CN111047682B - 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 three-dimensional lane model generation method and system, wherein a lane layer is firstly converted into a projection coordinate system from a longitude and latitude coordinate system; generating a central line and an edge line of a lane under a projection coordinate system; dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch; constructing three-dimensional coordinates of each triangular patch by taking DEM data of the lane as a height value of each triangular patch; the invention can fully utilize 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 requirements 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 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 scheduling system, and for complex intersections and multi-layer overpasses, the three-dimensional traffic network is required to clearly express the spatial connection relation of roads, so that the road network analysis and calculation can be realized. It is currently common practice to use three-dimensional modeling software (e.g., 3DMax, maya, etc.) for modeling applications based on road geometry, which has the disadvantage of being labor intensive. In the prior art, there are also methods for automatically constructing a three-dimensional road network model, but the methods all take road sections as minimum modeling units, can not describe the topological relation between lanes, and are difficult to meet the requirement of road network space analysis, so that the method is difficult to support the application of fine microscopic traffic simulation.
And a fine three-dimensional lane model is constructed and generated, basic topological connection data is generated, and the requirements of microscopic traffic simulation can be supported, so that the existing three-dimensional vehicle road network model needs to be improved.
Disclosure of Invention
The invention provides a three-dimensional lane model generation method and a system, 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 above object, the present invention provides the following technical solutions:
according to an embodiment of the first aspect of the present invention, a three-dimensional lane model generating method includes:
converting the lane layer from a longitude and latitude coordinate system into a projection coordinate system;
generating a central line and an edge line of a lane under a projection coordinate system;
dividing a lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch;
taking DEM data of a 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 the 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, obtaining an intermediate value of the lane coordinates, and taking the intermediate value as a central line coordinate of the lane;
obtaining the buffer distance of the lanes according to the number and the width values of the lanes;
and taking the central line of the lane as a reference, and shifting the central line of the lane to two sides according to the buffer distance of the lane to obtain edge lines of the two lanes.
Further, the dividing the lane into a plurality of continuous triangular patches, 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 connecting point of two adjacent straight line segments as a vertex;
generating two triangular patches by two opposite straight line segments, wherein the vertex of each triangular patch is connected anticlockwise, so that a 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 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 patches as the height values of the vertexes, so as to obtain three-dimensional coordinates of the vertexes in each triangular patch;
calculating the ordinate of the central line according to the three-dimensional coordinates of the vertexes in each triangular surface patch;
and taking the ordinate of the central line as the height value of the lane, and combining the height value of the lane with the two-dimensional coordinates of the triangular patch to obtain the three-dimensional coordinates of the triangular patch.
Further, the calculating the ordinate of the center line according to the three-dimensional coordinates of the vertices in each triangular patch includes:
setting a three-dimensional coordinate of any control point on a central line, and acquiring a two-dimensional coordinate of the control point to determine a linear equation passing through the control point and perpendicular to an XOY plane;
establishing a plane equation of the triangular patch according to three vertexes of the triangular patch;
obtaining the ordinate of the control point according to the linear equation and the plane equation;
and obtaining the ordinate of the central line according to the ordinate of all the control points on the central line.
Further, before taking the ordinate of the center line as the height value of the lane, the method includes:
judging whether the control point is inside the triangular patch, if so, taking the ordinate of the control point as the height value of the lane where the control point is located;
and determining that all control points on the central line are positioned inside the corresponding triangular patch.
Further, the connecting the triangular patches in sequence to obtain the three-dimensional lane model includes:
and calculating UV coordinates corresponding to each control point, continuously mapping each triangular patch, and outputting a three-dimensional lane model.
A three-dimensional lane model generation system according to an embodiment of the second aspect of the present invention includes:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the three-dimensional lane model generation method according to the embodiment of the first aspect.
The beneficial effects of the invention are as follows: the invention discloses a three-dimensional lane model generation method and a system, wherein a lane layer is firstly converted into a projection coordinate system from a longitude and latitude coordinate system; generating a central line and an edge line of a lane under a projection coordinate system; dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch; constructing three-dimensional coordinates 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, automatically construct the three-dimensional model of the lane, save a large amount of acquisition work and support the requirements of microscopic traffic simulation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a three-dimensional lane model generation method according to an embodiment of the present invention;
FIG. 2 is a flow chart of step S200 in the embodiment of FIG. 1;
FIG. 3 is a schematic diagram showing the effect of step S200 in the embodiment of FIG. 1;
FIG. 4 is a schematic diagram showing the effect of step S300 in the embodiment of FIG. 1;
fig. 5 is a schematic diagram showing the effect of step S400 in the embodiment of fig. 1.
Detailed Description
The conception, specific structure, and technical effects produced by the present disclosure will be clearly and completely described below in connection with the embodiments and the drawings to fully understand the objects, aspects, and effects of the present disclosure. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
Referring to fig. 1, a three-dimensional lane model generating method is shown in fig. 1, and includes the following steps:
step S100, converting the lane layer from a longitude and latitude coordinate system into a projection coordinate system.
The step can be processed by means of ArcGIS or Arcmap, and the longitude and latitude coordinate system is converted into a projection coordinate system, so that the calculation under the projection coordinate system is convenient to follow. The coordinate transformation should adopt a local coordinate system according to the region where the road is located, so as to ensure the precision of the coordinate transformation. 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 200, generating a central line and an edge line of the lane under the projection coordinate system.
The center line and the edge line are broken lines formed by a series of points, and the center line and the edge line are represented by respective vertex coordinate point sets.
And S300, dividing the lane into a plurality of continuous triangular patches, and constructing the two-dimensional coordinates of each triangular patch.
And S400, taking DEM data of the lane as a height value of each triangular patch, and constructing three-dimensional coordinates of each triangular patch.
And S500, sequentially connecting triangular patches to obtain the three-dimensional lane model.
The lane is a basic carrier for vehicle running, one road section is formed by connecting a plurality of lanes, in the embodiment, the lane map layer can be obtained by utilizing the existing electronic map data without manually collecting the map data, and the lane with smaller granularity is used as a basic generation unit. Having smaller object granularity will make the three-dimensional road network finer and will also support finer business application functions (e.g., microscopic traffic simulation); according to the scheme, the three-dimensional coordinates of each triangular patch are 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 a three-dimensional model of the lane according to constraint rules of lane design and by combining with terrain data. Thus, the three-dimensional road network data can support the requirement of microscopic traffic simulation.
Referring to fig. 2 and 3, in a preferred embodiment, the step S200 includes:
and S210, obtaining lane coordinates under a projection coordinate system, obtaining an intermediate value of the lane coordinates, and taking the intermediate value as a central line coordinate of the lane.
In this step, a continuous intermediate value is generated from the continuous lane coordinates, the intermediate value being the center point coordinates, and the continuous center point coordinates forming the center line coordinates. Since the coordinate value of the projection coordinate system is large, the intermediate value is obtained according to the obtained coordinates, and the intermediate value is used as the translation amount, namely line buffering is carried out to two sides, and the buffering distances are D1 and D2 respectively, so that the translated road center line coordinate is obtained. Because the central line of the road is a broken line formed by a series of points, buffer calculation is carried out on each broken line, and then the intersection point of two adjacent broken lines is obtained.
Step S220, obtaining the buffer distance of the lanes according to the number and the width value of the lanes;
because the width value of the lanes is formulated 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 S230, taking the central line of the lane as a reference, and shifting the central line of the lane to two sides according to the buffer distance of the lane to obtain edge lines of the two lanes.
The central line of the road is understood to be a broken line formed by a series of points, after buffer calculation is carried out on each broken line, the broken lines at two adjacent ends are connected, and the intersection point of the two adjacent broken lines is obtained, so that the offset edge line is obtained.
In a preferred embodiment, the step S300 specifically includes:
firstly, dividing the center line of a lane and the edge line of the lane into a plurality of continuous straight line segments respectively, and taking the connecting point of two adjacent straight line segments as a vertex;
then, two opposite straight line segments are generated into two triangular patches, and the vertexes of each triangular patch are connected anticlockwise, so that a 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, the straight line segment sequences L1', L2', L3 'forming the lane center line are subjected to buffer calculation to obtain a lane edge line 1, the straight line segment sequences are L1, L2 and L3, and the lane edge line 2 is obtained, and the straight line segment sequences are L1 ", L2 and L3'; for the center line of the lane, the intersection point v1 of the adjacent straight line segments L1 'and L2' and the intersection point v4 of the straight line segments L2 'and L3' can be obtained; the same algorithm can be used for obtaining an intersection point v2 of the adjacent straight line segments L1 'and L2' and an intersection point v3 of the straight line segments L2 'and L3'; wherein the sequence numbers of the vertexes v1 and v2, v4 and v3 at the center line of the lane are consistent, and two groups of triangular patches (v 1, v2, v 4) and (v 2, v3, v 4) can be obtained according to the anticlockwise sequence.
In a preferred embodiment, referring to fig. 5, the step S400 includes:
firstly, taking DEM data of vertexes in triangular patches as height values of the vertexes, and thus obtaining three-dimensional coordinates of the vertexes in each triangular patch; then, calculating the ordinate of the central line according to the three-dimensional coordinates of the vertexes in each triangular surface patch; and taking the ordinate of the central line as the height value of the lane, and combining the height value of the lane with the two-dimensional coordinates of the triangular patch to obtain the three-dimensional coordinates of the triangular patch.
In a preferred embodiment, the step S420 includes:
(1) Setting a three-dimensional coordinate of any control point on a central line, and acquiring a two-dimensional coordinate of the control point to determine a linear equation passing through the control point and perpendicular to an XOY plane;
(2) Establishing a plane equation of the triangular patch according to three vertexes of the triangular patch;
(3) Obtaining the ordinate 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 ordinate of all the control points on the central line.
In this embodiment, a vertical line of the ground is made on the vertex of the central line, an equation of the vertical line can be obtained according to the vertex coordinates and the vertical vector, and meanwhile, a plane equation of each triangular surface patch of the ground can be calculated according to the vertex coordinates of DEM data, the intersection point is obtained for the two equations, and whether the point is inside the triangular surface patch of the ground is judged, if inside the triangle, the projected point of the vertex on the terrain is the actual position coordinates of the central line of the lane. Traversing the lane center line vertex and the terrain triangular surface patch, and obtaining the height coordinates of all lane center line vertices.
The component values of the vertex coordinates X, Y, Z of the center line of the lane are obtained, and all the triangular patch vertices are connected anticlockwise, so that all the triangular patch vertex sequences representing the lane road surface can be obtained.
In this 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 fluctuated by height, its height is mainly affected by the terrain. Thus, DEM data of the terrain may be utilized as reference data for calculating the height of the lane vertex.
In this embodiment, a vertical line is formed from the vertex of the center line of each lane as the vertical line of the ground, an equation of the vertical line is obtained according to the vertex coordinates and the vertical vector, and a plane equation of each triangular surface patch of the ground is calculated according to the vertex coordinates of DEM data, the intersection point is calculated for the two equations, and whether the point is inside the triangular surface patch of the ground is determined, if inside the triangle, the projected point of the vertex on the terrain is the actual center line position coordinates of the lane. Traversing the lane center line vertex and the terrain triangular surface patch, and obtaining the height coordinates of all lane center line vertices.
Through steps S300 and S400, the component values of the vertex coordinates X, Y, Z of the lane center line are already obtained, and all triangular patch vertex sequences representing the lane road surface are obtained in a counterclockwise organization.
In a preferred embodiment, before the taking the ordinate of the center line as the height value of the lane, the method includes:
judging whether the control point is inside the triangular patch, if so, taking the ordinate of the control point as the height value of the lane where the control point is located; and determining that all control points on the central line are positioned in the corresponding triangular surface patches.
In this embodiment, a point in polygon algorithm is used to determine whether a control point is inside the triangular patch.
In a preferred embodiment, the step S500 specifically includes:
and calculating UV coordinates corresponding to each control point, continuously mapping each triangular patch, and outputting a three-dimensional lane model.
Specifically, after the UV coordinates corresponding to each control point are calculated, continuous mapping can be performed on each triangular patch through OpenGL, and finally a complete three-dimensional lane model is obtained.
As can be seen from the description of one or more embodiments above, compared with the prior art, the technical solution adopted by the present invention has the following advantages:
(1) The automatic three-dimensional fine lane generation technology comprises the following steps:
in the prior art, a road section is used as a minimum generating unit, and the scheme uses lanes with smaller granularity as a basic generating unit. Smaller object granularity will make the three-dimensional road network finer and will also support more business application functions (e.g., microscopic traffic simulation).
(2) Fully utilizing the existing electronic map data:
the prior art has high requirements on the original data, and in order to meet the automatic generation target, the data is generally required to be collected again. The scheme can utilize the existing electronic map data, and can save a large amount of acquisition work.
(3) Fusing terrain data:
the trend of the road is affected by the terrain, and the trend gradient of the lane can be kept consistent with the terrain by adopting a mathematical processing algorithm based on space analysis geometry.
Referring to fig. 5, to better illustrate the technical solution of the present invention, the present invention further provides the following specific embodiment of the solution.
For any control point V1 (a, b, c) on the lane centerline, then the straight line equation passing through the point V1, perpendicular to the XOY plane, is:
X＝a,Y＝b (1)
assuming that coordinates of three vertexes of the triangular patch of the terrain DEM data are (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3), a plane equation where the triangular patch is located is:
let 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) to obtain the intersection point coordinates of the vertical line and the terrain triangular surface 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 is further judged, the existing Point In Polygon algorithm can be adopted for judging, if the intersection Point is In the triangular patch with a certain topography, the ordinate Z value of the intersection Point is the elevation value of the control Point on the lane center line, namely, the ordinate of the intersection Point is taken as the elevation value of the lane where the control Point is located, and the X, Y, Z coordinate of the lane center line control Point is obtained.
Corresponding to the method, the embodiment of the second aspect of the invention also provides a three-dimensional lane model generating system, which comprises:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the three-dimensional lane model generation method according to the embodiment of the first aspect.
The content in the method embodiment is applicable to the system embodiment, the functions specifically realized by the system embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, digital-Signal-Processor (DSP), application-Specific-Integrated-Circuit (ASIC), field-Programmable-Gate array (FPGA), other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the three-dimensional lane model generating system, and which connects the various parts of the operable device of the entire three-dimensional lane model generating system using various interfaces and lines.
The memory may be used to store the computer program and/or modules, and the processor may implement various functions of the three-dimensional lane model generation system by running or executing the computer program and/or modules stored in the memory and invoking 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 (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart-Media-Card (SMC), secure-Digital (SD) Card, flash Card (Flash-Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
While the present disclosure has been described in considerable detail and with particularity with respect to several described embodiments, it is not intended to be limited to any such detail or embodiments or any particular embodiment, but is to be considered as providing a broad interpretation of such claims by reference to the appended claims in light of the prior art and thus effectively covering the intended scope of the disclosure. Furthermore, the foregoing description of the present disclosure has been presented in terms of embodiments foreseen by the inventor for the purpose of providing a enabling description for enabling the enabling description to be available, notwithstanding that insubstantial changes in the disclosure, not presently foreseen, may nonetheless represent equivalents thereto.
Claims (4)
1. A three-dimensional lane model generation method, characterized by comprising:
converting the lane layer from a longitude and latitude coordinate system into a projection coordinate system;
generating a central line and an edge line of a lane under a projection coordinate system;
dividing a lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch;
taking DEM data of a lane as a height value of each triangular patch, and constructing a three-dimensional coordinate of each triangular patch;
sequentially connecting triangular patches to obtain a three-dimensional lane model;
the generating the center line and the edge line of the lane under the projection coordinate system comprises the following steps:
obtaining lane coordinates under a projection coordinate system, obtaining an intermediate value of the lane coordinates, and taking the intermediate value as a central line coordinate of the lane;
obtaining the buffer distance of the lanes according to the number and the width values of the lanes;
taking the central line of the lane as a reference, and shifting the central line of the lane to two sides according to the buffer distance of the lane to obtain edge lines of the two lanes;
dividing the lane into a plurality of continuous triangular patches, and constructing two-dimensional coordinates of each triangular patch, wherein the two-dimensional coordinates comprise:
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 connecting point of two adjacent straight line segments as a vertex;
generating two triangular patches by two opposite straight line segments, wherein the vertex of each triangular patch is connected anticlockwise, so that a lane is divided into a plurality of connected triangular patches;
constructing the two-dimensional coordinates of each triangular patch according to the two-dimensional coordinates of each vertex;
the step of constructing three-dimensional coordinates of each triangular patch by taking DEM data of the lane as a height value of each triangular patch comprises the following steps:
taking DEM data of the vertexes in the triangular patches as the height values of the vertexes, so as to obtain three-dimensional coordinates of the vertexes in each triangular patch;
calculating the ordinate of the central line according to the three-dimensional coordinates of the vertexes in each triangular surface patch;
taking the ordinate of the central line as the height value of the lane, and combining the height value of the lane with the two-dimensional coordinates of the triangular patch to obtain the three-dimensional coordinates of the triangular patch;
the calculating the ordinate of the central line according to the three-dimensional coordinates of the vertex comprises the following steps:
setting a three-dimensional coordinate of any control point on a central line, and acquiring a two-dimensional coordinate of the control point to determine a linear equation passing through the control point and perpendicular to an XOY plane;
establishing a plane equation of the triangular patch according to three vertexes of the triangular patch;
obtaining the ordinate of the control point according to the linear equation and the plane equation;
and obtaining the ordinate of the central line according to the ordinate of all the control points on the central line.
2. The method for generating a three-dimensional lane model according to claim 1, wherein before taking the ordinate of the center line as the height value of the lane, comprising:
judging whether the control point is inside the triangular patch, if so, taking the ordinate of the control point as the height value of the lane where the control point is located;
and determining that all control points on the central line are positioned inside the corresponding triangular patch.
3. The method for generating a three-dimensional lane model according to claim 1, wherein the sequentially connecting triangular patches to obtain the three-dimensional lane model comprises:
and calculating UV coordinates corresponding to each control point, continuously mapping each triangular patch, and outputting a three-dimensional lane model.
4. A three-dimensional lane model generation system, comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the three-dimensional lane model generation method of any one of claims 1-3.
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