspect, an embodiment of the present invention provides a method for expressing a map relationship, where the method includes:
extracting each lane line corresponding to the road from the point cloud data corresponding to the road;
dividing each lane line corresponding to the road into at least one partition area;
and expressing the map relation between the road and each predetermined three-dimensional object according to at least one fragment area corresponding to each lane line.
In the above embodiment, the extracting, from the point cloud data corresponding to the road, each lane line corresponding to the road includes:
determining a road area corresponding to the road in the point cloud data corresponding to the road;
dividing a road area corresponding to the road into at least one lane area according to a preset road width threshold;
and extracting each lane line corresponding to the road from the at least one lane area.
In the above embodiment, the dividing each lane line corresponding to the road into at least one segment area includes:
dividing each lane line corresponding to the road into at least one lane line segment according to a preset length;
and segmenting each lane line corresponding to each lane line into the corresponding segment areas according to the preset width.
In the above embodiment, the expressing, according to at least one segment area corresponding to each lane line, a map relationship between the road and each predetermined three-dimensional object includes:
acquiring a fragmentation area corresponding to each three-dimensional object in at least one fragmentation area corresponding to each lane line;
and expressing the corresponding relation between the slicing area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object.
In the above embodiment, the method further comprises:
acquiring the position coordinates of each three-dimensional object and the position coordinates of the slicing area corresponding to each three-dimensional object;
and storing the corresponding relation between the fragment area corresponding to each three-dimensional object and each three-dimensional object in a preset map database according to the position coordinates of each three-dimensional object and the position coordinates of the fragment area corresponding to each three-dimensional object.
In a second aspect, an embodiment of the present invention provides an apparatus for expressing a map relationship, where the apparatus includes: the device comprises an extraction module, a division module and an expression module; wherein the content of the first and second substances,
the extraction module is used for extracting each lane line corresponding to the road from the point cloud data corresponding to the road;
the dividing module is used for dividing each lane line corresponding to the road into at least one segment area;
and the expression module is used for expressing the map relation between the road and each predetermined three-dimensional object according to at least one piece area corresponding to each lane line.
In the above embodiment, the extraction module includes: determining a submodule, dividing the submodule and extracting the submodule; wherein the content of the first and second substances,
the determining submodule is used for determining a road area corresponding to the road in the point cloud data corresponding to the road;
the dividing submodule is used for dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold;
the extraction submodule is used for extracting each lane line corresponding to the road in the at least one lane area.
In the above embodiment, the dividing module is specifically configured to divide each lane line corresponding to the road into at least one lane line segment according to a preset length; and segmenting each lane line corresponding to each lane line into the corresponding segment areas according to the preset width.
In the above embodiment, the expression module includes: obtaining a submodule and an expression submodule; wherein the content of the first and second substances,
the obtaining submodule is used for obtaining the slicing area corresponding to each three-dimensional object in at least one slicing area corresponding to each lane line;
and the expression submodule is used for expressing the corresponding relation between the slicing area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object.
In the above embodiment, the obtaining sub-module is further configured to obtain position coordinates of each three-dimensional object and position coordinates of a segment region corresponding to each three-dimensional object; and storing the corresponding relation between the fragment area corresponding to each three-dimensional object and each three-dimensional object in a preset map database according to the position coordinates of each three-dimensional object and the position coordinates of the fragment area corresponding to each three-dimensional object.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for expressing the map relationship according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a storage medium, on which a computer program is stored, which when executed by a processor, implements a method for expressing a map relationship according to any embodiment of the present invention.
The embodiment of the invention provides a map relation expression method, a map relation expression device, electronic equipment and a storage medium, wherein each lane line corresponding to a road is extracted from point cloud data corresponding to the road; then dividing each lane line corresponding to the road into at least one partition area; and expressing the map relation between the road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line. That is, in the technical solution of the present invention, the map relationship between the road and each of the predetermined three-dimensional object objects may be expressed according to at least one segment area corresponding to each lane line. In the existing map relation expression method, the lane lines corresponding to the roads are ordered and formed in a two-dimensional point form, so that the calculation complexity and the maintenance cost are increased undoubtedly when the lane lines are interrupted; moreover, because the coverage area of the lane lines is small, the map relationship between the roads expressed according to the lane lines and the three-dimensional object objects is not accurate enough; in addition, if a virtual line segment exists in each lane line corresponding to the road, the map relationship between the road and each three-dimensional object cannot be expressed by adopting the existing expression method of the map relationship. Therefore, compared with the prior art, the method, the device, the electronic equipment and the storage medium for expressing the map relationship provided by the embodiment of the invention can efficiently and accurately express the map relationship between the road and the three-dimensional object, thereby improving the usability of the high-precision map and reducing the maintenance cost of the high-precision map; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Drawings
Fig. 1 is a schematic flow chart of a method for expressing a map relationship according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for expressing a map relationship according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lane area according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a slicing area according to a second embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for expressing a map relationship according to a third embodiment of the present invention;
fig. 6 is a first structural diagram of an expression device of map relationships according to a fourth embodiment of the present invention;
fig. 7 is a second structural diagram of an expression apparatus of map relationships according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a method for expressing a map relationship according to an embodiment of the present invention, where the method may be executed by an apparatus for expressing a map relationship or an electronic device, where the apparatus or the electronic device may be implemented by software and/or hardware, and the apparatus or the electronic device may be integrated in any intelligent device with a network communication function. As shown in fig. 1, the expression method of the map relationship may include the steps of:
s101, extracting each lane line corresponding to the road from the point cloud data corresponding to the road.
In a specific embodiment of the present invention, the electronic device may extract each lane line corresponding to the road from the point cloud data corresponding to the road. Specifically, the electronic device may first determine a road area corresponding to the road from the point cloud data corresponding to the road; then dividing a road area corresponding to the road into at least one lane area according to a preset road width threshold value; and extracting each lane line corresponding to the road from at least one lane area.
S102, dividing each lane line corresponding to the road into at least one partition area.
In a specific embodiment of the present invention, the electronic device may divide each lane line corresponding to the road into at least one segment area. Specifically, the electronic device may divide each lane line corresponding to the road into at least one lane line segment according to a preset length; and then segmenting each lane line corresponding to each lane line into the corresponding segment areas according to the preset width.
S103, according to at least one piece area corresponding to each lane line, expressing the map relation between the road and each predetermined three-dimensional object.
In an embodiment of the present invention, the electronic device may express a map relationship between a road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line. Specifically, the electronic device may first obtain, in at least one segment region corresponding to each lane line, a segment region corresponding to each three-dimensional object; and then expressing the corresponding relation between the slicing area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object. For example, the segment area corresponding to a certain three-dimensional object is 1, and the electronic device may express the correspondence between the segment area 1 corresponding to the three-dimensional object and the three-dimensional object as the map relationship between the road and the three-dimensional object.
According to the method for expressing the map relationship, provided by the embodiment of the invention, the lane lines corresponding to the road are extracted from the point cloud data corresponding to the road; then dividing each lane line corresponding to the road into at least one partition area; and expressing the map relation between the road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line. That is, in the technical solution of the present invention, the map relationship between the road and each of the predetermined three-dimensional object objects may be expressed according to at least one segment area corresponding to each lane line. In the existing map relation expression method, the lane lines corresponding to the roads are ordered and formed in a two-dimensional point form, so that the calculation complexity and the maintenance cost are increased undoubtedly when the lane lines are interrupted; moreover, because the coverage area of the lane lines is small, the map relationship between the roads expressed according to the lane lines and the three-dimensional object objects is not accurate enough; in addition, if a virtual line segment exists in each lane line corresponding to the road, the map relationship between the road and each three-dimensional object cannot be expressed by adopting the existing expression method of the map relationship. Therefore, compared with the prior art, the expression method of the map relationship provided by the embodiment of the invention can efficiently and accurately express the map relationship between the road and the three-dimensional object, thereby improving the usability of the high-precision map and reducing the maintenance cost of the high-precision map; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Example two
Fig. 2 is a flowchart illustrating a method for expressing a map relationship according to a second embodiment of the present invention. As shown in fig. 2, the expression method of the map relationship may include the steps of:
s201, determining a road area corresponding to the road in the point cloud data corresponding to the road.
In a specific embodiment of the present invention, the electronic device may determine a road area corresponding to the road from the point cloud data corresponding to the road. Specifically, the road region corresponding to the road may be a region of a regular shape; or may be an irregularly shaped region. In general, a road region corresponding to a road is a rectangular region.
S202, dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold value.
In an embodiment of the present invention, the electronic device may divide the road region corresponding to the road into at least one lane region according to a preset road width threshold. Specifically, the preset road width threshold may be 4 meters.
And S203, extracting each lane line corresponding to the road in at least one lane area.
In an embodiment of the present invention, the electronic device may extract each lane line corresponding to the road in at least one lane area. Specifically, the electronic device may extract a lane line 1 of the road object in a lane area 1; the lane line 2 of the road object can be extracted from the lane area 2; …, respectively; the lane line N of the road object can be extracted from the lane area N; wherein N is a natural number of 1 or more.
Fig. 3 is a schematic structural diagram of a lane area according to a second embodiment of the present invention. As shown in fig. 3, after determining the road area corresponding to the road, the electronic device may first calculate the road width of the road area corresponding to the road; then, dividing a road region corresponding to the road into at least one lane region according to a preset road width threshold value; and extracting each lane line corresponding to the road from at least one lane area. For example, assuming that the width of the road region corresponding to the road is 14 meters, and the preset road width threshold is 4 meters, in this step, the electronic device may extract a road width of 12 meters (4 meters × 3) from the road region corresponding to the road, and then divide the road width of 12 meters into 3 lane regions, where: lane area 1, lane area 2, and lane area 3; wherein, the left lane line and the right lane line of the lane area 1 are respectively a lane line 1 and a lane line 2; the left lane line and the right lane line of the lane area 2 are respectively a lane line 2 and a lane line 3; the left lane line and the right lane line of the lane area 3 are a lane line 3 and a lane line 4, respectively.
And S204, dividing each lane line corresponding to the road into at least one lane line segment according to the preset length.
In an embodiment of the present invention, the electronic device may divide each lane line corresponding to the road into at least one lane line segment according to a preset length. Specifically, the electronic device may divide each lane line corresponding to the road into one lane line segment every preset length. For example, assuming that the length of a certain lane line is 2 meters and the preset length is 0.5 meters, the electronic device may divide the lane line into 4 lane line segments, which are: 0-0.5 meter, 0.5-1 meter, 1-1.5 meter, 1.5 meter-2 meter.
And S205, segmenting each lane line corresponding to each lane line into corresponding segment areas according to the preset width.
In a specific embodiment of the present invention, the electronic device may divide each lane line corresponding to each lane line into the corresponding segment areas in segments according to a preset width. Specifically, the electronic device may extract regions with a certain width on the left side of each lane segment and the right side of each lane line segment, respectively, as the segment regions corresponding to each lane line segment; then, each lane line is segmented into the corresponding segment area.
Fig. 4 is a schematic structural diagram of a slicing area according to a second embodiment of the present invention. As shown in fig. 4, the lane line 1 may include: a lane line segment 1, a lane line segment 2, a lane line segment 3, a lane line segment 4, and a lane line segment 5; the lane line 2 may include: lane line segment 6, lane line segment 7, lane line segment 8, lane line segment 9, lane line segment 10; the lane line 3 may include: lane line segment 11, lane line segment 12, lane line segment 13, lane line segment 14, lane line segment 15; the lane line 4 may include: lane line segment 16, lane line segment 17, lane line segment 18, lane line segment 19, lane line segment 20. Specifically, in the lane line 1, the lane line segment 1 is divided into the corresponding segment area 1; the lane line segment 2 is divided into the corresponding segment areas 1; the lane line segment 3 is divided into the corresponding segment areas 3; the lane line segment 4 is divided into the corresponding segment areas 4; the lane line segment 5 is divided into the corresponding segment areas 5; and so on. For example, assuming that the preset width is 0.3 m, in this step, the electronic device may extract an area of 0.15 m on the left side of each lane segment and on the right side of each lane segment as a segment area corresponding to each lane segment; then, each lane line is segmented into the corresponding segment area.
And S206, expressing the map relation between the road and each predetermined three-dimensional object according to at least one piece area corresponding to each lane line.
In an embodiment of the present invention, the electronic device may express a map relationship between a road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line. Specifically, the electronic device may first obtain, in at least one segment region corresponding to each lane line, a segment region corresponding to each three-dimensional object; and then expressing the corresponding relation between the slicing area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object. For example, the segment area corresponding to a certain three-dimensional object is 1, and the electronic device may express the correspondence between the segment area 1 corresponding to the three-dimensional object and the three-dimensional object as the map relationship between the road and the three-dimensional object.
According to the method for expressing the map relationship, provided by the embodiment of the invention, the lane lines corresponding to the road are extracted from the point cloud data corresponding to the road; then dividing each lane line corresponding to the road into at least one partition area; and expressing the map relation between the road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line. That is, in the technical solution of the present invention, the map relationship between the road and each of the predetermined three-dimensional object objects may be expressed according to at least one segment area corresponding to each lane line. In the existing map relation expression method, the lane lines corresponding to the roads are ordered and formed in a two-dimensional point form, so that the calculation complexity and the maintenance cost are increased undoubtedly when the lane lines are interrupted; moreover, because the coverage area of the lane lines is small, the map relationship between the roads expressed according to the lane lines and the three-dimensional object objects is not accurate enough; in addition, if a virtual line segment exists in each lane line corresponding to the road, the map relationship between the road and each three-dimensional object cannot be expressed by adopting the existing expression method of the map relationship. Therefore, compared with the prior art, the expression method of the map relationship provided by the embodiment of the invention can efficiently and accurately express the map relationship between the road and the three-dimensional object, thereby improving the usability of the high-precision map and reducing the maintenance cost of the high-precision map; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
EXAMPLE III
Fig. 5 is a flowchart illustrating a method for expressing a map relationship according to a third embodiment of the present invention. As shown in fig. 5, the expression method of the map relationship may include the steps of:
s501, determining a road area corresponding to the road in the point cloud data corresponding to the road.
In a specific embodiment of the present invention, the electronic device may determine a road area corresponding to the road from the point cloud data corresponding to the road. Specifically, the road region corresponding to the road may be a region of a regular shape; or may be an irregularly shaped region. In general, a road region corresponding to a road is a rectangular region.
S502, dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold value.
In an embodiment of the present invention, the electronic device may divide the road region corresponding to the road into at least one lane region according to a preset road width threshold. Specifically, the preset road width threshold may be 4 meters.
And S503, extracting each lane line corresponding to the road in at least one lane area.
In an embodiment of the present invention, the electronic device may extract each lane line corresponding to the road in at least one lane area. Specifically, the electronic device may extract a lane line 1 of the road object in a lane area 1; the lane line 2 of the road object can be extracted from the lane area 2; …, respectively; the lane line N of the road object can be extracted from the lane area N; wherein N is a natural number of 1 or more.
S504, dividing each lane line corresponding to the road into at least one lane line segment according to the preset length.
In an embodiment of the present invention, the electronic device may divide each lane line corresponding to the road into at least one lane line segment according to a preset length. Specifically, the electronic device may divide each lane line corresponding to the road into one lane line segment every preset length. For example, assuming that the length of a certain lane line is 2 meters and the preset length is 0.5 meters, the electronic device may divide the lane line into 4 lane line segments, which are: 0-0.5 meter, 0.5-1 meter, 1-1.5 meter, 1.5 meter-2 meter.
And S505, segmenting each lane line corresponding to each lane line into corresponding segment areas according to the preset width.
In a specific embodiment of the present invention, the electronic device may divide each lane line corresponding to each lane line into the corresponding segment areas in segments according to a preset width. Specifically, the electronic device may extract regions with a certain width on the left side of each lane segment and the right side of each lane line segment, respectively, as the segment regions corresponding to each lane line segment; then, each lane line is segmented into the corresponding segment area. For example, assuming that the preset width is 0.3 m, in this step, the electronic device may extract an area of 0.15 m on the left side of each lane segment and on the right side of each lane segment as a segment area corresponding to each lane segment; then, each lane line is segmented into the corresponding segment area.
S506, obtaining the slicing area corresponding to each three-dimensional object in at least one slicing area corresponding to each lane line.
In a specific embodiment of the present invention, the electronic device may obtain, in at least one segment region corresponding to each lane line, a segment region corresponding to each three-dimensional object. Specifically, the electronic device may match at least one segment region corresponding to each lane line with each three-dimensional object, and use the segment region successfully matched as the segment region corresponding to each three-dimensional object.
And S507, expressing the corresponding relation between the partitioned area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object.
In a specific embodiment of the present invention, the electronic device may express a correspondence relationship between the segment area corresponding to each three-dimensional object and each three-dimensional object as a map relationship between the road and each three-dimensional object. For example, the segment area corresponding to a certain three-dimensional object is 1, and the electronic device may express the correspondence between the segment area 1 corresponding to the three-dimensional object and the three-dimensional object as the map relationship between the road and the three-dimensional object.
According to the method for expressing the map relationship, provided by the embodiment of the invention, the lane lines corresponding to the road are extracted from the point cloud data corresponding to the road; then dividing each lane line corresponding to the road into at least one partition area; and expressing the map relation between the road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line. That is, in the technical solution of the present invention, the map relationship between the road and each of the predetermined three-dimensional object objects may be expressed according to at least one segment area corresponding to each lane line. In the existing map relation expression method, the lane lines corresponding to the roads are ordered and formed in a two-dimensional point form, so that the calculation complexity and the maintenance cost are increased undoubtedly when the lane lines are interrupted; moreover, because the coverage area of the lane lines is small, the map relationship between the roads expressed according to the lane lines and the three-dimensional object objects is not accurate enough; in addition, if a virtual line segment exists in each lane line corresponding to the road, the map relationship between the road and each three-dimensional object cannot be expressed by adopting the existing expression method of the map relationship. Therefore, compared with the prior art, the expression method of the map relationship provided by the embodiment of the invention can efficiently and accurately express the map relationship between the road and the three-dimensional object, thereby improving the usability of the high-precision map and reducing the maintenance cost of the high-precision map; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Example four
Fig. 6 is a first structural diagram of an expression device of a map relationship according to a fourth embodiment of the present invention. As shown in fig. 6, the apparatus for expressing a map relationship according to an embodiment of the present invention may include: an extraction module 601, a division module 602 and an expression module 603; wherein the content of the first and second substances,
the extraction module 601 is configured to extract each lane line corresponding to a road from point cloud data corresponding to the road;
the dividing module 602 is configured to divide each lane line corresponding to the road into at least one segment area;
the expression module 603 is configured to express a map relationship between the road and each predetermined three-dimensional object according to at least one segment area corresponding to each lane line.
Fig. 7 is a second structural diagram of an expression apparatus of a map relationship according to a fourth embodiment of the present invention. As shown in fig. 7, the extracting module 601 includes: determining submodule 6011, dividing submodule 6012 and extracting submodule 6013; wherein the content of the first and second substances,
the determining submodule 6011 is configured to determine a road area corresponding to the road from the point cloud data corresponding to the road;
the dividing submodule 6012 is configured to divide a road region corresponding to the road into at least one lane region according to a preset road width threshold;
the extracting submodule 6013 is configured to extract each lane line corresponding to the road from the at least one lane area.
Further, the dividing module 602 is specifically configured to divide each lane line corresponding to the road into at least one lane line segment according to a preset length; and segmenting each lane line corresponding to each lane line into the corresponding segment areas according to the preset width.
Further, the expression module 603 includes: an acquisition submodule 6031 and an expression submodule 6032; wherein the content of the first and second substances,
the obtaining sub-module 6031 is configured to obtain a segment area corresponding to each three-dimensional object in at least one segment area corresponding to each lane line;
the expression submodule 6032 is configured to express a correspondence between the segment area corresponding to each three-dimensional object and each three-dimensional object as a map relationship between the road and each three-dimensional object.
Further, the obtaining sub-module 6031 is further configured to obtain position coordinates of each three-dimensional object and position coordinates of a segment region corresponding to each three-dimensional object; and storing the corresponding relation between the fragment area corresponding to each three-dimensional object and each three-dimensional object in a preset map database according to the position coordinates of each three-dimensional object and the position coordinates of the fragment area corresponding to each three-dimensional object.
The map relation expression device can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the technology that are not described in detail in this embodiment, reference may be made to the method for expressing a map relationship provided in any embodiment of the present invention.
EXAMPLE five
Fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in FIG. 8, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing an expression method of a map relationship provided by an embodiment of the present invention.
EXAMPLE six
The sixth embodiment of the invention provides a computer storage medium.
The computer-readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for expressing map relations, the method comprising:
extracting each lane line corresponding to the road from the point cloud data corresponding to the road;
dividing each lane line corresponding to the road into at least one partition area;
expressing the map relation between the road and each predetermined three-dimensional object according to at least one fragment area corresponding to each lane line;
the expressing the map relationship between the road and each predetermined three-dimensional object according to at least one slicing area corresponding to each lane line comprises the following steps:
acquiring a fragmentation area corresponding to each three-dimensional object in at least one fragmentation area corresponding to each lane line;
and expressing the corresponding relation between the slicing area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object.
2. The method according to claim 1, wherein extracting each lane line corresponding to the road from the point cloud data corresponding to the road comprises:
determining a road area corresponding to the road in the point cloud data corresponding to the road;
dividing a road area corresponding to the road into at least one lane area according to a preset road width threshold;
and extracting each lane line corresponding to the road from the at least one lane area.
3. The method of claim 1, wherein the dividing each lane line corresponding to the road into at least one segment area comprises:
dividing each lane line corresponding to the road into at least one lane line segment according to a preset length;
and segmenting each lane line corresponding to each lane line into the corresponding segment areas according to the preset width.
4. The method of claim 1, further comprising:
acquiring the position coordinates of each three-dimensional object and the position coordinates of the slicing area corresponding to each three-dimensional object;
and storing the corresponding relation between the fragment area corresponding to each three-dimensional object and each three-dimensional object in a preset map database according to the position coordinates of each three-dimensional object and the position coordinates of the fragment area corresponding to each three-dimensional object.
5. An apparatus for representing a map relation, the apparatus comprising: the device comprises an extraction module, a division module and an expression module; wherein the content of the first and second substances,
the extraction module is used for extracting each lane line corresponding to the road from the point cloud data corresponding to the road;
the dividing module is used for dividing each lane line corresponding to the road into at least one segment area;
the expression module is used for expressing the map relation between the road and each predetermined three-dimensional object according to at least one slicing area corresponding to each lane line;
the expression module comprises: obtaining a submodule and an expression submodule; wherein the content of the first and second substances,
the obtaining submodule is used for obtaining the slicing area corresponding to each three-dimensional object in at least one slicing area corresponding to each lane line;
and the expression submodule is used for expressing the corresponding relation between the slicing area corresponding to each three-dimensional object and each three-dimensional object as the map relation between the road and each three-dimensional object.
6. The apparatus of claim 5, wherein the extraction module comprises: determining a submodule, dividing the submodule and extracting the submodule; wherein the content of the first and second substances,
the determining submodule is used for determining a road area corresponding to the road in the point cloud data corresponding to the road;
the dividing submodule is used for dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold;
the extraction submodule is used for extracting each lane line corresponding to the road in the at least one lane area.
7. The apparatus of claim 5, wherein:
the dividing module is specifically used for dividing each lane line corresponding to the road into at least one lane line segment according to a preset length; and segmenting each lane line corresponding to each lane line into the corresponding segment areas according to the preset width.
8. The apparatus of claim 5, wherein:
the acquisition submodule is also used for acquiring the position coordinates of each three-dimensional object and the position coordinates of the slicing area corresponding to each three-dimensional object; and storing the corresponding relation between the fragment area corresponding to each three-dimensional object and each three-dimensional object in a preset map database according to the position coordinates of each three-dimensional object and the position coordinates of the fragment area corresponding to each three-dimensional object.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the expression method of map relations according to any one of claims 1 to 4.
10. A storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the expression method of map relations according to any one of claims 1 to 4.
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