CN110515942A - A kind of storage and search method serializing lane line map - Google Patents

A kind of storage and search method serializing lane line map Download PDF

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CN110515942A
CN110515942A CN201910630486.XA CN201910630486A CN110515942A CN 110515942 A CN110515942 A CN 110515942A CN 201910630486 A CN201910630486 A CN 201910630486A CN 110515942 A CN110515942 A CN 110515942A
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map
sub
lane line
data
coordinate data
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CN110515942B (en
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王祝萍
方建
张皓
陈启军
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Tongji University
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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
    • 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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/22—Indexing; Data structures therefor; Storage structures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management

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  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
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  • General Physics & Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Automation & Control Theory (AREA)
  • Software Systems (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)
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Abstract

The present invention relates to a kind of storages and search method for serializing lane line map, comprising the following steps: S1, the lane line data that lane line is stored by the way of grid sub-map, wherein lane line data include lane line number data and coordinate data；S2, according to vehicle location information, obtain corresponding sub- map, retrieve lane line data, in corresponding sub- map to obtain complete lane line information.Compared with prior art, the present invention is counted effective sub- map in the way of grid sub-map and stores lane line data, according to lane line number and coordinate data encoded attributes value in map memory phase；In map service stage, pass through the location information of vehicle, lane line data attribute value is obtained from sub- map retrieval, decoding obtains lane line number and coordinate data, the lane line data of identical number are fitted to obtain complete lane line information, the present invention can effectively reduce system memory space, improve retrieval rate, also can guarantee storing data precision.

Description

A kind of storage and search method serializing lane line map
Technical field
The present invention relates to ground mapping fields, more particularly, to a kind of memory search method for serializing lane line map.
Background technique
For intelligent vehicle, the road information for accurately obtaining current environment is the function on a Xiang Guanjian and basis, Accurate road information decides that can vehicle plan completion corresponding task as expected, to ensure safety, comfortably, rapidly reaches Destination.In general, environmental information abundant can be obtained, so that intelligent vehicle exists by constructing high-precision map in advance During traveling, weaken the demand to real-time perception, while guaranteeing richer environmental information, to ensure the safety of intelligent vehicle, But for how high-precision map as acquiring and maintaining, a current maturation not yet and the scheme that standardizes, this also becomes High-precision map cannot serve a bottleneck of intelligent vehicle.
Under the complicated traffic environment such as city, the intelligent level of prior information in High-precision vehicle diatom map to vehicle It promotes important role: ensureing secure context, be not illuminated by the light, the weather reason such as haze and thunderstorm and influence round the clock, i.e., Make also obtain complete road information under inclement weather conditions；In terms of abiding by urban transportation rule, using complete Lane line information obtains the path planning of lane grade, to realize the orderly traveling of vehicle.Therefore High-precision vehicle diatom map is An important research content in Intelligent Vehicle System, and the research hotspot in current automatic Pilot field, current lane line Figure is all made of the mode of grid storage, and to accelerate retrieval rate, however grid precision height causes map memory space big, grid essence It spends low, is difficult to ensure data precision, how to balance memory space and data precision is the difficult problem of a comparison.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of serializing lane lines The storage and search method of map.
The purpose of the present invention can be achieved through the following technical solutions: a kind of storage and inspection serializing lane line map Suo Fangfa, comprising the following steps:
S1, the lane line data that lane line is stored by the way of grid sub-map, wherein lane line data include lane Line number data and coordinate data；
S2, according to vehicle location information, obtain corresponding sub- map, lane line data retrieved in corresponding sub- map, To obtain complete lane line information.
Preferably, the step S1 specifically includes the following steps:
S11, the big map for splitting building automatically by rasterizing, obtain sub- map；
Effective number of S12, the sub- map of statistics, and sub- map is numbered, to obtain the memory space of sub- map；
S13, according to the lane line data in sub- map, encoded attributes value, wherein attribute value includes high coding and low level Coding.
Preferably, the detailed process of effective number of sub- map is counted in the step S12 are as follows:
S121, the maximum value and minimum value for obtaining lane line coordinate data, wherein the maximum value of coordinate data includes Xmax And Ymax, the minimum value of coordinate data includes XminAnd Ymin；
The coordinate data of each lane line: being subtracted the minimum value of coordinate data by S122, positive valueization coordinate data, i.e., will The position of each lane line is moved, and the coordinate data of each lane line after making movement is positive value；
S123, the sub- map two-dimensional array of creation, and be 0 by all sub- map initial markers in sub- map two-dimensional array；
S124, lane line coordinate data corresponding sub- map location data in sub- map two-dimensional array are calculated；
S125, whole lane line coordinate datas are traversed, after obtaining corresponding sub- map location data, then by the lane line Coordinate data corresponding sub- map label in sub- map two-dimensional array is 1；
1 sub- map number, effective number of as sub- map are marked as in S126, the sub- map two-dimensional array of statistics.
Preferably, the step S123 neutron map two-dimensional array is Msub[Xnum][Ynum], specifically have:
Xnum=(Xmax-Xmin)/Ssub
Ynum=(Ymax-Ymin)/Ssub
In formula, SsubFor the dimension data of sub- map, XnumAnd YnumMaximum abscissa in respectively sub- map two-dimensional array And maximum ordinate, and be integer.
Preferably, the sub- map in the step S124 and step S125 is Msub[Xind][Yind], specifically have:
Xind=Xlane/Ssub
Yind=Ylane/Ssub
In formula, XlaneAnd YlaneThe respectively abscissa and ordinate of lane line coordinate data, XindAnd YindFor lane line seat Mark data corresponding sub- map location data in sub- map two-dimensional array.
Preferably, the step S12 neutron map two-dimensional array is used to store the number of sub- map, compiles to sub- map It number is specifically the number for calculating every sub- map simultaneously during counting sub- map effective number: according to accessing sub- map Sequencing determines number, and the number of sub- map is from Nsub=1 starts, and during traversing lane line coordinate data, obtains vehicle Diatom coordinate data XlaneAnd YlaneCorresponding sub- map location data XindAnd YindIf sub- map M at this timesub[Xind][Yind] Labeled as 0, indicate that the sub- map is not visited, then the number N of the sub- mapsubNumerical value need plus 1；
If sub- map M at this timesub[Xind][Yind] label be, then it represents that the sub- map had been accessed and had been compiled Number, it does not need to assign new number, sub- map nomenclature NsubNumerical value remain unchanged.
Preferably, high coding is sat for storing lane line number data, low level coding for storing in the step S13 Mark loss precision of the data after rasterizing.
Preferably, encoded attributes value in the step S13 specifically:
Catt=Ilane*100+(dx/p*10)*10+(dy/p*10)*1
Wherein, IlaneIt indicates lane line number data, is stored on high coding, dxAnd dyIt respectively indicates in coordinate data The loss precision of abscissa and ordinate is respectively stored in ten that low level encodes on position, and p indicates grid precision.
Preferably, the step S2 specifically includes the following steps:
S21, vehicle location information is obtained, wherein vehicle location information is the positioning coordinate data of vehicle；
S22, according to vehicle location information, obtain corresponding sub- map nomenclature, determine sub- map belonging to vehicle；
S23, the encoded attributes value that lane line data are retrieved from sub- map belonging to vehicle, and to the encoded attributes retrieved Value is decoded, and obtains lane line coded data and coordinate data loses precision；
S24, precision progress coordinate data recovery, the lane line number obtained to decoding are lost to the coordinate data that decoding obtains According to be fitted, to obtain complete lane line information, wherein complete lane line information includes lane line number and complete Office's coordinate data.
Compared with prior art, the invention has the following advantages that
One, the present invention is not united then by counting the number of effectively sub- map for the sub- map of lane line data is not present Its number is counted, to effectively reduce the memory space of system.
Two, the present invention carries out coding preservation to lane line number data and coordinate data by the way of encoded attributes value, By coordinate data, in rasterizing processing, the precision lost has carried out respective handling simultaneously, improve storing data accuracy and Precision.
Detailed description of the invention
Fig. 1 is method flow schematic diagram of the invention；
Fig. 2 is the sub- map data retrieval schematic diagram of lane line in embodiment.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of storage and search method for serializing lane line map, comprising the following steps:
S1, the lane line data that lane line is stored by the way of grid sub-map, wherein lane line data include lane Line number data and coordinate data；
S2, according to vehicle location information, obtain corresponding sub- map, lane line data retrieved in corresponding sub- map, To obtain complete lane line information.
Above-mentioned step S1 specifically includes the following steps:
S11, the big map for splitting building automatically by rasterizing, obtain sub- map；
Effective number of S12, the sub- map of statistics, and sub- map is numbered, to obtain the memory space of sub- map, In, count effective number of sub- map specifically:
S121, the maximum value and minimum value for obtaining coordinate data, wherein the maximum value of coordinate data includes XmaxAnd Ymax, The minimum value of coordinate data includes XminAnd Ymin；
The coordinate data of each lane line: being subtracted the minimum value of coordinate data by S122, positive valueization coordinate data, i.e., will The position of each lane line is moved, and the coordinate data of each lane line after making movement is positive value；
S123, the sub- map two-dimensional array M of creationsub[Xnum][Ynum], to store sub- map nomenclature, have:
Xnum=(Xmax-Xmin)/Ssub
Ynum=(Ymax-Ymin)/Ssub
In formula, SsubFor the dimension data of sub- map, XnumAnd YnumMaximum abscissa in respectively sub- map two-dimensional array And maximum ordinate, and be integer；
Simultaneously by all sub- map M in sub- map two-dimensional arraysub[Xind][Yind] initial markers be 0；
S124, lane line coordinate data corresponding sub- map location data in sub- map two-dimensional array are calculated, had:
Xind=Xlane/Ssub
Yind=Ylane/Ssub
In formula, XlaneAnd YlaneThe respectively abscissa and ordinate of lane line coordinate data, XindAnd YindFor lane line seat Mark data corresponding sub- map location data in sub- map two-dimensional array；
S125, whole lane line coordinate datas are traversed, after obtaining corresponding sub- map location data, then by the lane line Coordinate data corresponding sub- map M in sub- map two-dimensional arraysub[Xind][Yind] it is labeled as 1；
1 sub- map M is marked as in S126, the sub- map two-dimensional array of statisticssub[Xind][Yind] number, it is as sub Effective number of map；
Sub- map is numbered and specifically during counting sub- map effective number while calculating every a sub- map Number: number is determined according to the sequencing for accessing sub- map, the number of sub- map is from Nsub=1 starts, in traversal lane line During coordinate data, lane line coordinate data X is obtainedlaneAnd YlaneThe corresponding sub- map position in sub- map two-dimensional array Set data XindAnd YindIf sub- map M at this timesub[Xind][Yind] label be to indicate that the sub- map is not visited, then The number N of the sub- mapsubNumerical value need plus 1；
If sub- map M at this timesub[Xind][Yind] label be, then it represents that the sub- map had been accessed and had been compiled Number, it does not need to assign new number, sub- map nomenclature NsubNumerical value remain unchanged；
S13, according to the lane line data in sub- map, encoded attributes value, wherein attribute value includes high coding and low level Coding, high coding are encoded for storing lane line number data, low level for storing loss of the coordinate data after rasterizing Precision specifically has:
Catt=Ilane*100+(dx/p*10)*10+(dy/p*10)*1
In formula, CattIndicate the encoded attributes value of lane line data in sub- map, IlaneIt indicates lane line number data, deposits Storage is on high coding, dxAnd dyThe loss precision for respectively indicating abscissa and ordinate in coordinate data, is respectively stored in low level For ten of coding on position, p indicates grid precision.
Above-mentioned steps S2 specifically includes the following steps:
S21, vehicle location information is obtained, wherein vehicle location information is the positioning coordinate data of vehicle；
S22, according to vehicle location information, obtain corresponding sub- map nomenclature, determine sub- map belonging to vehicle；
S23, the encoded attributes value that lane line data are retrieved from sub- map belonging to vehicle, and to the encoded attributes retrieved Value is decoded, and obtains lane line number data and coordinate data loses precision；
S24, precision progress coordinate data recovery, the lane line number obtained to decoding are lost to the coordinate data that decoding obtains According to be fitted, to obtain complete lane line information, wherein complete lane line information includes lane line number and complete Office's coordinate data.
The present invention not only can be added using the format storage lane line number data and coordinate data of grid sub-map Fast retrieval rate, and memory space can be reduced by way of sub- map, different sub- maps has unique number, and structure The number that a sub- map two-dimensional array stores every sub- map is built, the data of every sub- map are stored in its sub- map distribution Memory space；
The memory space address of sub- map is the offset calculated using the initial memory address of map and the number of sub- map Amount is added and obtains, and the number of sub- map is calculated, whole map datums are needed to be traversed for, according to accessing the suitable of sub- map for the first time Sequence counts, and the number of sub- map is arrived after traversal, the total memory space of map required for can thus calculating.
The present embodiment uses the grid size of 0.2m, and the size of sub- map is 20m*20m, is deposited using sub- map two-dimensional array The number of sub- map is stored up, and is 0 by all sub- map initial markers in sub- map two-dimensional array, in traversal lane line number of coordinates During, a number variable N of the sub- map accessed is recordedsub, for every sub- map, if the sub- map not by Then the sub- map nomenclature adds 1 for access, has traversed whole lane line coordinate datas, has obtained the sub- map two for being stored with sub- map nomenclature Dimension group.
The present invention carries out attribute value coding using storage lane line number data and coordinate data, by coordinate data because of grid Change lose fractional part be encoded to attribute value a position and ten, number data that are high-order then storing lane line, encode specifically Method are as follows: lane line data mainly include lane line number data and coordinate data, and coordinate data is during rasterizing It will appear the problem of precision is lost, such as the size of grid is 0.20 meter, then the variation unit of coordinate is 0.2 meter, by number number It is fused together the attribute value storage as lane line data according to the precision with loss, in this way, abscissa can be lost The precision of mistake is stored on ten of attribute value, and the precision that ordinate is lost is stored on a position, and the number of lane line is stored in In a high position for attribute value.
When carrying out actual lane line map retrieval, first according to the location information of vehicle, vehicle is obtained in lane line Coordinate in map can calculate locating sub- map nomenclature according to its coordinate；Then according to the number searching vehicle of sub- map Lane line data near；Attribute value is finally decoded to the precision information for obtaining lane line number and losing, by the phase of recovery Lane line data with number are fitted to obtain the calibration curve information of lane line.
Fig. 2 show the lane line map retrieval process schematic that the method for the present invention is used in embodiment, by rasterizing 1~No. 10 totally ten sub- map is obtained after processing, grid precision is 0.2, by taking 5 work song maps as an example: 5 work song map (1,1) positions The attribute value for setting storage is 8657, then lane line number is 86, and corresponding coordinate data is (1*0.2+5/10*0.2,1*0.2 + 7/10*0.2) to get being (0.3,0.34), and the corresponding world coordinates of origin of 5 work song maps to the coordinate data of lane line For (20,40), the world coordinates that final retrieval obtains lane line is (20.3,40.34), and the present embodiment uses the grid of 0.2m, Make the precision of lane line reach 0.02m using method of the invention, shows not only add using method provided by the invention Fast retrieval rate, while also can guarantee data precision.

Claims (9)

1. a kind of storage and search method for serializing lane line map, which comprises the following steps:
S1, the lane line data that lane line is stored by the way of grid sub-map, wherein lane line data include that lane line is compiled Number and coordinate data；
S2, according to vehicle location information, obtain corresponding sub- map, lane line data retrieved in corresponding sub- map, with To complete lane line information.
2. a kind of storage and search method for serializing lane line map according to claim 1, which is characterized in that described Step S1 specifically includes the following steps:
S11, the big map for splitting building automatically by rasterizing, obtain sub- map；
Effective number of S12, the sub- map of statistics, and sub- map is numbered, to calculate the memory space of required sub- map；
S13, according to the lane line data in sub- map, encoded attributes value, wherein attribute value includes that high coding and low level are compiled Code.
3. a kind of storage and search method for serializing lane line map according to claim 2, which is characterized in that described The detailed process of effective number of sub- map is counted in step S12 are as follows:
S121, the maximum value and minimum value for obtaining lane line coordinate data, wherein the maximum value of coordinate data includes XmaxWith Ymax, the minimum value of coordinate data includes XminAnd Ymin；
The coordinate data of each lane line: being subtracted the minimum value of coordinate data by S122, positive valueization coordinate data, i.e., will be each The position of a lane line is moved, and the coordinate data of each lane line after making movement is positive value；
S123, the sub- map two-dimensional array of creation, and be 0 by all sub- map initial markers in sub- map two-dimensional array；
S124, lane line coordinate data corresponding sub- map location data in sub- map two-dimensional array are calculated；
S125, whole lane line coordinate datas are traversed, after obtaining corresponding sub- map location data, then by the lane line coordinates Data corresponding sub- map label in sub- map two-dimensional array is 1；
1 sub- map number, effective number of as sub- map are marked as in S126, the sub- map two-dimensional array of statistics.
4. a kind of storage and search method for serializing lane line map according to claim 3, which is characterized in that described Step S123 neutron map two-dimensional array is Msub[Xnum][Ynum], specifically:
Xnum=(Xmax-Xmin)/Ssub
Ynum=(Ymax-Ymin)/Ssub
In formula, SsubFor the dimension data of sub- map, XnumAnd YnumMaximum abscissa in respectively sub- map two-dimensional array and most Big ordinate, and be integer.
5. a kind of storage and search method for serializing lane line map according to claim 4, which is characterized in that described Sub- map in step S124 and step S125 is Msub[Xind][Yind], specifically have:
Xind=Xlane/Ssub
Yind=Ylane/Ssub
In formula, XlaneAnd YlaneThe respectively abscissa and ordinate of lane line coordinate data, XindAnd YindFor lane line number of coordinates According to sub- map location data corresponding in sub- map two-dimensional array.
6. a kind of storage and search method for serializing lane line map according to claim 5, which is characterized in that described Step S12 neutron map two-dimensional array is used to store the number of sub- map, is numbered specifically sub- map on statistics ground It during scheming effective number while calculating the number of every sub- map: number is determined according to the sequencing for accessing sub- map, The number of sub- map is from Nsub=1 starts, and during traversing lane line coordinate data, obtains lane line coordinate data Xlane And YlaneCorresponding sub- map location data XindAnd YindIf sub- map M at this timesub[Xind][Yind] label be, indicate should Sub- map is not visited, then the number N of the sub- mapsubNumerical value need plus 1；
If sub- map M at this timesub[Xind][Yind] label be, then it represents that the sub- map had been accessed and had been numbered, It does not need to assign new number, sub- map nomenclature NsubNumerical value remain unchanged.
7. a kind of storage and search method for serializing lane line map according to claim 2, which is characterized in that described High coding is encoded for storing lane line number data, low level for storing coordinate data after rasterizing in step S13 Lose precision.
8. a kind of storage and search method for serializing lane line map according to claim 7, which is characterized in that described Encoded attributes value in step S13 specifically:
Catt=Ilane*100+(dx/p*10)*10+(dy/p*10)*1
Wherein, IlaneIt indicates lane line number data, is stored on high coding, dxAnd dyRespectively indicate horizontal seat in coordinate data The loss precision of mark and ordinate is respectively stored in ten that low level encodes on position, and p indicates grid precision.
9. a kind of storage and search method for serializing lane line map according to claim 7, which is characterized in that described Step S2 specifically includes the following steps:
S21, vehicle location information is obtained, wherein vehicle location information is the positioning coordinate data of vehicle；
S22, according to vehicle location information, obtain corresponding sub- map nomenclature, determine sub- map belonging to vehicle；
S23, from sub- map belonging to vehicle retrieve lane line data encoded attributes value, and to the encoded attributes value retrieved into Row decoding, obtains lane line number data and coordinate data loses precision；
S24, the obtained coordinate data of decoding is lost precision carry out coordinate data recovery, the lane line data that decoding is obtained into Row fitting, to obtain complete lane line information, wherein complete lane line information includes lane line number and world coordinates Data.
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