CN110728735A - Road-level topological layer construction method and system - Google Patents
Road-level topological layer construction method and system Download PDFInfo
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- CN110728735A CN110728735A CN201910877777.9A CN201910877777A CN110728735A CN 110728735 A CN110728735 A CN 110728735A CN 201910877777 A CN201910877777 A CN 201910877777A CN 110728735 A CN110728735 A CN 110728735A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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- 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
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
Abstract
The embodiment of the invention provides a method and a system for constructing a road-level topological layer, wherein the method comprises the following steps: detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to intersection detection results; obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors; and constructing a road-level topological layer according to the intersection and lane vectors. Compared with the way of manually constructing the road-level topological layer in the traditional map, the road-level topological layer constructing method and the road-level topological layer constructing system provided by the embodiment of the invention have the advantages of quick updating and low cost, can truly reflect the topological relation of the road based on a large amount of trajectory data, and ensure the accuracy of the result.
Description
Technical Field
The invention relates to the technical field of traffic, in particular to a road-level topological layer construction method and a road-level topological layer construction system.
Background
In the traditional map making process, the intersection identification, the road vector generation and the road-level topological layer construction all depend on a manual mode. The crowdsourcing high-precision map making needs to automatically realize the functions based on data collected by crowdsourcing vehicles, so that a method for constructing a road-level topological layer based on trajectory line data is urgently needed at present.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a method and a system for constructing a road-level topological layer, which overcome the above problems or at least partially solve the above problems.
According to a first aspect of an embodiment of the present invention, a method for constructing a road-level topological layer is provided, where the method includes: detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to intersection detection results; obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors; and constructing a road-level topological layer according to the intersection and lane vectors.
Wherein, detect the crossing according to the regional complexity of track point, obtain the crossing testing result, include: acquiring trajectory line data, and carrying out homogenization treatment on the trajectory line data to obtain trajectory point data; calculating the area complexity of the track points based on the track point data; and detecting the intersection according to the complexity and optimizing the shape of the intersection to obtain an intersection detection result.
Wherein, the homogenization treatment comprises sparse treatment and/or encryption treatment; the sparse processing is to remove points which are too dense in each trajectory line, and the encryption processing is to supplement points between two adjacent points with the distance exceeding a threshold value in each trajectory line through linear interpolation.
The original track line segment cluster corresponding to each road vector comprises an original track line segment cluster corresponding to intersections and an original track line segment cluster corresponding to intersections.
Before constructing the road-level topological layer according to the intersection and the lane vector, the method further comprises the following steps: and splicing the lane vectors to enable the fitted road vectors between the intersections to be communicated with the road vectors in the intersections.
According to a second aspect of the embodiments of the present invention, there is provided a road-level topology layer construction system, including: the detection module is used for detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to intersection detection results; the fitting module is used for obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors; and the construction module is used for constructing a road-level topological layer according to the intersection and lane vectors.
According to a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the road-level topology layer construction method as provided in any one of the various possible implementations of the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the road-level topology layer construction method as provided in any one of the various possible implementations of the first aspect.
Compared with the way of manually constructing the road-level topological layer in the traditional map, the road-level topological layer constructing method and the road-level topological layer constructing system provided by the embodiment of the invention have the advantages of quick updating and low cost, can truly reflect the topological relation of the road based on a large amount of trajectory data, and ensure the accuracy of the result.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from these without inventive effort.
Fig. 1 is a schematic flowchart of a road-level topology layer construction method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a road-level topology layer construction method according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a road-level topology layer construction system according to an embodiment of the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method for constructing a road-level topological layer, which comprises the following steps of:
102, obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors;
and 103, constructing a road-level topological layer according to the intersection and lane vectors.
Compared with the way of manually constructing the road-level topological layer in the traditional map, the road-level topological layer constructing method provided by the embodiment of the invention has the advantages of quick updating and low cost, and can truly reflect the topological relation of the road and ensure the accuracy of the result based on a large amount of track line data.
Based on the content of the foregoing embodiment, as an optional embodiment, detecting an intersection according to the area complexity of the track point, and obtaining an intersection detection result, includes:
acquiring trajectory line data, and carrying out homogenization treatment on the trajectory line data to obtain trajectory point data;
calculating the area complexity of the track points based on the track point data;
and detecting the intersection according to the complexity and optimizing the shape of the intersection to obtain an intersection detection result.
Based on the content of the above embodiment, as an alternative embodiment, the homogenization process includes a thinning process and/or an encryption process; the sparse processing is to remove points which are too dense in each trajectory line, and the encryption processing is to supplement points between two adjacent points with the distance exceeding a threshold value in each trajectory line through linear interpolation.
Based on the content of the above embodiment, as an optional embodiment, the original track line segment cluster corresponding to each road vector includes an original track line segment cluster corresponding to each intersection and an original track line segment cluster corresponding to each intersection.
Based on the content of the foregoing embodiment, as an optional embodiment, before constructing the road-level topology layer according to the intersection and the lane vector, the method further includes:
and splicing the lane vectors to enable the fitted road vectors between the intersections to be communicated with the road vectors in the intersections.
For the purpose of explaining the above method, another embodiment of the present invention further provides a road-level topological layer construction method, referring to fig. 2, including but not limited to the following steps:
1. data preprocessing: homogenizing the input trajectory data, thinning (removing points which are too dense in each trajectory) and encrypting (supplementing points by linear interpolation for two adjacent points of which the distance exceeds a threshold value in each trajectory);
2. calculating the area complexity of the track points, detecting the intersection according to the complexity and optimizing the shape of the intersection;
3. constructing a communication relation among intersections based on the intersection detection results;
4. acquiring an original track line segment cluster corresponding to each road vector (including intersection and intersection) for the communication relation between each track line and each intersection;
5. generating final road vectors, and performing line cluster fitting on the original track line segment cluster corresponding to each road vector to serve as a final result of the road vector;
6. optimizing the road vector form, wherein the road vectors between the intersections and the road vectors in the intersections may not be communicated after fitting, and splicing;
7. and constructing a road-level topological map layer according to the communication relation between the intersection and the road vector.
Based on the content of the foregoing embodiment, an embodiment of the present invention provides a road-level topological layer construction system, where the road-level topological layer construction system is configured to execute the road-level topological layer construction method in the foregoing method embodiment. Referring to fig. 3, the system includes: the detection module 301 is configured to detect an intersection according to the area complexity of the track points, and obtain an intersection detection result; establishing a communication relation among intersections according to intersection detection results; the fitting module 302 is configured to obtain an original trajectory line segment cluster corresponding to each road vector according to the communication relationship, and perform line cluster fitting on the original trajectory line segment cluster to obtain lane vectors; the building module 303 is configured to build a road-level topology layer according to the intersection and lane vectors.
An embodiment of the present invention provides an electronic device, as shown in fig. 4, the electronic device includes: a processor (processor)501, a communication Interface (Communications Interface)502, a memory (memory)503, and a communication bus 504, wherein the processor 501, the communication Interface 502, and the memory 503 are configured to communicate with each other via the communication bus 504. The processor 501 may call a computer program running on the memory 503 and on the processor 501 to execute the road-level topology layer construction method provided by the above embodiments, for example, including: detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to intersection detection results; obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors; and constructing a road-level topological layer according to the intersection and lane vectors.
In addition, the logic instructions in the memory 503 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to, when executed by a processor, perform the road-level topology layer construction method provided in the foregoing embodiments, for example, the method includes: detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to intersection detection results; obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors; and constructing a road-level topological layer according to the intersection and lane vectors.
The above-described embodiments of the electronic device and the like are merely illustrative, and units illustrated as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the various embodiments or some parts of the methods of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A road-level topological layer construction method is characterized by comprising the following steps:
detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to the intersection detection result;
obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors;
and constructing a road-level topological layer according to the intersection and the lane vector.
2. The method according to claim 1, wherein the detecting the intersection according to the area complexity of the track points and obtaining the intersection detection result comprises:
acquiring trajectory line data, and carrying out homogenization treatment on the trajectory line data to obtain trajectory point data;
calculating the area complexity of the track points based on the track point data;
and detecting the intersection according to the complexity and optimizing the shape of the intersection to obtain the intersection detection result.
3. The method according to claim 2, characterized in that said homogenization treatment comprises a thinning treatment and/or an encryption treatment; the sparse processing is to remove points which are too dense in each trajectory line, and the encryption processing is to supplement points between two adjacent points with the distance exceeding a threshold value in each trajectory line through linear interpolation.
4. The method of claim 1, wherein the original track segment clusters corresponding to each road vector comprise original track segment clusters corresponding between intersections and original track segment clusters corresponding within intersections.
5. The method of claim 1, wherein before constructing the road-level topology layer from the intersection and the lane vector, the method further comprises:
and splicing the lane vectors to enable the fitted road vectors between the intersections to be communicated with the road vectors in the intersections.
6. A road-level topological map layer construction system is characterized by comprising:
the detection module is used for detecting the intersection according to the area complexity of the track points to obtain an intersection detection result; establishing a communication relation among intersections according to the intersection detection result;
the fitting module is used for obtaining an original track line segment cluster corresponding to each road vector according to the communication relation, and performing line cluster fitting on the original track line segment cluster to obtain lane vectors;
and the construction module is used for constructing a road-level topological layer according to the intersection and the lane vector.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the road-level topology layer construction method according to any of claims 1 to 5 when executing the program.
8. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the road-level topology layer construction method according to any of claims 1 to 5.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112327337A (en) * | 2020-11-02 | 2021-02-05 | 北京嘀嘀无限科技发展有限公司 | Intersection reconstruction method, device, equipment and storage medium |
| CN114485609A (en) * | 2021-12-15 | 2022-05-13 | 武汉中海庭数据技术有限公司 | Road skeleton line optimization method and system based on original track |
| CN114577225A (en) * | 2022-04-28 | 2022-06-03 | 北京百度网讯科技有限公司 | Map drawing method and device, electronic equipment and storage medium |
| CN112327337B (en) * | 2020-11-02 | 2024-04-19 | 北京嘀嘀无限科技发展有限公司 | Intersection reconstruction method, device, equipment and storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327337A (en) * | 2020-11-02 | 2021-02-05 | 北京嘀嘀无限科技发展有限公司 | Intersection reconstruction method, device, equipment and storage medium |
| CN112327337B (en) * | 2020-11-02 | 2024-04-19 | 北京嘀嘀无限科技发展有限公司 | Intersection reconstruction method, device, equipment and storage medium |
| CN114485609A (en) * | 2021-12-15 | 2022-05-13 | 武汉中海庭数据技术有限公司 | Road skeleton line optimization method and system based on original track |
| CN114577225A (en) * | 2022-04-28 | 2022-06-03 | 北京百度网讯科技有限公司 | Map drawing method and device, electronic equipment and storage medium |
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Application publication date: 20200124 |