CN110749329B - Lane level topology construction method and device based on structured road - Google Patents
Lane level topology construction method and device based on structured road Download PDFInfo
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- CN110749329B CN110749329B CN201911026990.5A CN201911026990A CN110749329B CN 110749329 B CN110749329 B CN 110749329B CN 201911026990 A CN201911026990 A CN 201911026990A CN 110749329 B CN110749329 B CN 110749329B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
Abstract
The invention provides a method and a device for constructing lane-level topology based on a structured road, which comprises the following steps: acquiring a reference line in a road based on a plurality of lane lines in the road; acquiring a lane change dividing point; breaking a plurality of lane lines by using each dividing point to obtain a plurality of lane change area blocks; acquiring a plurality of lane central lines corresponding to a plurality of lane change area blocks based on the cut lane lines; and acquiring the lane-level topology by using the plurality of lane center lines. Compared with the prior art, the method has the following beneficial effects: (1) the scheme integrally processes the roads as units, so that the problem of lane increase and decrease in the roads can be better solved; (2) according to the scheme, the mileage information of the head and tail points of the lane lines is clustered and grouped, so that lane increase and decrease areas are restored better on the basis of the lane lines; (3) according to the scheme, topology is built according to the region blocks, irregular lane line cutting is divided into regular lane line building topology, and path planning of lane increase and decrease regions is facilitated.
Description
Technical Field
The invention relates to the technical field of network topology construction, in particular to a lane level topology construction method and device based on a structured road.
Background
The popular vehicle carries a visual identification technology, and the collection of lane printing lines on roads to construct a high-precision map is the mainstream trend of low-cost rapid popular mapping in the field of automatic driving at present. However, the high-precision map not only can be extracted into high-precision lane printing lines, but also comprises a complex network topological relation so as to meet the basic requirements of automatic driving vehicle positioning, navigation, path planning and the like. Therefore, how to construct a network topology according to the extracted lane printing lines is an urgent problem to be solved for a high-precision map crowd-sourcing map, and the method comprises the topology construction of lane increase and decrease positions and the topology construction in roadways.
The direct use of structured lane lines is not able to meet the requirements of automatic vehicle positioning, navigation, path planning, etc. For an automatic driving vehicle, after the automatic driving vehicle is positioned according to a GPS position and nearby lane line information, how to plan next step is that the lane line information cannot be provided, in this case, path planning is required according to the priori knowledge of a high-precision map and road conditions sensed by a sensor in real time, and an important part of the priori knowledge of the high-precision map is road network topology information. Therefore, it is highly desirable to provide a method for constructing a lane-level topology based on a structured road.
Disclosure of Invention
Embodiments of the present invention provide a method and apparatus for lane line group structuring based on a road-level topology that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, an embodiment of the present invention provides a lane-level topology construction method based on a structured road, including:
acquiring a reference line in a road based on a plurality of lane lines in the road;
acquiring the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as a lane change dividing point;
breaking the plurality of lane lines by using each segmentation point to obtain a plurality of lane change area blocks;
acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines;
and acquiring a lane-level topology by using the plurality of lane center lines.
Further, the obtaining a reference line in the road based on the plurality of lane lines in the road specifically includes:
constructing a direction bounding box based on the plurality of lane lines;
acquiring the center line of the direction bounding box, segmenting the center line of the direction bounding box, and calculating the course angle mean value of the lane linear point in each segment;
and acquiring the reference line based on the central line of the direction bounding box and the mean course angle.
Further, the breaking the lane lines by using the dividing points to obtain a plurality of lane change area blocks specifically includes:
using each division point as a perpendicular line of the road reference line;
and breaking the multiple lane lines by using the vertical lines, and dividing the broken lane lines into blocks to obtain multiple lane change area blocks.
Further, the obtaining of the lane center lines corresponding to the lane change area blocks based on the cut lane lines specifically includes:
based on the lane line after cutting, the lane line adjacent to the left and right forms a lane, GPS track points in the lane are collected, and the lane central line is obtained according to the collected data fitting of the track points.
Further, the obtaining of the lane center lines corresponding to the lane change area blocks based on the cut lane lines specifically includes:
and on the basis of the cut lane lines, forming a lane by using the adjacent lane lines on the left and the right, and taking the central axis of the sidelines of the left lane and the right lane as the center line of the lane.
Further, the obtaining a lane-level topology by using the lane center lines specifically includes:
and constructing topological communication of the center lines of the lanes among the blocks along the driving direction to obtain lane-level topology.
In a second aspect, an embodiment of the present invention provides a lane-level topology building apparatus based on a structured road, including:
the reference line acquisition module is used for acquiring reference lines in a road based on a plurality of lane lines in the road;
the division point acquisition module is used for acquiring the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as the division point of lane change;
the lane change block acquisition module is used for breaking the lane lines by utilizing each division point to obtain a plurality of lane change area blocks;
the lane central line acquisition module is used for acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines;
and the construction module is used for acquiring the lane-level topology by utilizing the plurality of lane center lines.
Further, the reference line obtaining module is specifically configured to:
the acquiring the reference line in the road based on the plurality of lane lines in the road specifically includes:
constructing a direction bounding box based on the plurality of lane lines;
acquiring the center line of the direction bounding box, segmenting the center line of the direction bounding box, and calculating the course angle mean value of the lane linear point in each segment;
and acquiring the reference line based on the central line of the direction bounding box and the mean course angle.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the steps of the structured road based lane-level topology construction method according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the structured road-based lane-level topology construction method as provided in the first aspect.
Compared with the prior art, the lane level topology construction method and device based on the structured road provided by the embodiment of the invention have the following beneficial effects:
(1) the scheme integrally processes the roads as units, so that the problem of lane increase and decrease in the roads can be better solved;
(2) according to the scheme, the mileage information of the head and tail points of the lane lines is clustered and grouped, so that lane increase and decrease areas are restored better on the basis of the lane lines;
(3) according to the scheme, topology is built according to the region blocks, irregular lane line cutting is divided into regular lane line building topology, and path planning of lane increase and decrease regions is facilitated.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a lane-level topology construction method based on a structured road according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a specific implementation of an embodiment of the present invention;
fig. 3 is a structural block diagram of a lane-level topology building apparatus based on a structured road 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 and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, 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.
Fig. 1 is a flowchart of a lane-level topology construction method based on a structured road according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
s101, acquiring a reference line in a road based on a plurality of lane lines in the road;
s102, obtaining the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as a lane change dividing point;
s103, breaking the lane lines by using each segmentation point to obtain a plurality of lane change area blocks;
s104, acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines;
and S105, acquiring lane-level topology by using the lane center lines.
Specifically, for the problems existing in the prior art, in the embodiment of the present invention, a road is taken as a unit, and a road reference line of the road is obtained by calculation according to a lane line in the road; secondly, collecting the mileage of the head and tail points of the lane line relative to the road reference line, and clustering according to the mileage of the head and tail points; then, based on the grouping information, cutting the lane line into different lane increasing and decreasing areas; and finally, based on the divided lane area blocks, constructing topological communication among the blocks along the road driving direction and supplementing the topological communication between the road and the road.
Compared with the prior art, the lane level topology construction method based on the structured road provided by the embodiment of the invention has the following beneficial effects:
(1) the scheme integrally processes the roads as units, so that the problem of lane increase and decrease in the roads can be better solved;
(2) according to the scheme, the mileage information of the head and tail points of the lane lines is clustered and grouped, so that lane increase and decrease areas are restored better on the basis of the lane lines;
(3) according to the scheme, topology is built according to the region blocks, irregular lane line cutting is divided into regular lane line building topology, and path planning of lane increase and decrease regions is facilitated.
Fig. 2 is a schematic flow chart of a specific implementation manner of the embodiment of the present invention.
Based on the content of the foregoing embodiment, in an optional embodiment of the present invention, the acquiring a reference line in a road based on a plurality of lane lines in the road specifically includes:
constructing a direction bounding box based on the plurality of lane lines;
acquiring the center line of the direction bounding box, segmenting the center line of the direction bounding box, and calculating the course angle mean value of the lane linear point in each segment;
and acquiring the reference line based on the central line of the direction bounding box and the mean course angle.
Specifically, a covariance matrix is calculated according to lane linear point data in a road, and a direction bounding box is constructed; the center line of the direction bounding box is taken, segmented at a certain distance (adjustable, such as 3m) and the course angle average of the lane linear points in each segment is calculated. And designating a starting point of the central line, and extending backwards by a course angle to obtain a road reference line.
This embodiment has the advantage that the calculated road reference line is derived from the waypoint heading angle of the original lane line, and within a certain distance, the trend of the road can be described. In addition, the road reference line is cumulatively expressed by line segments with a certain short distance, so that the problem that the curved road cannot be described is solved.
Based on the content of the foregoing embodiment, in an optional embodiment of the present invention, the breaking the lane lines by using each division point to obtain a plurality of lane change area blocks specifically includes:
using each division point as a perpendicular line of the road reference line;
and breaking the multiple lane lines by using the vertical lines, and dividing the broken lane lines into blocks to obtain multiple lane change area blocks.
Specifically, dividing points obtained by grouping are used as perpendicular lines of the road reference lines, all lane lines are broken, and the broken lane lines are divided into blocks to obtain a plurality of possible lane increase and decrease area blocks.
Based on the content of the foregoing embodiment, in an optional embodiment of the present invention, the acquiring, based on the cut lane line, lane center lines corresponding to the lane change area blocks specifically includes:
based on the lane line after cutting, the lane line adjacent to the left and right forms a lane, GPS track points in the lane are collected, and the lane central line is obtained according to the collected data fitting of the track points.
Based on the content of the foregoing embodiment, in an optional embodiment of the present invention, the acquiring, based on the cut lane line, lane center lines corresponding to the lane change area blocks specifically includes:
and on the basis of the cut lane lines, forming a lane by using the adjacent lane lines on the left and the right, and taking the central axis of the sidelines of the left lane and the right lane as the center line of the lane.
Specifically, there are two schemes to construct the lane center line:
the first scheme is that based on cut lane lines, the adjacent lane lines on the left and the right form a lane, GPS track points in the lane are collected, and a lane central line is obtained through fitting according to collected track point data;
the second scheme is that based on the cut lane lines, the adjacent lane lines on the left and the right form a lane, and the central axes of the sidelines of the left lane and the right lane are taken as the center lines of the lane.
The first scheme has the advantages that the center line of the lane is derived from GPS track points, which shows that the driving route of the vehicle in the lane can be directly used for path planning; but there may not be enough track coverage in some lanes, and in this case, the second approach needs to be used to assist in generating the lane center line.
Based on the content of the foregoing embodiment, in an optional embodiment of the present invention, the obtaining a lane-level topology by using the lane centerlines specifically includes:
and constructing topological communication of the center lines of the lanes among the blocks along the driving direction to obtain lane-level topology.
Specifically, within a road, along the direction of travel, topological connectivity of lane centerlines between blocks is constructed. In two adjacent area blocks, whether topological communication relation exists between lanes of different area blocks is judged through the continuity of GPS track points.
In the road, considering that no lane line exists in the intersection, the topological connection between the two roads can be completely constructed through the GPS track, and finally the topological connection is converted into the network topological construction of the last area block of the previous road and the one area block of the subsequent road based on the divided area block structure in the road.
Fig. 3 is a structural block diagram of a lane-level topology building apparatus based on a structured road according to an embodiment of the present invention, as shown in fig. 3, including: a reference line obtaining module 301, a dividing point obtaining module 302, a lane change block obtaining module 303, a lane center line obtaining module 304, and a constructing module 305. Wherein:
the reference line obtaining module 301 is configured to obtain a reference line in a road based on a plurality of lane lines in the road;
the segmentation point acquisition module 302 is configured to acquire the mileage of each lane line head-to-tail point relative to the reference line, perform dbcan clustering grouping on each mileage, and use the mileage average value corresponding to each obtained grouping as a segmentation point of lane change;
the lane change block acquisition module 303 is configured to break the multiple lane lines by using each division point to obtain multiple lane change area blocks;
the lane center line obtaining module 304 is configured to obtain multiple lane center lines corresponding to the multiple lane change area blocks based on the cut lane lines;
the building module 305 is configured to obtain a lane-level topology using the plurality of lane centerlines.
Specifically, the lane-level topology construction device based on the structured road provided in the embodiment of the present invention is specifically configured to execute the steps of the lane-level topology construction method based on the structured road in the above method embodiment, and since the lane-level topology construction method based on the structured road has been described in detail in the above embodiment, no description is given to functional modules of the lane-level topology construction device based on the structured road here.
Compared with the prior art, the lane level topology construction device based on the structured road provided by the embodiment of the invention has the following beneficial effects:
(1) the scheme integrally processes the roads as units, so that the problem of lane increase and decrease in the roads can be better solved;
(2) according to the scheme, the mileage information of the head and tail points of the lane lines is clustered and grouped, so that lane increase and decrease areas are restored better on the basis of the lane lines;
(3) according to the scheme, topology is built according to the region blocks, irregular lane line cutting is divided into regular lane line building topology, and path planning of lane increase and decrease regions is facilitated.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke a computer program stored on the memory 430 and executable on the processor 410 to perform the method for constructing the structured road based lane-level topology provided by the above method embodiments, for example, including: acquiring a reference line in a road based on a plurality of lane lines in the road; acquiring the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as a lane change dividing point; breaking the plurality of lane lines by using each segmentation point to obtain a plurality of lane change area blocks; acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines; and acquiring a lane-level topology by using the plurality of lane center lines.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the lane-level topology construction method based on a structured road provided in the foregoing method embodiments, for example, including: acquiring a reference line in a road based on a plurality of lane lines in the road; acquiring the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as a lane change dividing point; breaking the plurality of lane lines by using each segmentation point to obtain a plurality of lane change area blocks; acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines; and acquiring a lane-level topology by using the plurality of lane center lines.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts 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-described 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, etc.) to execute the methods described in the embodiments or some parts 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 lane-level topology construction method based on a structured road is characterized by comprising the following steps:
acquiring a reference line in a road based on a plurality of lane lines in the road; the method comprises the following steps: constructing a direction bounding box based on a plurality of lane lines; acquiring the center line of the direction bounding box, segmenting the center line of the direction bounding box, and calculating the course angle mean value of the lane linear point in each segment; acquiring a reference line in the road based on the central line of the direction bounding box and the mean course angle;
acquiring the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as a lane change dividing point;
breaking the plurality of lane lines by using each segmentation point to obtain a plurality of lane change area blocks;
acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines;
and acquiring a lane-level topology by using the plurality of lane center lines.
2. The method according to claim 1, wherein the breaking the lane lines with the respective dividing points to obtain a plurality of lane change area blocks specifically comprises:
using each division point as a perpendicular line of the road reference line;
and breaking the multiple lane lines by using the vertical lines, and dividing the broken lane lines into blocks to obtain multiple lane change area blocks.
3. The method according to claim 1, wherein the obtaining of the lane center lines corresponding to the lane change area blocks based on the cut lane lines specifically comprises:
based on the lane line after cutting, the lane line adjacent to the left and right forms a lane, GPS track points in the lane are collected, and the lane central line is obtained according to the collected data fitting of the track points.
4. The method according to claim 1, wherein the obtaining of the lane center lines corresponding to the lane change area blocks based on the cut lane lines specifically comprises:
and on the basis of the cut lane lines, forming a lane by using the adjacent lane lines on the left and the right, and taking the central axis of the sidelines of the left lane and the right lane as the center line of the lane.
5. The method according to claim 1, wherein the obtaining a lane-level topology using the plurality of lane centerlines comprises:
and constructing topological communication of the center lines of the lanes among the blocks along the driving direction to obtain lane-level topology.
6. A device for constructing a lane-level topology based on a structured road is characterized by comprising:
the reference line acquisition module is used for acquiring reference lines in a road based on a plurality of lane lines in the road; the reference line acquisition module is specifically configured to: the acquiring the reference line in the road based on the plurality of lane lines in the road specifically includes: constructing a direction bounding box based on the plurality of lane lines; acquiring the center line of the direction bounding box, segmenting the center line of the direction bounding box, and calculating the course angle mean value of the lane linear point in each segment; acquiring the reference line based on the central line of the direction bounding box and the mean course angle;
the division point acquisition module is used for acquiring the mileage of the head and tail points of each lane line relative to the reference line, performing DBSCAN clustering grouping on each mileage, and taking the mileage average value corresponding to each obtained grouping as the division point of lane change;
the lane change block acquisition module is used for breaking the lane lines by utilizing each division point to obtain a plurality of lane change area blocks;
the lane central line acquisition module is used for acquiring a plurality of lane central lines corresponding to the plurality of lane change area blocks based on the cut lane lines;
and the construction module is used for acquiring the lane-level topology by utilizing the plurality of lane center lines.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the steps of the structured road based lane level topology construction method according to any of claims 1 to 5.
8. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the structured road-based lane-level topology construction method according to any one of claims 1 to 5.
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