CN111047682A - Three-dimensional lane model generation method and system - Google Patents
Three-dimensional lane model generation method and system Download PDFInfo
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Abstract
The invention relates to the technical field of three-dimensional road modeling, in particular to a method and a system for generating a three-dimensional lane model, wherein a lane layer is converted into a projection coordinate system from a longitude and latitude coordinate system; generating a central line and an edge line of the lane under the projection coordinate system; dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch; constructing a three-dimensional coordinate of each triangular patch by taking DEM data of the lane as a height value of each triangular patch; the invention can make full use of the existing two-dimensional electronic map data to automatically construct the three-dimensional model of the lane, thereby saving a large amount of acquisition work and supporting the requirement of microscopic traffic simulation.
Description
Technical Field
The invention relates to the technical field of three-dimensional road modeling, in particular to a three-dimensional lane model generation method and a three-dimensional lane model generation system.
Background
The three-dimensional traffic network model and the system are an important technology in a path navigation system and an intelligent traffic integrated command and scheduling system, and for complex intersections and multi-layer overpasses, the spatial connection relation of roads can be clearly expressed only by the three-dimensional traffic network, so that the road network analysis and calculation can be realized. The current general practice is to use three-dimensional modeling software (e.g. 3d max, Maya, etc.) to perform modeling applications according to the geometry of the road, which has the disadvantage of being labor intensive. In the prior art, methods for automatically constructing a three-dimensional road network model exist, but the methods all use road sections as minimum modeling units, cannot describe topological relations among lanes, and are difficult to meet the requirement of road network space analysis, so that the refined microscopic traffic simulation application is difficult to support.
The need of microscopic traffic simulation can be supported only by constructing and generating a fine three-dimensional lane model and generating basic topological connection data, so that the existing three-dimensional lane network model needs to be improved urgently.
Disclosure of Invention
The invention provides a method and a system for generating a three-dimensional lane model, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
according to an embodiment of the first aspect of the invention, a three-dimensional lane model generation method comprises the following steps:
converting the lane layer into a projection coordinate system from a longitude and latitude coordinate system;
generating a central line and an edge line of the lane in a projection coordinate system;
dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch;
taking DEM data of the lane as a height value of each triangular patch, and constructing a three-dimensional coordinate of each triangular patch;
and sequentially connecting the triangular patches to obtain a three-dimensional lane model.
Further, the generating the center line and the edge line of the lane under the projection coordinate system includes:
obtaining lane coordinates under a projection coordinate system, calculating a middle value of the lane coordinates, and taking the middle value as a center line coordinate of a lane;
obtaining the buffer distance of the lanes according to the number and the width value of the lanes;
and taking the center line of the lane as a reference, and offsetting the center line of the lane to two sides according to the buffer distance of the lane to obtain the edge lines of the two lanes.
Further, dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch, includes:
dividing the center line of the lane and the edge line of the lane into a plurality of continuous straight line segments respectively, and taking the connection point of two adjacent straight line segments as a vertex;
generating two triangular patches by two opposite straight line segments, and connecting the vertex of each triangular patch in a counterclockwise manner, so that the lane is divided into a plurality of connected triangular patches;
and constructing the two-dimensional coordinates of each triangular patch according to the two-dimensional coordinates of each vertex.
Further, the constructing the three-dimensional coordinates of each triangular patch by using the DEM data of the lane as the height value of each triangular patch includes:
taking DEM data of the vertexes in the triangular surface patches as height values of the vertexes, so as to obtain three-dimensional coordinates of the vertexes in each triangular surface patch;
calculating to obtain a longitudinal coordinate of the center line according to the three-dimensional coordinates of the vertexes in each triangular patch;
and taking the longitudinal coordinate of the central line as the height value of the lane, and combining the height value of the lane with the two-dimensional coordinate of the triangular patch to obtain the three-dimensional coordinate of the triangular patch.
Further, the calculating a vertical coordinate of the center line according to the three-dimensional coordinates of the vertices in each triangular patch includes:
setting the three-dimensional coordinate of any control point on the central line, and acquiring the two-dimensional coordinate of the control point to determine a linear equation passing through the control point and perpendicular to the XOY plane;
establishing a plane equation of the triangular patch according to three vertexes of the triangular patch;
obtaining the vertical coordinate of the control point according to the linear equation and the plane equation;
and obtaining the ordinate of the central line according to the ordinates of all the control points on the central line.
Further, before the step of using the ordinate of the center line as the height value of the lane, the step includes:
judging whether the control point is in the triangular patch, if so, taking the vertical coordinate of the control point as the height value of the lane where the control point is located;
and determining all control points on the central line to be positioned in the corresponding triangular patch.
Further, connecting the triangular patches in sequence to obtain a three-dimensional lane model, includes:
and calculating the UV coordinates corresponding to each control point, performing continuous mapping on each triangular patch, and outputting a three-dimensional lane model.
A three-dimensional lane model generation system according to an embodiment of a second aspect of the present invention includes:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the method for generating a three-dimensional lane model according to the embodiment of the first aspect.
The invention has the beneficial effects that: the invention discloses a method and a system for generating a three-dimensional lane model, which comprises the following steps of firstly converting a lane layer from a longitude and latitude coordinate system to a projection coordinate system; generating a central line and an edge line of the lane under the projection coordinate system; dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch; constructing a three-dimensional coordinate of each triangular patch by taking DEM data of the lane as a height value of each triangular patch; and sequentially connecting the triangular patches to obtain the three-dimensional lane model. The invention can fully utilize the existing two-dimensional electronic map data to automatically construct the three-dimensional model of the lane, can save a large amount of acquisition work and can support the requirement of microscopic traffic simulation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for generating a three-dimensional lane model according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of step S200 in the embodiment of FIG. 1;
FIG. 3 is a schematic diagram illustrating the effect of step S200 in the embodiment of FIG. 1;
FIG. 4 is a schematic diagram illustrating the effect of step S300 in the embodiment of FIG. 1;
fig. 5 is a schematic diagram illustrating an effect of step S400 in the embodiment of fig. 1.
Detailed Description
The conception, specific structure and technical effects of the present disclosure will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, aspects and effects of the present disclosure. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, a three-dimensional lane model generation method as shown in fig. 1 includes the following steps:
and S100, converting the lane layer from a longitude and latitude coordinate system to a projection coordinate system.
In the step, tools such as ArcGIS or ArcMap can be adopted for processing, and the longitude and latitude coordinate system is converted into a projection coordinate system, so that subsequent calculation under the projection coordinate system is facilitated. The coordinate conversion should adopt a local coordinate system according to the region where the road is located to ensure the precision of the coordinate conversion. In this embodiment, the ground is taken as an XOY plane, and the height direction of the road is taken as a Z axis.
And step S200, generating a center line and an edge line of the lane under the projection coordinate system.
The center line and the edge line are broken lines composed of a series of points, and are represented by respective sets of vertex coordinate points.
Step S300, dividing the lane into a plurality of continuous triangular patches, and constructing the two-dimensional coordinates of each triangular patch.
And S400, constructing a three-dimensional coordinate of each triangular patch by taking the DEM data of the lane as the height value of each triangular patch.
And S500, sequentially connecting the triangular patches to obtain a three-dimensional lane model.
The lanes are basic carriers for vehicle running, one road section is formed by connecting a plurality of lanes, in the embodiment, the lane layer can be obtained by utilizing the existing electronic map data, manual map data acquisition is not needed, and the lanes with smaller granularity are used as basic generating units in the scheme. The three-dimensional road network has smaller object granularity, so that the three-dimensional road network is finer, and finer business application functions (such as micro traffic simulation) are supported; according to the scheme, the three-dimensional coordinate of each triangular patch is constructed by adopting a mathematical processing algorithm based on space analytic geometry, so that the trend gradient of the lane can be kept consistent with the terrain. The scheme can fully utilize the existing two-dimensional electronic map data, and automatically construct the three-dimensional model of the lane by combining the terrain data according to the constraint rule of the lane design. Therefore, the three-dimensional road network data can support the requirements of microscopic traffic simulation.
Referring to fig. 2 and 3, in a preferred embodiment, the step S200 includes:
and step S210, obtaining lane coordinates in the projection coordinate system, calculating a middle value of the lane coordinates, and taking the middle value as a center line coordinate of the lane.
In this step, a continuous intermediate value is generated through continuous lane coordinates, the intermediate value is a central point coordinate, and the continuous central point coordinate forms a central line coordinate. Because the coordinate value of the projection coordinate system is larger, the middle value is obtained according to the obtained coordinates, the middle value is used as the translation amount, namely line buffering is carried out towards two sides, the buffering distances are respectively D1 and D2, and the coordinates of the center line of the road after translation are obtained. The central line of the road is a broken line composed of a series of points, the buffer calculation is carried out on each broken line, and then the intersection point of two adjacent broken lines is obtained.
S220, obtaining the buffer distance of the lanes according to the number and the width of the lanes;
because the width value of the lane is established according to the standard, after the number of the lanes is determined, all the straight line segments can be transversely translated according to a fixed distance.
And step S230, taking the center line of the lane as a reference, and offsetting the center line of the lane to two sides according to the buffer distance of the lane to obtain the edge lines of the two lanes.
The central line of the road can be understood as a broken line composed of a series of points, after each broken line is subjected to buffer calculation, the broken lines at two adjacent ends are connected, and the intersection point of two adjacent broken lines is solved, so that the edge line after deviation is obtained.
In a preferred embodiment, the step S300 specifically includes:
firstly, dividing a center line of a lane and an edge line of the lane into a plurality of continuous straight line segments respectively, and taking a connecting point of two adjacent straight line segments as a vertex;
secondly, two opposite straight line segments are generated into two triangular patches, and the vertex of each triangular patch is connected anticlockwise, so that the lane is divided into a plurality of connected triangular patches;
and finally, constructing the two-dimensional coordinates of each triangular patch according to the two-dimensional coordinates of each vertex. The two-dimensional coordinates are the coordinates of the lane projected on the horizontal plane.
As shown in fig. 4, after performing buffer calculation, straight line segment sequences L1 ', L2 ', and L3 ' forming the lane center line obtain a lane edge line 1, the straight line segment sequences of which are L1, L2, and L3, and obtain a lane edge line 2, the straight line segment sequences of which are L1 ″, L2 ″, and L3 ″; for the center line of the lane, the intersection point v1 of adjacent straight line segments L1 'and L2' and the intersection point v4 of adjacent straight line segments L2 'and L3' can be obtained; by the same algorithm, an intersection point v2 of adjacent straight line segments L1 'and L2' and an intersection point v3 of adjacent straight line segments L2 'and L3' can be obtained; wherein, the vertex v1 is consistent with the vertex v2, and the vertex v4 is consistent with the vertex v3 in the center line of the lane, and two groups of triangular patches (v1, v2, v4) and (v2, v3, v4) can be obtained according to the anticlockwise sequence.
In a preferred embodiment, in conjunction with fig. 5, the step S400 includes:
firstly, taking DEM data of a vertex in a triangular patch as a height value of the vertex, thereby obtaining a three-dimensional coordinate of the vertex in each triangular patch; secondly, calculating to obtain a vertical coordinate of the central line according to the three-dimensional coordinates of the vertexes in each triangular patch; and taking the longitudinal coordinate of the central line as the height value of the lane, and combining the height value of the lane with the two-dimensional coordinate of the triangular patch to obtain the three-dimensional coordinate of the triangular patch.
In a preferred embodiment, the step S420 includes:
(1) setting the three-dimensional coordinate of any control point on the central line, and acquiring the two-dimensional coordinate of the control point to determine a linear equation passing through the control point and perpendicular to the XOY plane;
(2) establishing a plane equation of the triangular patch according to three vertexes of the triangular patch;
(3) obtaining the vertical coordinate of the control point according to the linear equation and the plane equation;
(4) and obtaining the ordinate of the central line according to the ordinates of all the control points on the central line.
In this embodiment, a vertical line of the ground is made at the vertex of the center line, an equation of the vertical line can be obtained according to the vertex coordinates and the vertical vector, a plane equation of each triangular patch of the ground can be calculated according to the vertex coordinates of the DEM data, an intersection point is obtained for the two equations, whether a point is inside the triangular patch of the ground or not is judged, and if the point is inside the triangle, the projection point of the vertex on the ground, namely the actual position coordinates of the center line of the lane is determined. Traversing the vertexes of the lane central lines and the terrain triangular patches to obtain the height coordinates of the vertexes of all the lane central lines.
Component values of the vertex coordinates X, Y, Z of the lane center line are obtained, all the triangular patch vertices are connected in a counterclockwise mode, and all the triangular patch vertex sequences representing the lane road surface can be obtained.
In the present embodiment, the XY coordinates of each vertex, that is, the coordinates of the road projected on the ground, have been obtained according to step S300. Since the road is also undulated by elevations, its height is mainly influenced by the topography. Therefore, DEM data of the terrain can be used as reference data for calculating the height of the top of the lane.
In the embodiment, a vertical line of the ground is made from each lane center line vertex, an equation of the vertical line can be obtained according to the vertex coordinate and the vertical vector, a plane equation of each ground triangular patch can be calculated according to the DEM data vertex coordinate, the intersection point of the two equations is obtained, whether the point is in the ground triangular patch or not is judged, and if the point is in the triangle, the projection point of the vertex on the ground, namely the actual lane center line position coordinate is determined. Traversing the vertexes of the lane central lines and the terrain triangular patches to obtain the height coordinates of the vertexes of all the lane central lines.
After steps S300 and S400, the vertex coordinates X, Y, Z of the lane center line have been obtained, and all triangle patch vertex sequences representing the lane road surface are obtained by counterclockwise organization.
In a preferred embodiment, before the step of using the ordinate of the center line as the height value of the lane, the step of:
judging whether the control point is in the triangular patch, if so, taking the vertical coordinate of the control point as the height value of the lane where the control point is located; and determining all control points on the central line to be positioned in the corresponding triangular patch.
In this embodiment, a point in polygon algorithm is used to determine whether a control point is inside the triangle patch.
In a preferred embodiment, the step S500 specifically includes:
and calculating the UV coordinates corresponding to each control point, performing continuous mapping on each triangular patch, and outputting a three-dimensional lane model.
Specifically, after the UV coordinates corresponding to each control point are calculated, each triangular patch can be continuously mapped through OpenGL, and finally, a complete three-dimensional lane model is obtained.
As can be seen from the above description of one or more embodiments, compared with the prior art, the technical solution adopted by the present invention has the following advantages:
(1) the three-dimensional fine lane automatic generation technology comprises the following steps:
in the prior art, a road section is taken as a minimum generating unit, and a lane with smaller granularity is taken as a basic generating unit in the scheme. Smaller object granularity will make the three-dimensional road network finer and will also support more business application functions (e.g., micro traffic simulation).
(2) Fully utilizing the existing electronic map data:
the prior art has higher requirements on original data, and generally requires data to be collected again in order to meet the target of automatic generation. The scheme can utilize the existing electronic map data, and a large amount of collection work can be saved by adopting the scheme.
(3) Fusing terrain data:
the road trend is influenced by topography, and this scheme can let the trend slope of lane keep unanimous with the topography through adopting the mathematical processing algorithm based on the space analysis geometry.
Referring to fig. 5, to better illustrate the technical solution of the present invention, the present invention further provides a specific example of the following solution.
For any control point V1(a, b, c) on the lane centerline, then passing through point V1, the equation of a straight line perpendicular to the XOY plane is:
X＝a,Y＝b (1)
assuming the coordinates of the three vertices of the triangle patch of the terrain DEM data as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), the plane equation of the triangle patch is:
let the equation be:
A(x-x1)+B(y-y1)+C(z-z1)＝0； (3)
then:
A＝(y3-y1)*(z3-z1)-(z2-z1)*(y3-y1)； (4)
B＝(x3-x1)*(z2-z1)-(x2-x1)*(z3-z1)； (5)
C＝(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1)； (6)
substituting the formula (1) into the formula (3) can obtain the intersection point coordinates of the vertical line and the terrain triangular patch:
X＝a (7)
Y＝b (8)
Z＝z1–(A(a-x1)+B(b-y1))/C (9)
and then, whether the intersection Point is In the triangular patch or not needs to be further judged, the existing Point In Polygon algorithm can be adopted for judgment, if the intersection Point is In the triangular patch In a certain terrain, the vertical coordinate Z value of the intersection Point is the elevation value of the control Point on the lane central line, namely the vertical coordinate of the intersection Point is taken as the height value of the lane where the control Point is located, and the X, Y, Z coordinate of the lane central line control Point is obtained.
Corresponding to the above method, an embodiment of the second aspect of the present invention further provides a three-dimensional lane model generation system, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the method for generating a three-dimensional lane model according to the embodiment of the first aspect.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the one three-dimensional lane model generation system, with various interfaces and lines connecting the various parts of the overall one three-dimensional lane model generation system operational apparatus.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the one three-dimensional lane model generation system by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the present disclosure has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed with references to the appended claims so as to provide a broad, possibly open interpretation of such claims in view of the prior art, and to effectively encompass the intended scope of the disclosure. Furthermore, the foregoing describes the disclosure in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the disclosure, not presently foreseen, may nonetheless represent equivalent modifications thereto.
Claims (8)
1. A method of generating a three-dimensional lane model, comprising:
converting the lane layer into a projection coordinate system from a longitude and latitude coordinate system;
generating a central line and an edge line of the lane in a projection coordinate system;
dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch;
taking DEM data of the lane as a height value of each triangular patch, and constructing a three-dimensional coordinate of each triangular patch;
and sequentially connecting the triangular patches to obtain a three-dimensional lane model.
2. The method of claim 1, wherein the generating the center line and the edge line of the lane in the projection coordinate system comprises:
obtaining lane coordinates under a projection coordinate system, calculating a middle value of the lane coordinates, and taking the middle value as a center line coordinate of a lane;
obtaining the buffer distance of the lanes according to the number and the width value of the lanes;
and taking the center line of the lane as a reference, and offsetting the center line of the lane to two sides according to the buffer distance of the lane to obtain the edge lines of the two lanes.
3. The method of claim 2, wherein the dividing the lane into a plurality of continuous triangular patches, and constructing the two-dimensional coordinates of each triangular patch comprises:
dividing the center line of the lane and the edge line of the lane into a plurality of continuous straight line segments respectively, and taking the connection point of two adjacent straight line segments as a vertex;
generating two triangular patches by two opposite straight line segments, and connecting the vertex of each triangular patch in a counterclockwise manner, so that the lane is divided into a plurality of connected triangular patches;
and constructing the two-dimensional coordinates of each triangular patch according to the two-dimensional coordinates of each vertex.
4. The method for generating the three-dimensional lane model according to claim 3, wherein the constructing the three-dimensional coordinates of each triangular patch by using the DEM data of the lane as the height value of each triangular patch comprises:
taking DEM data of the vertexes in the triangular surface patches as height values of the vertexes, so as to obtain three-dimensional coordinates of the vertexes in each triangular surface patch;
calculating to obtain a longitudinal coordinate of the center line according to the three-dimensional coordinates of the vertexes in each triangular patch;
and taking the longitudinal coordinate of the central line as the height value of the lane, and combining the height value of the lane with the two-dimensional coordinate of the triangular patch to obtain the three-dimensional coordinate of the triangular patch.
5. The method of claim 4, wherein said calculating the ordinate of the centerline from the three-dimensional coordinates of the vertices comprises:
setting the three-dimensional coordinate of any control point on the central line, and acquiring the two-dimensional coordinate of the control point to determine a linear equation passing through the control point and perpendicular to the XOY plane;
establishing a plane equation of the triangular patch according to three vertexes of the triangular patch;
obtaining the vertical coordinate of the control point according to the linear equation and the plane equation;
and obtaining the ordinate of the central line according to the ordinates of all the control points on the central line.
6. The method as claimed in claim 5, wherein the step of using the ordinate of the center line as the height value of the lane comprises:
judging whether the control point is in the triangular patch, if so, taking the vertical coordinate of the control point as the height value of the lane where the control point is located;
and determining all control points on the central line to be positioned in the corresponding triangular patch.
7. The method as claimed in claim 5, wherein the connecting the triangle patches in sequence to obtain the three-dimensional lane model comprises:
and calculating the UV coordinates corresponding to each control point, performing continuous mapping on each triangular patch, and outputting a three-dimensional lane model.
8. A three-dimensional lane model generation system, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the three-dimensional lane model generation method of any one of claims 1-7.
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| CN112562062A (en) * | 2020-12-01 | 2021-03-26 | 浙江浙大中控信息技术有限公司 | Automatic generation method of three-dimensional model of road intersection |
| CN112562062B (en) * | 2020-12-01 | 2023-04-11 | 浙江中控信息产业股份有限公司 | Automatic generation method of three-dimensional model of road intersection |
| CN114049327A (en) * | 2021-11-16 | 2022-02-15 | 中国测绘科学研究院 | Improved large-range road center line block extraction algorithm |
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