CN111143485A - Track coincident section fusion method, device, system and storage medium - Google Patents
Track coincident section fusion method, device, system and storage medium Download PDFInfo
- Publication number
- CN111143485A CN111143485A CN201811302200.7A CN201811302200A CN111143485A CN 111143485 A CN111143485 A CN 111143485A CN 201811302200 A CN201811302200 A CN 201811302200A CN 111143485 A CN111143485 A CN 111143485A
- Authority
- CN
- China
- Prior art keywords
- point
- connection
- track
- fusion
- trajectory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a track coincident section fusion method, a device, a system and a storage medium. The method comprises the following steps: acquiring a first track and a second track, wherein a track overlapping section exists between the first track and the second track; determining a first-end smooth connection point in the track overlapping section, wherein a first connection included angle is not larger than a first connection included angle threshold value, or a first connection distance is not smaller than a first connection distance threshold value, the first connection included angle is an included angle between a direction line of the first track at the first connection point and a first direction line, the first direction line is a direction line from the first-end smooth connection point to the first connection point, and the first connection distance is a distance between the first connection point and the first-end smooth connection point; and fusing the first trajectory and the second trajectory using the first end smooth join point to generate a fused trajectory. Therefore, the technical scheme can obtain a smoother fusion track, and therefore guarantee is provided for smooth driving according to the road network.
Description
Technical Field
The invention relates to the field of digital maps, in particular to a method, a device and a system for fusing track coincident sections and a storage medium.
Background
The road network in the digital map needs to be updated in time to ensure the accuracy of the map data. Road network updating is a process of comparing continuous real-time driving track data with the existing road network track data so as to merge repeated road sections and update missing road sections. Generally, the method is divided into two modes of manual updating and automatic updating, and although the quality of the manufactured road network can be ensured by manual updating, the method is time-consuming, labor-consuming and high in cost. Therefore, the existing research focuses on automatic updating of the road network, and has the advantages of extremely high manufacturing efficiency and considerable labor cost saving. The road network automatic updating technology comprises the steps of identifying the track coincident sections and fusing the identified track coincident sections. The track overlapping section indicates that a plurality of tracks repeatedly appear on the same road section, and the fusion of the track overlapping section is to replace the plurality of tracks repeatedly appearing on the same road section by one track. The fused track obtained by the existing track overlapping section fusion technology may have unsmooth connection, so that the running according to the road network is not stable enough.
Therefore, a new trajectory-coincident segment fusion technique is needed to solve the above problems.
Disclosure of Invention
The present invention has been made in view of the above problems. The invention provides a track coincident section fusion method, a device, a system and a storage medium.
According to an aspect of the present invention, a method for fusing trajectory coincidence segments includes:
acquiring a first track and a second track, wherein a track superposition section exists between the first track and the second track;
determining a first end smooth junction in the trajectory coincidence segment, wherein,
the first connection angle is not greater than a first connection angle threshold, or
The first connection distance is not less than the first connection distance threshold,
the first connection included angle is an included angle between a direction line of the first track at the first connection point and a first direction line, the first direction line is a direction line from the first end smooth connection point to the first connection point,
the first connection distance is a distance between the first connection point and the first end smooth connection point; and
fusing the first trajectory and the second trajectory using the first end smooth junction to generate a fused trajectory.
Illustratively, the determining a first end smooth join point in the trajectory overlap segment includes:
determining a fusion point sequence of the track coincident section according to the first track and the second track;
determining the first end smooth join point using the sequence of fusion points.
Illustratively, the determining the first end smooth join point using the sequence of fusion points comprises:
starting from a fusion point in the fusion point sequence which is closest to the first connection point, performing the following operations for the fusion points in the fusion point sequence in the order of the distance from the first connection point from the near to the far until the first end smooth connection point is found:
calculating an included angle between a direction line from the fusion point to the first connecting point and a direction line of the first track at the first connecting point to obtain a connecting included angle of the fusion point;
calculating the distance between the fusion point and the first connecting point to obtain the connecting distance of the fusion point;
and determining whether the fused point can be used as the first end smooth connecting point according to the connecting included angle of the fused point and the connecting distance of the fused point.
Illustratively, the determining whether the fused point can be used as the first end smooth connection point according to the connection included angle of the fused point and the connection distance of the fused point includes:
judging whether the connection distance of the fusion point is not less than the first connection distance threshold value;
determining the fusion point as the first end smooth connection point when the connection distance of the fusion point is not less than the first connection distance threshold;
for the condition that the connection distance of the fusion point is smaller than the first connection distance threshold, judging whether the connection included angle of the fusion point is not larger than the first connection included angle threshold:
and determining the fused point as the first end smooth connecting point when the connecting angle of the fused point is not larger than the first connecting angle threshold value.
Illustratively, the determining the sequence of fused points of the trajectory coincidence segment from the first trajectory and the second trajectory includes:
determining a fusion point of the trajectory coincidence section based on the first trajectory and the second trajectory;
all fusion points are sorted in time-stamp order to obtain the fusion point sequence.
Illustratively, the determining a fusion point of the trajectory coincidence segment based on the first trajectory and the second trajectory includes:
for each trajectory point of the trajectory coincidence segment in the first trajectory:
taking the trace point closest to the second trace in the second trace to form a trace point pair;
and taking the middle point of the track point pair as a fusion point, and setting the time stamp of the fusion point as the time stamp of the track point.
Illustratively, the direction line of the first trajectory at the first connection point is:
a direction line from the first connecting point to a first extending point, wherein the first extending point is a track point in the first track, which is adjacent to the first connecting point and is not on the track overlapping section; or
The first track is a tangent opposite to the track coincidence direction at the first connecting point.
Illustratively, fusing the first trajectory and the second trajectory with the first end smooth junction to generate a fused trajectory comprises:
judging the time stamp sequence of the first connecting point and the first end smooth connecting point;
determining a fusion point sequence taking the first end smooth connection point as a starting point in the fusion point sequence as a fusion segment for the condition that the timestamp of the first connection point is earlier than the timestamp of the first end smooth connection point; determining a fusion point sequence taking the first end smooth connection point as an end point in the fusion point sequence as the fusion segment when the timestamp of the first connection point is later than the timestamp of the first end smooth connection point;
and fusing according to the sequence of the superposed front section, the fused section and the superposed rear section to generate the fused track, wherein the superposed front section comprises the superposed front section of the first track and the superposed front section of the second track, and the superposed rear section comprises the superposed rear section of the first track and the superposed rear section of the second track.
Illustratively, the method further comprises:
determining a second end smooth junction in the trajectory coincidence segment, wherein,
the second connection angle is not greater than a second connection angle threshold, or
The second connection distance is not less than the second connection distance threshold,
the second connection included angle is an included angle between a direction line of the first track at the second connection point and a second direction line, the second direction line is a direction line from the second end smooth connection point to the second connection point,
the second connection distance is a distance between the second connection point and the second end smooth connection point; the fusing the first and second trajectories also utilizes the second end smoothing junction.
By way of example, the temperature profile may, among others,
the third angle of articulation is not greater than a third angle of articulation threshold, or
The third connection distance is not less than the third connection distance threshold,
the third connection included angle is an included angle between a direction line of the second track at a third connection point and a third direction line, the third direction line is a direction line from the second end smooth connection point to the third connection point,
the third connection distance is a distance between the third connection point and the second end smooth connection point.
By way of example, the temperature profile may, among others,
the fourth connection angle is not greater than a fourth connection angle threshold, or
The fourth connection distance is not less than the fourth connection distance threshold,
the fourth connection angle is an angle between a direction line of the second track at a fourth connection point and a fourth direction line, the fourth direction line is a direction line from the first end smooth connection point to the fourth connection point,
the fourth connection distance is a distance between the fourth connection point and the first end smooth connection point.
According to another aspect of the present invention, there is also provided a trajectory overlap section fusion apparatus, including:
the device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a first track and a second track, and a track superposition section exists between the first track and the second track;
a connection module, configured to determine a first end smooth connection point in the trajectory coincidence segment, where a first connection included angle is not greater than a first connection included angle threshold or a first connection distance is not smaller than a first connection distance threshold, the first connection included angle is an included angle between a direction line of the first trajectory at the first connection point and a first direction line, the first direction line is a direction line from the first end smooth connection point to the first connection point, and the first connection distance is a distance between the first connection point and the first end smooth connection point; and
a fusion module for fusing the first trajectory and the second trajectory using the first end smooth junction to generate a fused trajectory.
According to yet another aspect of the present invention, there is also provided a system for trajectory-coincident segment fusion, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for executing the trajectory-coincident segment fusion method described above when the computer program instructions are executed by the processor.
According to yet another aspect of the present invention, there is also provided a storage medium having stored thereon program instructions for executing the above-mentioned trajectory-coincident segment fusion method when executed.
According to the track overlapping section fusion method, device and system and the storage medium, in the fusion process of the track overlapping section, the smoothness of the connecting part is fully considered, and a smoother fusion track can be obtained, so that the smooth running according to a road network is guaranteed.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 shows a schematic diagram of a prior art trace-coincident segment fusion;
FIG. 2 shows a schematic flow diagram of a trajectory overlap segment fusion method according to one embodiment of the invention;
FIG. 3 illustrates a schematic diagram of trajectory overlap segment fusion according to one embodiment of the present invention;
FIG. 4 shows a schematic flow diagram for determining a first end smooth join point in a trajectory overlap segment, according to one embodiment of the present invention;
FIG. 5 shows a schematic flow diagram of determining a sequence of fusion points of a coincident segment of a trajectory from a first trajectory and a second trajectory in accordance with one embodiment of the present invention;
FIG. 6 shows a schematic flow diagram of determining whether a merge point is a first end smooth join point according to one embodiment of the invention;
FIG. 7 is a schematic flow chart diagram for determining whether a fused point can be used as a first-end smooth join point according to a join angle of the fused point and a join distance of the fused point according to one embodiment of the present invention;
FIG. 8 shows a schematic flow diagram for fusing a first trajectory and a second trajectory using a first end smooth join point to generate a fused trajectory, according to one embodiment of the present invention;
FIGS. 9A, 9B and 9C show schematic diagrams of two tracks before, during and after blending, respectively, according to one embodiment of the invention; and
FIG. 10 shows a schematic block diagram of a trajectory overlap segment fusion apparatus according to one embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
The existing track coincidence section fusion method does not fully consider the connection position of the track coincidence section, and directly connects the fusion point sequence of the track coincidence section with the coincidence front section and the coincidence rear section. Fig. 1 shows a schematic diagram of a prior art trajectory coincidence segment fusion. As shown in fig. 1, w-h is a fusion point sequence of the locus overlapping section, and an end point h of the fusion point sequence is directly connected with a locus point g and a locus point k of the overlapped section to form a connection section of the fusion locus. It can be seen that the connection between the connecting segment h-k and the subsequent segment k-m-n is very uneven, which may result in a less than smooth driving according to the road network.
In order to solve the problems, the invention provides a track coincident section fusion method based on smoothness judgment. Next, a track-coincident section fusion method according to an embodiment of the present invention will be described with reference to fig. 2. FIG. 2 shows a schematic flow diagram of a trajectory overlap segment fusion method 2000 in accordance with one embodiment of the present invention.
As shown in fig. 2, the method 2000 includes steps S2100, S2200, and S2300.
In step S2100, a first trajectory and a second trajectory are obtained, where a trajectory overlap section exists between the first trajectory and the second trajectory.
Roads in a digital map consist of a sequence of time-stamped coordinate points. The method can be divided into nodes and directed edges according to a topological network of a road. The directed edges represent drivable roads, the nodes represent intersections or turning points in the roads, and the directed edges are connected through the nodes.
A track is a coordinate point sequence with time stamps, and the precedence relationship of the time stamps among the coordinate points represents the direction of the track. A section of a travelable road can be represented by a track. One trajectory may be a trajectory acquired through the in-vehicle terminal. A trajectory may also be a sequence of points of a road segment extracted from an existing digital map. One trajectory may also be a trajectory acquired by an aerial device, such as a drone, flying in the direction of road travel. The existence of the track overlapping section between the two tracks indicates that the two tracks both contain track sections which pass through the same road section and have consistent directions. The head and tail ends in the coincident sections of the track are often nodes in the topological network of the road.
In order to ensure the accuracy of map data, it is necessary to acquire trajectories for various situations such as a newly opened road and a new lane change, and update the road network based on the existing road network trajectory data.
In step S2200, a first end smooth connection point is determined in a trajectory overlap section between the first trajectory and the second trajectory acquired in step S2100.
The first direction line is a direction line from the first end smooth connection point to the first connection point of the first track. The first connection angle is an angle between a direction line of the first track at the first connection point and the first direction line. The first connection distance is the distance between the first connection point and the first end smooth connection point. In the technical scheme of the application, the first connection included angle is not greater than a first connection included angle threshold, or the first connection distance is not less than a first connection distance threshold. The first end smooth join point is determined based on one of these two conditions.
FIG. 3 shows a schematic diagram of a trajectory coincidence segment fusion according to an embodiment of the present invention, as shown in FIG. 3, points O0, O1, O2 and O3 are trajectory points in a fused point sequence of the trajectory coincidence segment between a first trajectory and a second trajectory, where points O0 are end points, a first connection point is a trajectory point in the first trajectory connected to the end point of the first end of the trajectory coincidence segment, point A in FIG. 3 is a first connection point of the first trajectory, a-b direction line is a direction line of the first trajectory at a first connection point a, point A in FIG. 3 is a first connection point of the first trajectory, a-b direction line is a direction line of the first connection point A. if an angle α is not greater than a first connection angle threshold, or if the distance between O0 and point A is not less than a first connection angle α, it is determined that the connection distance between O2 point O0 and point A in the first trajectory is smaller, the smooth connection point is determined that the distance between the first connection point A in the first trajectory point is equal to be a connection point A, otherwise the distance between the smooth connection point A, the connection point A in the first connection point 1 may be determined that the connection point may be more connection point A in the first connection point sequence, the connection point A, the connection point 11 may be the distance between the connection point A, the connection point A in which may be more smooth connection point A, the connection point 1, the connection point A, the connection point may be determined that the connection point may be the connection point A in the connection point 11, the connection point may be the connection point A in which may be more smoothness of the smooth, or the connection point A in the more connection point may be the smooth, the more connection point may be the connection point A in the more connection point 3642 in the more connection point may be the connection point may.
For example, the direction line of the first track at the first connection point may be a direction line from the first connection point to a first extension point, where the first extension point is a track point in the first track that is adjacent to the first connection point and is not on the track overlapping segment. As shown in fig. 3, the point b is a track point in the first track, which is adjacent to the first connection point a and is not on the track overlapping segment. Thus, the point b is a first extension point in the first track, and the a-b direction line may be a direction line of the first track at the first connection point a. This is the case for the direction line of the first track at the first connecting point in the above embodiments. The direction line from the first connecting point to the first extending point is taken as the direction line of the first track at the first connecting point, so that the confirmation algorithm of the direction line of the first track at the first connecting point can be simplified, and the efficiency of track overlapping section fusion is improved.
For example, the direction line of the first track at the first connection point may also be a tangent line of the first track at the first connection point, which is opposite to the track coincidence direction. Therefore, the direction line of the first track at the first connecting point can be accurately determined, and the accuracy of track overlapping section fusion is improved.
In step S2300, the first track and the second track are fused by using the first end smooth connection point determined in step S2200 to generate a fused track.
As previously mentioned, the first connection point is a track point in the first track that connects to an end point of the first end of the coincident section of the track. For ease of distinction and understanding, it is defined herein that the second connection point is a track point in the first track that is connected to an end point of the second end of the track coincidence segment, the third connection point is a track point in the second track that is connected to an end point of the second end of the track coincidence segment, and the fourth connection point is a track point in the second track that is connected to an end point of the first end of the track coincidence segment.
And connecting the first end smooth connection point determined in the step S2200 with the first connection point and the fourth connection point at the same time, and implementing track fusion at the first end smooth connection point by the two tracks. It will be appreciated that the foregoing fusion enables a smooth joining of the first trajectory at the first end of the trajectory overlap segment. Similarly, the connection of the second track at the first end of the track overlapping section may be smoothed in the step S2200 described above. On the other hand, the track point at the second end in the sequence of the fusion points of the overlapped track segment may be directly selected as the second end connection point, or the second end smooth connection point may be determined as the second end connection point by using the step S2200 described above. And the second end connecting point of the track overlapping section is simultaneously connected with the second connecting point and the third connecting point, so that the two tracks are fused at the second end. So far, the fusion of the first track and the second track is realized.
The method 2000 performs fusion processing of two trajectories having a trajectory coincident section based on smoothness, sufficiently considers smoothness of a joint, and can obtain a smooth fusion trajectory, thereby making it possible to smoothly travel according to a road network.
FIG. 4 shows a schematic flow chart of step S2200 of determining a first end smooth join point in a trajectory overlap segment according to one embodiment of the present invention. As shown in fig. 4, step S2200 includes step S2210 and step S2220.
Step S2210, determining a fusion point sequence of the track overlapping section according to the first track and the second track acquired in step S2100.
The fused point is a track point after the track overlapped part between the first track and the second track is fused. FIG. 5 shows a schematic flow diagram of step S2210 for determining a sequence of fused points of a trajectory overlap segment from a first trajectory and a second trajectory, according to one embodiment of the invention. As shown in fig. 5, step S2210 includes step S2211 and step S2212.
And step S2211, determining a fusion point of the track superposition section based on the first track and the second track.
And determining a fusion point of the track overlapping section according to the track points belonging to the track overlapping part in the first track and the second track. For example, the track point of the track overlapping portion in the first track may be directly taken as the fusion point of the track overlapping section, or the track point of the track overlapping portion in the second track may be directly taken as the fusion point of the track overlapping section.
For example, for each track point of the track coincidence segment in the first track, the corresponding fusion point may be determined through the following sub-steps one and two.
And the first substep is to take the track point closest to the second track and form a track point pair with the track point.
As shown in fig. 3, the point M0 is a track point in the first track, and the point M0 is the point N0, which is the closest track point in the second track. Thus, pairs of trajectory points (M0, N0) may be obtained. Similarly, pairs of trajectory points (M1, N1), (M2, N2), and (M3, N3) can be obtained.
And a second substep of taking the midpoint of the pair of track points obtained in the first substep as a fusion point and setting the timestamp of the fusion point as the timestamp of the track point.
For example, for the above pair of trajectory points (M0, N0), the midpoint O0 between the M0 point and the N0 point is taken as a fusion point, and the timestamp of the O0 point is set to be the timestamp of the M0 point. Similarly, the fusion points O1, O2, and O3 can be obtained. It will be appreciated that the time stamp of the fused point may also be set to be the time stamp of the other of the pair of trace points. For example, the timestamp of O0 point may be set to the timestamp of N0 point. It should be noted that the time stamp of the fusion point can only be set according to the track point in the same track. For example, the time stamps of the fusion points O0, O1, O2, and O3 may be set to be the time stamps of M0, M1, M2, and M3, respectively, or the time stamps of N0, N1, N2, and N3, respectively.
And step S2212, sorting all the fusion points according to the time stamp sequence to obtain a fusion point sequence.
The fused point with the time stamp obtained in step S2211 can be used as a track point of the track overlapped segment. The sequence of time stamps between the fused points represents the track direction of the coincident section of the track. And the fusion point sequence obtained by sequencing all the fusion points according to the time stamp sequence can be used as the fusion track of the track superposition section.
In the above step S2210 and sub-steps S2211 and S2212, the sequence of the fusion points of the trace overlapping section is determined according to the trace points belonging to the trace overlapping section in the first trace and the second trace. The specific coordinate difference of the two tracks in the track overlapping section is considered, so that a more accurate fusion point sequence can be obtained, and the precision of track fusion is improved.
In step S2220, the first-end smooth junction is determined using the sequence of fusion points determined in step S2210.
FIG. 6 shows a schematic flow diagram for determining whether a blend point is a first end smooth join point, according to one embodiment of the invention. As shown in fig. 6, step S2220 includes step S2221, step S2222, and step S2223. From the fusion point closest to the first connection point in the fusion point sequence determined in step S2210, step S2221, step S2222, and step S2223 are executed for the fusion points in the fusion point sequence in order of the distance from the first connection point to the nearest until the first-end smooth connection point is found.
Step S2221, calculating an angle between a direction line from the fusion point to the first connection point and a direction line of the first trajectory at the first connection point, so as to obtain a connection angle of the fusion point.
As shown in FIG. 3, the direction line from the fusion point O0 to the first connection point a is O0-a, the direction line of the first trajectory at the first connection point is a-b, the included angle α between the direction line O0-a and the direction line a-b is the connection included angle of the fusion point O0, and the size of the included angle α is calculated to obtain the size of the connection included angle of the fusion point O0.
Step S2222, calculating a distance between the fusion point and the first connection point to obtain a connection distance of the fusion point.
As shown in fig. 3, a distance h between the fusion point O0 and the first connection point a is a connection distance of the fusion point O0. And calculating the distance h to obtain the connecting distance of the fusion point O0.
And step S2223, determining whether the fusion point can be used as the first end smooth connection point according to the connection included angle of the fusion point and the connection distance of the fusion point.
FIG. 7 is a schematic flow chart showing the step S2223 of determining whether the fused point can be used as the first-end smooth join point according to the join angle of the fused point and the join distance of the fused point. As shown in fig. 7, step S2223 includes step S2223a, step S2223b, step S2223c, and step S2223 d.
In step S2223a, it is determined whether the connection distance of the fusion point is not less than the first connection distance threshold.
If the connection distance of the fused point is not less than the first connection distance threshold, the process proceeds to step S2223c, and the fused point is determined to be the first-end smooth connection point. If the connection distance of the fusion point is smaller than the first connection distance threshold value, the process proceeds to step S2223 b.
Step S2223b, determine whether the included angle of the fused point is not greater than the first included angle threshold.
If the connection angle of the merged point is not greater than the first connection angle threshold, the process proceeds to step S2223c, and the merged point is determined to be the first end smooth connection point. If the join angle of the merged point is greater than the first join angle threshold, the process proceeds to step S2223d, and it is determined that the merged point is not the first-end smooth join point.
According to the technical scheme, the smoothness of connection of the track overlapping sections is comprehensively considered on the basis of the connection included angle and the connection distance, a good connection effect can be obtained aiming at the fusion of the track overlapping sections with various shapes, and a guarantee is provided for the stable running according to a road network.
FIG. 8 shows a schematic flow diagram of step S2300 fusing the first trajectory and the second trajectory using the first end smooth join point to generate a fused trajectory, according to one embodiment of the invention. As shown in fig. 8, step S2300 includes step S2310, step S2320, and step S2330.
In step S2310, the timestamp sequence of the first connection point and the first end smooth connection point is determined.
The directions of the first track and the second track can be determined according to the time stamp sequence of the first connecting point and the first end smooth connecting point.
Step S2320, for the case that the timestamp of the first end smooth join point is earlier than the timestamp of the first end smooth join point, determining that the join point sequence starting from the first end smooth join point in the join point sequence is a join segment. And determining the fusion point sequence taking the first end smooth connection point as the terminal point in the fusion point sequence as the fusion segment when the timestamp of the first connection point is later than the timestamp of the first end smooth connection point.
In the case that the timestamp of the first end smooth join point is earlier than the timestamp of the first end smooth join point, the first end smooth join point may be regarded as the start point of the fused point sequence of the trajectory coincidence segment, that is, the fused point sequence starting from the first end smooth join point may be regarded as the fused segment. Conversely, the first-end smooth join point may be regarded as the end point of the sequence of the join points of the locus overlapped segment, that is, the sequence of the join points with the first-end smooth join point as the end point may be regarded as the join segment.
And step S2330, fusing the overlapped front section, the fused section determined in step S2320 and the overlapped rear section in sequence to generate the fused track. Wherein, the coincidence anterior segment includes the coincidence anterior segment of first orbit and the coincidence anterior segment of second orbit, and the coincidence back end includes the coincidence back end of first orbit and the coincidence back end of second orbit.
FIG. 9A illustrates a schematic diagram of two tracks before merging, as shown in FIG. 9A, sections M-M are the merging sections in a first track, where point M is the first end of the merging section, point M is the second end of the merging section, point A is the first connecting point, and point B is the second connecting point, and sections N-N are the merging sections in a second track, where point N is the first end of the merging section, point N is the second end of the merging section, point C is the third connecting point, and point D is the fourth connecting point.
Fig. 9B shows a schematic diagram of two fused tracks according to an embodiment of the present invention, fig. 9C shows a schematic diagram of two fused tracks according to an embodiment of the present invention, as shown in fig. 9B, since the point O0 is not a smooth connection point at the first end, the point O1 is a smooth connection point at the first end, the fused segment is a fused segment ⑤ with the point O4 as a starting point and the point O1 as an end point, the directed line ③ of B-O4 is a connected segment of the first track at the second end, the directed line ④ of C-O4 is a connected segment of the second track at the second end, the directed line ⑥ of O1-a is a connected segment of the first track at the first end, the directed line ⑦ of O1-D is a connected segment of the second track at the first end, the fused segment and the fused segment are fused in the order of the overlapped front segment, the fused segment and the fused segment may be a fused sequence of the fused together in the order of ①②③④, which the fused track may be replaced by a high efficiency, or a fused sequence of the fused segment of the fused track of the fused, which may be satisfied by a fused sequence of the fused sequence of C465, and a high efficiency of fused segment of fused and a fused segment of fused sequence of fused segment may be satisfied by a fused sequence of the fused sequence of 369C 465, which may be satisfied by a high efficiency, and a sequence of fused segment.
The above method only considers the smooth connection processing of the first track at the first end of the track overlapping section. It will be appreciated that the method described above may further comprise a smooth joining process of the first trajectory at the second end of the trajectory coincidence segment. Specifically, a second end smooth join point is determined in the trajectory overlap segment. And the second connection included angle is not larger than a second connection included angle threshold value, or the second connection distance is not smaller than a second connection distance threshold value. The second connection included angle is an included angle between a direction line of the first track at the second connection point and a second direction line, and the second direction line is a direction line from the second end smooth connection point to the second connection point. The second connection distance is the distance between the second connection point and the second end smooth connection point. The process of fusing the first track and the second track may further utilize the second end smooth connection point to obtain a smooth connection of the first track at the second end of the track overlapping section. The process and the step of determining the second-end smooth connection point are similar to the process and the step of determining the first-end smooth connection point, and the process of fusing by using the second-end smooth connection point is similar to the process of fusing by using the first-end smooth connection point, and for brevity, the description is omitted here.
The method may further comprise a smooth joining process of the second trajectory at the second end of the trajectory overlap section. Specifically, the second-end smooth connection point determined through the above steps needs to satisfy the following requirements in addition to the requirement that the second connection angle is not greater than the second connection angle threshold or the second connection distance is not less than the second connection distance threshold: the third connection angle is not greater than a third connection angle threshold, or the third connection distance is not less than a third connection distance threshold. The third connection included angle is an included angle between a direction line of the second track at the third connection point and a third direction line, and the third direction line is a direction line from the second end smooth connection point to the third connection point. The third connection distance is a distance between the third connection point and the second end smooth connection point. In contrast, the determination process for the third connection angle and the third connection distance needs to be added to the step of determining the second-end smooth connection point. The judgment processing procedures are similar, and are not described herein for brevity.
The method may further include a smooth joining process of the second trajectory at the first end of the trajectory overlap segment. Specifically, the first-end smooth connection point determined through the above steps needs to satisfy the following requirements in addition to the requirement that the first connection angle is not greater than the first connection angle threshold or the first connection distance is not less than the first connection distance threshold: the fourth connection angle is not greater than a fourth connection angle threshold, or the fourth connection distance is not less than a fourth connection distance threshold. And the fourth connection included angle is an included angle between a direction line of the second track at the fourth connection point and a fourth direction line, and the fourth direction line is a direction line from the first end smooth connection point to the fourth connection point. The fourth connection distance is a distance between the fourth connection point and the first end smooth connection point. In contrast, in the step S2200 of determining the first end smooth connection point and the sub-steps thereof, determination processing for the fourth connection angle and the fourth connection distance needs to be added. The judgment processing procedures are similar, and are not described herein for brevity.
It can be understood that the first connection angle threshold, the second connection angle threshold, the third connection angle threshold, and the fourth connection angle threshold may be set to different thresholds, or may also be set to the same threshold. The first connection distance threshold, the second connection distance threshold, the third connection distance threshold, and the fourth connection distance threshold may be set to different thresholds, or may be set to the same threshold. Therefore, the method can be reasonably set according to the actual engineering requirements so as to obtain a good track overlapping section fusion result.
According to another embodiment of the invention, a track coincident section fusion device is also provided. FIG. 10 shows a schematic block diagram of a trajectory overlap segment fusion device 1000 according to one embodiment of the present invention. As shown in fig. 10, the trajectory overlap segment fusion apparatus 1000 includes an acquisition module 1100, a connection module 1200, and a fusion module 1300.
An obtaining module 1100, configured to obtain a first track and a second track, where a track overlapping section exists between the first track and the second track.
The connection module 1200 is configured to determine a first end smooth connection point in the trajectory coincidence section, where a first connection included angle is not greater than a first connection included angle threshold or a first connection distance is not smaller than a first connection distance threshold, the first connection included angle is an included angle between a direction line of the first trajectory at the first connection point and a first direction line, the first direction line is a direction line from the first end smooth connection point to the first connection point, and the first connection distance is a distance between the first connection point and the first end smooth connection point.
A fusing module 1300 configured to fuse the first trajectory and the second trajectory using the first end smooth junction to generate a fused trajectory.
In summary, each module in the trajectory overlap segment fusion apparatus 1000 is configured to specifically perform the corresponding step in the trajectory overlap segment fusion method described above. From reading the above description of the method, those skilled in the art can understand the specific implementation and technical effects of the trajectory overlap fusion device 1000.
According to yet another aspect of the present invention, there is also provided a system for trajectory-coincident segment fusion, comprising a processor and a memory, wherein the memory stores therein computer program instructions for implementing the steps in the trajectory-coincident segment fusion method according to an embodiment of the present invention. The processor is configured to execute the computer program instructions stored in the memory to execute the corresponding steps of the trajectory-coincident segment fusion method according to the embodiment of the present invention, and is configured to implement the obtaining module 1100, the connecting module 1200 and the fusion module 1300 in the trajectory-coincident segment fusion device according to the embodiment of the present invention.
Furthermore, according to still another aspect of the present invention, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor cause the computer or the processor to execute the respective steps of the trajectory-coincident segment fusion method according to an embodiment of the present invention and to implement the respective modules in the trajectory-coincident segment fusion device according to an embodiment of the present invention. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), portable compact disc read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some of the modules in an apparatus for lidar calibration according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A trajectory coincidence segment fusion method comprises the following steps:
acquiring a first track and a second track, wherein a track superposition section exists between the first track and the second track;
determining a first end smooth junction in the trajectory coincidence segment, wherein,
the first connection angle is not greater than a first connection angle threshold, or
The first connection distance is not less than the first connection distance threshold,
the first connection included angle is an included angle between a direction line of the first track at the first connection point and a first direction line, the first direction line is a direction line from the first end smooth connection point to the first connection point,
the first connection distance is a distance between the first connection point and the first end smooth connection point; and
fusing the first trajectory and the second trajectory using the first end smooth junction to generate a fused trajectory.
2. The method of claim 1, wherein said determining a first end smooth join point in said trajectory coincidence segment comprises:
determining a fusion point sequence of the track coincident section according to the first track and the second track;
determining the first end smooth join point using the sequence of fusion points.
3. The method of claim 2, wherein said determining the first end smooth join point using the sequence of fusion points comprises:
starting from a fusion point in the fusion point sequence which is closest to the first connection point, performing the following operations for the fusion points in the fusion point sequence in the order of the distance from the first connection point from the near to the far until the first end smooth connection point is found:
calculating an included angle between a direction line from the fusion point to the first connecting point and a direction line of the first track at the first connecting point to obtain a connecting included angle of the fusion point;
calculating the distance between the fusion point and the first connecting point to obtain the connecting distance of the fusion point;
and determining whether the fused point can be used as the first end smooth connecting point according to the connecting included angle of the fused point and the connecting distance of the fused point.
4. The method of claim 3, wherein determining whether the fused point can be used as the first end smooth join point according to the join angle of the fused point and the join distance of the fused point comprises:
judging whether the connection distance of the fusion point is not less than the first connection distance threshold value;
determining the fusion point as the first end smooth connection point when the connection distance of the fusion point is not less than the first connection distance threshold;
for the condition that the connection distance of the fusion point is smaller than the first connection distance threshold, judging whether the connection included angle of the fusion point is not larger than the first connection included angle threshold:
and determining the fused point as the first end smooth connecting point when the connecting angle of the fused point is not larger than the first connecting angle threshold value.
5. The method of any one of claims 2 to 4, wherein said determining a sequence of fusion points of said trajectory coincidence segment from said first trajectory and said second trajectory comprises:
determining a fusion point of the trajectory coincidence section based on the first trajectory and the second trajectory;
all fusion points are sorted in time-stamp order to obtain the fusion point sequence.
6. The method of claim 5, wherein said determining a fusion point of the trajectory coincidence segment based on the first trajectory and the second trajectory comprises:
for each trajectory point of the trajectory coincidence segment in the first trajectory:
taking the trace point closest to the second trace in the second trace to form a trace point pair;
and taking the middle point of the track point pair as a fusion point, and setting the time stamp of the fusion point as the time stamp of the track point.
7. The method of any one of claims 1 to 4, wherein the direction line of the first trajectory at the first connection point is:
a direction line from the first connecting point to a first extending point, wherein the first extending point is a track point in the first track, which is adjacent to the first connecting point and is not on the track overlapping section; or
The first track is a tangent opposite to the track coincidence direction at the first connecting point.
8. The method of any of claims 1 to 4, wherein fusing the first trajectory and the second trajectory with the first end smooth junction to generate a fused trajectory comprises:
judging the time stamp sequence of the first connecting point and the first end smooth connecting point;
determining a fusion point sequence taking the first end smooth connection point as a starting point in the fusion point sequence as a fusion segment for the condition that the timestamp of the first connection point is earlier than the timestamp of the first end smooth connection point; determining a fusion point sequence taking the first end smooth connection point as an end point in the fusion point sequence as the fusion segment when the timestamp of the first connection point is later than the timestamp of the first end smooth connection point;
and fusing according to the sequence of the superposed front section, the fused section and the superposed rear section to generate the fused track, wherein the superposed front section comprises the superposed front section of the first track and the superposed front section of the second track, and the superposed rear section comprises the superposed rear section of the first track and the superposed rear section of the second track.
9. The method of any of claims 1 to 4, wherein the method further comprises:
determining a second end smooth junction in the trajectory coincidence segment, wherein,
the second connection angle is not greater than a second connection angle threshold, or
The second connection distance is not less than the second connection distance threshold,
the second connection included angle is an included angle between a direction line of the first track at the second connection point and a second direction line, the second direction line is a direction line from the second end smooth connection point to the second connection point,
the second connection distance is a distance between the second connection point and the second end smooth connection point; the fusing the first and second trajectories also utilizes the second end smoothing junction.
10. The method of claim 9, wherein,
the third angle of articulation is not greater than a third angle of articulation threshold, or
The third connection distance is not less than the third connection distance threshold,
the third connection included angle is an included angle between a direction line of the second track at a third connection point and a third direction line, the third direction line is a direction line from the second end smooth connection point to the third connection point,
the third connection distance is a distance between the third connection point and the second end smooth connection point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811302200.7A CN111143485B (en) | 2018-11-02 | 2018-11-02 | Track overlapping segment fusion method, device and system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811302200.7A CN111143485B (en) | 2018-11-02 | 2018-11-02 | Track overlapping segment fusion method, device and system and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111143485A true CN111143485A (en) | 2020-05-12 |
| CN111143485B CN111143485B (en) | 2023-09-15 |
Family
ID=70515489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811302200.7A Active CN111143485B (en) | 2018-11-02 | 2018-11-02 | Track overlapping segment fusion method, device and system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111143485B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114078329A (en) * | 2022-01-19 | 2022-02-22 | 青岛海信网络科技股份有限公司 | Target vehicle track virtual method, device, equipment and medium |
| CN114095853A (en) * | 2020-07-30 | 2022-02-25 | 华为技术有限公司 | Method and device for generating indoor map |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090210147A1 (en) * | 2008-02-20 | 2009-08-20 | Nokia Corporation | Method, Apparatus and Computer Program Product for Map Generation Using Perpendicular Projection to Merge Data |
| WO2012073326A1 (en) * | 2010-11-30 | 2012-06-07 | パイオニア株式会社 | Information generating device, information generating method, and information generating program, and server |
| CN103150177A (en) * | 2013-01-14 | 2013-06-12 | 北京百度网讯科技有限公司 | Method, device and system for updating bus route data |
| CN104573390A (en) * | 2015-01-27 | 2015-04-29 | 武汉大学 | Cognitive-rule-based time-space trajectory fusion method and road network topology generating method |
| CN104677363A (en) * | 2013-12-03 | 2015-06-03 | 北京图盟科技有限公司 | Road generating method and road generating device |
| CN105241465A (en) * | 2015-10-20 | 2016-01-13 | 中国有色金属长沙勘察设计研究院有限公司 | Road update method |
| CN106227889A (en) * | 2016-08-15 | 2016-12-14 | 华云科技有限公司 | A kind of track dwell point analyzes extracting method |
| CN106294407A (en) * | 2015-05-22 | 2017-01-04 | 高德软件有限公司 | A kind of coincidence section determines method and apparatus |
| CN106651980A (en) * | 2016-11-30 | 2017-05-10 | 贵州智通天下信息技术有限公司 | Route trajectory merging method |
| CN107976193A (en) * | 2017-11-21 | 2018-05-01 | 出门问问信息科技有限公司 | A kind of pedestrian's flight path estimating method, device, flight path infer equipment and storage medium |
| US20180136666A1 (en) * | 2016-11-14 | 2018-05-17 | Volkswagen Ag | Method and system for providing data for a first and second trajectory |
-
2018
- 2018-11-02 CN CN201811302200.7A patent/CN111143485B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090210147A1 (en) * | 2008-02-20 | 2009-08-20 | Nokia Corporation | Method, Apparatus and Computer Program Product for Map Generation Using Perpendicular Projection to Merge Data |
| WO2012073326A1 (en) * | 2010-11-30 | 2012-06-07 | パイオニア株式会社 | Information generating device, information generating method, and information generating program, and server |
| CN103150177A (en) * | 2013-01-14 | 2013-06-12 | 北京百度网讯科技有限公司 | Method, device and system for updating bus route data |
| CN104677363A (en) * | 2013-12-03 | 2015-06-03 | 北京图盟科技有限公司 | Road generating method and road generating device |
| CN104573390A (en) * | 2015-01-27 | 2015-04-29 | 武汉大学 | Cognitive-rule-based time-space trajectory fusion method and road network topology generating method |
| CN106294407A (en) * | 2015-05-22 | 2017-01-04 | 高德软件有限公司 | A kind of coincidence section determines method and apparatus |
| CN105241465A (en) * | 2015-10-20 | 2016-01-13 | 中国有色金属长沙勘察设计研究院有限公司 | Road update method |
| CN106227889A (en) * | 2016-08-15 | 2016-12-14 | 华云科技有限公司 | A kind of track dwell point analyzes extracting method |
| US20180136666A1 (en) * | 2016-11-14 | 2018-05-17 | Volkswagen Ag | Method and system for providing data for a first and second trajectory |
| CN106651980A (en) * | 2016-11-30 | 2017-05-10 | 贵州智通天下信息技术有限公司 | Route trajectory merging method |
| CN107976193A (en) * | 2017-11-21 | 2018-05-01 | 出门问问信息科技有限公司 | A kind of pedestrian's flight path estimating method, device, flight path infer equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 唐炉亮等: "符合认知规律的时空轨迹融合与路网生成方法" * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114095853A (en) * | 2020-07-30 | 2022-02-25 | 华为技术有限公司 | Method and device for generating indoor map |
| CN114078329A (en) * | 2022-01-19 | 2022-02-22 | 青岛海信网络科技股份有限公司 | Target vehicle track virtual method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111143485B (en) | 2023-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109186617B (en) | Method and system for automatically generating lane-level topological relation based on visual crowdsourcing data and memory | |
| Biagioni et al. | Easytracker: automatic transit tracking, mapping, and arrival time prediction using smartphones | |
| CN103162691B (en) | Display system, display packing | |
| CN107958302B (en) | Empirical path planning method based on virtual topology traffic network | |
| JP5126263B2 (en) | Vehicle navigation device | |
| CN105488498A (en) | Lane sideline automatic extraction method and lane sideline automatic extraction system based on laser point cloud | |
| CN101275841A (en) | Feature information collecting apparatus and feature information collecting method | |
| CN105701449A (en) | Method and device for detecting lane lines on road surface | |
| CN108519094A (en) | Local paths planning method and cloud processing end | |
| CN109871016B (en) | Automatic driving reference line generation method and device, vehicle and server | |
| CN111739323B (en) | Method and device for acquiring intersection information | |
| CN104866500A (en) | Method and device for displaying pictures in classified manner | |
| CN112747755B (en) | Method and device for determining road route, readable storage medium and map updating system | |
| CN111143485A (en) | Track coincident section fusion method, device, system and storage medium | |
| CN109579858A (en) | Navigation data processing method, device, equipment and storage medium | |
| CN107990905B (en) | Method and device for determining U-turn intersection | |
| JP2009099125A (en) | Image recognition device, image recognition program, and point information collection device and navigation device using them | |
| CN105651290A (en) | Navigation engine rapid route re-planning method | |
| JP5656067B2 (en) | Road node position management system, road node position management method, and road node position management program | |
| CN110120081A (en) | A kind of method, apparatus and storage equipment of generation electronic map traffic lane line | |
| US20080208877A1 (en) | Method for filing roadways included on digital maps | |
| CN116383321A (en) | Decision environment construction method, device, vehicle and storage medium | |
| JP2010139478A (en) | Navigation device | |
| CN104634355B (en) | Air navigation aid and navigation equipment | |
| CN116105717A (en) | Lane-level high-precision map construction method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |