CN111238505B - Road line segment drawing method, device and related system of road map - Google Patents
Road line segment drawing method, device and related system of road map Download PDFInfo
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- CN111238505B CN111238505B CN201811445897.3A CN201811445897A CN111238505B CN 111238505 B CN111238505 B CN 111238505B CN 201811445897 A CN201811445897 A CN 201811445897A CN 111238505 B CN111238505 B CN 111238505B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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Abstract
The application discloses a road segment drawing method, device and related system of a road map. The method comprises the following steps: determining the range of a road map area where a road line segment is located; obtaining boundary lane lines of a road line segment in the modeling data, enclosing to obtain a bottom surface graph of the road line segment, generating bottom surface drawing data of the road line segment, drawing the bottom surface drawing data of the road line segment, and generating the bottom surface of the road line segment; and acquiring and surfacing the lane line of the road line segment in the modeling data, generating lane line drawing data of the road line segment, drawing the lane line drawing data at the bottom of the road line segment, and generating the lane line of the road line segment. When the map is drawn, the bottom surface of the road line segment is drawn firstly, and then the lane line is drawn, so that the road map of the generated road line segment realizes the map display of the lane level, the fineness of the map display is improved, and the lane information more conforming to the real road is displayed.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a method, an apparatus, and a related system for drawing a road segment of a road map.
Background
When the existing navigation map is displayed on the map, only basic single line images of the road and the navigation route are displayed, but the lane condition of the road cannot be displayed, so that the display fineness of the road is insufficient. With the rapid development of the automobile industry, automobile navigation systems are an essential important link in automobile driving assistance technology and automatic driving technology. Because the navigation map does not realize accurate map display of the lane level of the road, when navigation is performed, the lane where the vehicle is located at the current position and the route of the lane which should be taken cannot be obtained, and thus the lane level navigation of the vehicle cannot be realized.
Disclosure of Invention
The present application has been made in view of the above-mentioned problems, and it is an object of the present application to provide a road segment drawing method, apparatus and related system for a road map that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, an embodiment of the present application provides a road segment drawing method of a road map, including:
obtaining modeling data of a road segment;
generating a starting edge line and a terminating edge line of the road line segment according to the modeling data;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the modeling data, a bottom surface graph of the road line segment is obtained through surrounding, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is drawn and generated;
and obtaining shape points of all lane lines of the road line segment in the modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, and drawing lane lines of the generated road line segment on the bottom surface of the road line segment.
In a specific embodiment, the modeling data may be obtained by:
determining the position of each lane group unit according to the geographic position information of each lane group unit of the road line segment in the map data;
according to the lane information of each lane group unit of the road line segment, the lane lines of the two adjacent lane group units are sequentially matched according to the running direction of each lane group unit, and the matched lane lines are connected to generate modeling data of the road line segment.
In a specific embodiment, the generating a starting edge line and a ending edge line of the road line segment according to the modeling data specifically includes:
acquiring starting points of all lane lines of a starting lane group unit of a road line segment in the modeling data and connecting the starting points in sequence to obtain a starting edge line of the road line segment; and acquiring the end points of all lane lines of the road line segment termination lane group unit in the modeling data, and sequentially connecting the end points to obtain the termination edge line of the road line segment.
In a specific embodiment, the generating the drawing data of the bottom surface of the road line segment may include:
triangulating the bottom surface graph of the road segment to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the road segment formed by the vertexes of the triangles;
and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.
In a specific embodiment, the obtaining the shape point of each lane line of the road line segment in the modeling data and performing surfacing, and generating the lane line drawing data of the road line segment may include:
and obtaining shape points of each lane line of the road line segment in the modeling data, carrying out surfacing on the shape point data of the lane line according to the line width information of each lane line, generating a wide line graph of the lane line, and obtaining lane line drawing data of the road line segment.
In a second aspect, an embodiment of the present application provides a road segment drawing apparatus for a road map, including:
the acquisition module is used for acquiring modeling data of the road line segment;
the bottom surface graph generating module is used for generating a starting edge line and a stopping edge line of the road line segment according to the modeling data;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the modeling data, a bottom surface graph of the road line segment is built in a surrounding mode;
the bottom surface drawing module is used for generating bottom surface drawing data of the road line segment according to the bottom surface graph of the road line segment, and drawing the bottom surface of the generated road line segment;
and the lane line drawing module is used for acquiring the shape points of each lane line of the road line segment in the modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, and drawing the lane line of the generated road line segment on the bottom surface of the road line segment.
In a specific embodiment, the apparatus may further include an obtaining module, specifically configured to determine a position of each lane group unit according to geographic position information of each lane group unit of a road segment in the map data;
according to the lane information of each lane group unit of the road line segment, the lane lines of the two adjacent lane group units are sequentially matched according to the running direction of each lane group unit, and the matched lane lines are connected.
In a specific embodiment, the bottom surface graph generating module is specifically configured to obtain starting points of respective lane lines of a starting lane group unit of a road segment in the modeling data and sequentially connect the starting points of the respective lane lines to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the road line segment termination lane group unit in the modeling data, and sequentially connecting the end points to obtain the termination edge line of the road line segment.
In a specific embodiment, the bottom surface drawing module is specifically configured to triangulate a bottom surface graph of the road segment to obtain vertices of a plurality of triangles, and obtain bottom surface drawing data of the road segment composed of the vertices of the triangles;
and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.
In a specific embodiment, the lane line drawing module is specifically configured to obtain shape points of each lane line of the road line segment in the modeling data, and perform surfacing on the shape point data of the lane line according to the line width information of each lane line, so as to generate a wide line graph of the lane line, and obtain the lane line drawing data of the road line segment.
In a third aspect, an embodiment of the present application provides a road segment drawing system for a road map, including:
the map storage server is used for storing modeling data;
a terminal device comprising road segment drawing means of the road map as claimed in any one of the preceding claims for generating and presenting the road map.
In a fourth aspect, an embodiment of the present application provides a road segment drawing system for a road map, including:
a map generation server including the road segment drawing device of the road map according to any one of the above, for storing modeling data and generating the road map;
and the terminal equipment is used for displaying the road map.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform the road segment drawing method of the road map as set forth in any one of the above.
In a sixth aspect, an embodiment of the present application provides a computer device, including a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a road segment drawing method of a road map as described in any one of the above when executing the program.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
according to the road line segment drawing method of the road map, when the map is drawn, the bottom surface of the road line segment is drawn firstly, then the lane line is drawn, and the lane line of the road line segment is generated on the bottom surface of the road line segment, so that the road map of the generated road line segment realizes the map display of the lane level, the fineness of the map display is improved, and the lane information more conforming to a real road is displayed.
The road line segment drawing method of the road map provided by the embodiment of the application is characterized in that when the road map is generated, the lanes of each lane group unit of the road line segment are connected into a whole and then are subjected to map drawing, and in the map drawing process, the map drawing data of the road bottom surface of the road line segment and the connected lane lines in the road line segment can be drawn once, so that the map drawing times are reduced, the map drawing is simple and convenient, and the map drawing efficiency is improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the application is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, serve to explain the application. In the drawings:
FIG. 1 is a flow chart of a road segment drawing method of a road map according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for generating modeling data of a road segment according to an embodiment of the present application;
FIG. 3 is a schematic diagram of connection of lane group units of a lane segment according to an embodiment of the present application;
FIG. 4 is a schematic view of the bottom graphic structure of the lane segment shown in FIG. 3;
fig. 5 is a schematic structural diagram of a road segment drawing device of a road map according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a road segment drawing system of a road map according to an embodiment of the present application;
fig. 7 is a schematic diagram of a road segment drawing system of another road map according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the problem of insufficient map display fineness in the prior art, the embodiment of the application provides a road segment drawing method, a device and a related system of a road map.
Example 1
An embodiment of the present application provides a road segment drawing method for a road map, the flow of which is shown in fig. 1, including:
s101: obtaining modeling data of a road segment;
s102: generating a starting edge line and a terminating edge line of the road line segment according to the modeling data;
s103: according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the modeling data, a bottom surface graph of the road line segment is obtained through surrounding, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is drawn and generated;
s104: and obtaining shape points of all lane lines of the road line segment in the modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, and drawing lane lines of the generated road line segment on the bottom surface of the road line segment.
According to the road line segment drawing method of the road map, when the map is drawn, the bottom surface of the road line segment is drawn firstly, then the lane line is drawn, and the lane line of the road line segment is generated on the bottom surface of the road line segment, so that the road map of the generated road line segment realizes the map display of the lane level, the fineness of the map display is improved, and the lane information more conforming to a real road is displayed.
The road line segment drawing method of the road map provided by the embodiment of the application is characterized in that when the road map is generated, the lanes of each lane group unit of the road line segment are connected into a whole and then are subjected to map drawing, and in the map drawing process, the map drawing data of the road bottom surface of the road line segment and the connected lane lines in the road line segment can be drawn once, so that the map drawing times are reduced, the map drawing is simple and convenient, and the map drawing efficiency is improved.
In some alternative embodiments, referring to FIG. 2, the modeling data is obtained by:
s201: determining the position of each lane group unit according to the geographic position information of each lane group unit of the road line segment in the map data;
s202: according to the lane information of each lane group unit of the road line segment, lane lines of two adjacent lane group units are sequentially matched according to the running direction of each lane group unit, and the matched lane lines are connected, so that lanes of each lane group unit of the road line segment are connected into a whole according to the running direction, and modeling data of the road line segment are generated.
In the embodiment of the application, the map data may be collected in a standard data format according to the collected original map data of real roads and lane lines in reality, for example, NDS (Navigation Date Standard) format data, and the structure cache data is obtained through data compiling (Lane Building Block).
Specifically, in the data compiling process, the original map data is divided into different road map areas according to blocks (Tile), each block includes a plurality of road line segments (links), and each road line segment is divided into at least two Lane Group units (Lane Group) according to a travelling Direction (Travel Direction). After the collected lane line vector data and attribute information of the road are compiled in the form of lane group units, the lane line vector data and the attribute information of each lane group unit of the road line segment are stored in the structure cache data through data analysis. Each lane group unit has unique identification information, and the lane group units can be distinguished and searched according to the identification information of the lane group units.
In a specific embodiment, the lane vector data may include Shape point data (Shape List) of a lane line and Shape point data of a lane guide line of each lane of the lane group unit, and the attribute information of the lane group unit includes geographical position information, lane information, shape point attribute information (Boundary Element) of the lane line, and Shape point information of a lane center line of the lane group unit.
In the embodiment of the present application, the attribute information of the road line segment includes Validity Range attribute information (Validity Range) of each lane group unit, where the Validity Range attribute information of the lane group unit includes Start Position information (Start Position) and End Position information (End Position) of the lane group unit, and the Start information and End information of the road line segment described in the above embodiment are Start Position information of the Start lane group unit and End Position information of the End lane group unit, respectively. The first lane group unit arranged in the road line segment according to the running direction is a starting lane group unit, and the last lane group unit arranged in the running direction is a stopping lane group unit. In the embodiment of the present application, the geographic location information may be coordinate information obtained through earth mapping, or positioning information obtained through positioning by a satellite positioning system, such as a GPS positioning system, a beidou satellite navigation system, or a GLONASS system. The determination of the geographical position information of the lane group unit is not limited to the above-described method, but is not limited in the embodiment of the present application.
In some alternative embodiments, the lane information of the lane group unit includes start point information (Source Connector ID) and end point information (Destination Connector ID) of a lane line; and when data processing is carried out on each road line segment to generate lane line modeling data, attribute information of each lane group unit of the road line segment is sequentially acquired according to the running direction, and starting point information and end point information of the lane line of each lane group unit are obtained.
In a specific embodiment, in step S202, the matching lane lines of the adjacent two lane group units in sequence, and connecting the matched lane lines includes: adopting the end point information of each lane line of the previous lane group unit to be matched with the start point information of each lane line of the next lane group unit:
if the end point information of one lane line is only matched with the start point information of one lane line, the two lane lines are matched lane lines, and the matched lane lines are connected;
if the end point information of one lane line is matched with the start point information of at least two lane lines, lanes of the next lane group unit are increased, the lane line of the last lane group unit is a boundary lane line, at least two lane lines of the next lane group unit comprise one boundary lane line, the two boundary lane lines are matched lane lines, and the two matched boundary lane lines are connected;
if the end point information of at least two lane lines is matched with the start point information of one lane line, lanes of the next lane group unit are reduced, at least two lane lines of the last lane group unit comprise one boundary lane line, the lane lines of the next lane group unit are boundary lane lines, the two boundary lane lines are matched lane lines, and the two matched boundary lane lines are connected.
In some optional embodiments, the generating the starting edge line and the ending edge line of the road segment according to the modeling data in step S102 specifically includes:
acquiring starting points of all lane lines of a starting lane group unit of a road line segment in the modeling data and connecting the starting points in sequence to obtain a starting edge line of the road line segment; and acquiring the end points of all lane lines of the road line segment termination lane group unit in the modeling data, and sequentially connecting the end points to obtain the termination edge line of the road line segment.
Referring to fig. 3, there are three lane group units 1, 2 and 3 on one road line segment, the lane group unit 1 has 5 lanes, the lane group unit 2 has 4 lanes, the lane group unit 3 has 5 lanes, the lane group units 1-3 are connected in the traveling direction, 1 lane is reduced on the left side of the road line segment when the lane group unit 1 is connected with the lane group unit 2, and 1 lane is increased on the right side of the road line segment when the lane group unit 2 is connected with the lane group unit 3. When data processing is carried out on the road line segment to generate lane line modeling data, attribute information of the lane group units 1-3 is sequentially acquired, the positions of the lane group units 1-3 are positioned according to geographic position information of the lane group units, and boundaries of the road sections represented by the lane group units are determined; the lane information of each lane of the lane group units 1-3 is acquired, the number of lanes of the road section represented by each lane group unit is judged, the lane lines of each lane are determined, and the lane lines of the adjacent lane group units are matched according to the starting point information and the end point information of each lane line of each lane group unit in the lane information.
Since each lane of a road segment has a left lane line and a right lane line, when two or more lanes are included in the road segment, the lane line between adjacent two lanes is a shared lane line. In the embodiment of the application, a lane line located at the boundary of a road line segment in a lane line is referred to as a boundary lane line, and a lane line located between two adjacent lanes is referred to as a shared lane line.
Specifically, referring to fig. 3, lane lines 1-1 and lane lines 1-6 of the lane group unit 1 are left and right boundary lane lines, respectively, and lane lines 1-2 to 1-5 are shared lane lines; the lane lines 2-1 and 2-5 of the lane group unit 2 are left and right boundary lane lines respectively, and the lane lines 2-2 to 2-4 are shared lane lines; the lane lines 3-1 and 3-6 of the lane group unit 3 are left and right boundary lane lines, respectively, and the lane lines 3-2 to 3-5 are shared lane lines. The end information of the lane line 1-1 and the lane line 1-2 is matched with the start information of the lane line 2-1, namely, the end of the lane line 1-1 and the lane line 1-2 corresponds to the start of the lane line 2-1, the lanes of the road line segments are reduced, at the moment, the lane line 1-1 of the lane group unit 1 and the lane line 2-1 of the lane group unit 2 are matched with each other, the lane line 1-1 is connected with the lane line 2-1, and the lane line of the lane line 1-2 does not continue downwards. The end point information of the lane lines 1-3 to 1-6 of the lane group unit 1 is respectively matched with the start point information of the lane lines 2-2 to 2-5 of the lane group unit 2, namely, the end points of the lane lines 1-3 to 1-6 are respectively corresponding to the start points of the lane lines 2-2 to 2-5, the lane lines 1-3 to 1-6 are respectively matched with the lane lines 2-2 to 2-5, and the lane lines 1-3 to 1-6 are respectively connected with the lane lines 2-2 to 2-5. The end point information of the lane line 2-5 of the lane group unit 2 is matched with the start point information of the lane line 3-5 and the lane line 3-6 of the lane group unit 3 respectively, namely, the end points of the lane line 2-5 correspond to the end points of the lane line 3-5 and the lane line 3-6 respectively, the number of lanes of the road line segment is increased, at the moment, the lane line 2-5 and the lane line 3-6 are matched lane lines, the lane line 2-5 is connected with the lane line 3-6, and the lane line 3-5 is not connected with any lane line of the lane group unit. The end point information of the lane lines 2-1 to 2-4 of the lane group unit 2 is respectively matched with the start point information of the lane lines 3-1 to 3-4 of the lane group unit 3, namely, the end points of the lane lines 2-1 to 2-4 are respectively corresponding to the start points of the lane lines 3-1 to 3-4, the lane lines 2-1 to 2-4 are respectively matched with the lane lines 3-1 to 3-4, and the lane lines 2-1 to 2-4 are respectively connected with the lane lines 3-1 to 3-4. Shape point attribute information corresponding to the lane lines is collected and stored in the lane line modeling data while each lane line connection of the road line segment is made. In the embodiment of the present application, the shape point attribute information (Boundary Element) of the lane line may be shape point attribute information of a lane line which is a white solid line, a long dashed line, a short dashed line, a double yellow line, or a tidal lane.
In some alternative embodiments, the generating the drawing data of the bottom surface of the road line segment in step S103 includes:
triangulating the bottom surface graph of the road segment to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the road segment formed by the vertexes of the triangles;
and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.
In some optional embodiments, the obtaining and surfacing the shape points of each lane line of the road segment in the modeling data in step S104, and generating the lane line drawing data of the road segment includes:
and obtaining shape points of each lane line of the road line segment in the modeling data, carrying out surfacing on the shape point data of the lane line according to the line width information of each lane line, generating a wide line graph of the lane line, and obtaining lane line drawing data of the road line segment.
Acquiring the starting points from the lane line 1-1 to the lane line 1-6 of the starting lane group unit 1 of the road line segment in the modeling data of the road line segment shown in the above figure 3, and sequentially connecting the starting points to obtain a starting edge line of the road line segment; and acquiring the end points of the lane lines 3-1 to 3-6 of the lane line termination lane group unit 3 in the modeling data of the road line segment shown in the above figure 2, and sequentially connecting the lane lines to obtain the end edge line of the road line segment.
And obtaining boundary lane line information in the modeling data of the road line segment shown in the figure 3, namely a left boundary lane line formed by connecting the lane line 1-1, the lane line 2-1 and the lane line 3-1, and a right boundary lane line formed by connecting the lane line 1-6, the lane line 2-5 and the lane line 3-6, and carrying out the bottom surface surrounding construction of the road line segment to obtain a bottom surface graph of the road line segment, which is formed by surrounding the starting and ending edge lines of the road line segment and the left and right boundary lane lines of the road line segment and is shown in the figure 3.
Triangulation is performed on the bottom surface graph of the road segment shown in fig. 3 to obtain vertexes of a plurality of triangles, and bottom surface drawing data of the road segment composed of the vertexes of each triangle is obtained. Specifically, the bottom surface pattern of the road segment may be split by using a polygon triangulation algorithm in the prior art, so as to obtain vertices of a plurality of triangles of the split bottom surface pattern, and bottom surface map drawing data of the road segment including a plurality of information such as vertex positions, reference points, vectors, color information, and the like may be obtained. And drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment. The specific implementation manner of performing triangulation processing on the bottom surface graph of the road segment can refer to the method in the prior art, and the embodiment of the application is not limited.
At the same time or after the generation of the map drawing data of the bottom surface of the road line segment, the shape point of each lane line of the road line segment in the modeling data is acquired, the shape point data of the lane line is flattened according to the line width information of each lane line, and the wide line graph of the lane line, namely the map drawing data of the lane line, is generated. In the embodiment of the present application, the lane lines are subjected to the surfacing process by the line surfacing algorithm, and the specific embodiment of generating the wide line pattern data capable of laying out the texture picture can refer to the method in the prior art, and is not limited herein.
In the map drawing process, firstly, the map drawing data of the bottom surface of the road line segment is acquired to generate the bottom surface of the road line segment; and obtaining the lane line map drawing data, and generating lane lines of the road line segments on the bottom surface of the generated road line segments.
In the embodiment of the present application, the conventional OpenGL drawing technique or other map drawing technique may be used in map drawing, and the present application is not limited thereto.
Example two
Based on the same inventive concept, the embodiment of the application also provides a road segment drawing device of a road map, which can be arranged in a navigation server or a navigation terminal, and the structure of the device is as shown in fig. 5, and the device comprises:
an obtaining module 101, configured to obtain modeling data of a road segment;
the bottom surface graph generating module 102 is used for generating a starting edge line and a ending edge line of the road line segment according to the modeling data;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the modeling data, a bottom surface graph of the road line segment is built in a surrounding mode;
a bottom surface drawing module 103 for generating bottom surface drawing data of the road line segment based on the bottom surface pattern of the road line segment, drawing the bottom surface of the generated road line segment
The lane line drawing module 104 is configured to obtain shape points of each lane line of the road line segment in the modeling data, perform surfacing, generate lane line drawing data of the road line segment, and draw a lane line of the generated road line segment on the bottom surface of the road line segment.
The implementation manner of the road segment drawing device for the road map provided by the embodiment of the present application is similar to the technical problem solved by the road segment drawing method for the road map described in the first embodiment, and the specific implementation manner may refer to the description of the road map generation method in the foregoing embodiment, which is not repeated herein.
In some optional embodiments, the obtaining module 101 is specifically configured to determine a position of each lane group unit according to geographic position information of each lane group unit of a road segment in the map data;
according to the lane information of each lane group unit of the road line segment, the lane lines of the two adjacent lane group units are sequentially matched according to the running direction of each lane group unit, and the matched lane lines are connected.
In some optional embodiments, the bottom surface graph generating module 102 is specifically configured to obtain starting points of respective lane lines of a starting lane group unit of a road segment in the modeling data and sequentially connect the starting points of the respective lane lines to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the road line segment termination lane group unit in the modeling data, and sequentially connecting the end points to obtain the termination edge line of the road line segment.
In some optional embodiments, the bottom surface drawing module 103 is specifically configured to triangulate a bottom surface graph of the road segment to obtain vertices of a plurality of triangles, and obtain bottom surface drawing data of the road segment composed of the vertices of each triangle;
and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.
In some optional embodiments, the lane line drawing module 104 is specifically configured to obtain shape points of each lane line of the road line segment in the modeling data, and to plane the shape point data of the lane line according to the line width information of each lane line, generate a wide line pattern of the lane line, and obtain the lane line drawing data of the road line segment.
Example III
Based on the same inventive concept, the embodiment of the application also provides a road segment drawing system of a road map, shown by reference to 6, comprising:
a map storage server 1 for storing modeling data;
the terminal device 2 includes the road segment drawing apparatus 10 of the road map described in any of the above embodiments for generating and displaying the road map.
The implementation manner of the road map generating system provided by the embodiment of the present application is similar to the technical problem solved by the road map generating method described in the first embodiment, and the specific implementation manner may refer to the description of the road map generating method in the foregoing embodiment, which is not repeated herein.
Example IV
Based on the same inventive concept, the embodiment of the present application further provides a road segment drawing system of a road map, referring to fig. 7, including:
the map generation server 3 includes the road segment drawing device 10 of the road map described in any of the above embodiments, for storing modeling data and generating a road map;
and the terminal equipment 4 is used for displaying the road map.
The implementation manner of the road map generating system provided by the embodiment of the present application is similar to the technical problem solved by the road map generating method described in the first embodiment, and the specific implementation manner may refer to the description of the road map generating method in the foregoing embodiment, which is not repeated herein.
Example five
Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform the road segment drawing method of the road map as described in any of the above embodiments.
Example six
Based on the same inventive concept, the embodiment of the present application further provides a computer device, including a memory, a processor and a computer program stored on the memory and capable of running on the processor, where the processor implements the road segment drawing method of the road map according to any of the above embodiments when executing the program.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems, or similar devices, that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers or memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed are examples of exemplary approaches. Based on design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, application lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this application.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. 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 disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. The processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described in this disclosure may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. These software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".
Claims (8)
1. A road segment drawing method of a road map, comprising:
determining the position of each lane group unit according to the geographic position information of each lane group unit of the road line segment in the map data;
according to the lane information of each lane group unit of the road line segment and the running direction of each lane group unit, adopting the end point information of each lane line of the previous lane group unit to match with the start point information of each lane line of the next lane group unit: if the end point information of one lane line is only matched with the start point information of one lane line, the two lane lines are matched lane lines; if the end point information of one lane line is matched with the start point information of at least two lane lines, lanes of the next lane group unit are increased, the lane line of the last lane group unit is a boundary lane line, at least two lane lines of the next lane group unit comprise one boundary lane line, and the two boundary lane lines are matched lane lines; if the end point information of at least two lane lines is matched with the start point information of one lane line, lanes of the next lane group unit are reduced, at least two lane lines of the last lane group unit comprise one boundary lane line, the lane line of the next lane group unit is a boundary lane line, and the two boundary lane lines are matched lane lines; connecting the two matched boundary lane lines so that lanes of each lane group unit of the road line segment are connected into a whole according to the running direction, and generating modeling data of the road line segment;
generating a starting edge line and a terminating edge line of the road line segment according to the modeling data;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the modeling data, a bottom surface graph of the road line segment is obtained through surrounding, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is drawn and generated;
and obtaining shape points of all lane lines of the road line segment in the modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, and drawing lane lines of the generated road line segment on the bottom surface of the road line segment.
2. The method of claim 1, wherein the generating a starting edge line and a ending edge line of a road segment from the modeling data, in particular comprises:
acquiring starting points of all lane lines of a starting lane group unit of a road line segment in the modeling data and connecting the starting points in sequence to obtain a starting edge line of the road line segment; and acquiring the end points of all lane lines of the road line segment termination lane group unit in the modeling data, and sequentially connecting the end points to obtain the termination edge line of the road line segment.
3. The method of claim 1, wherein generating the bottom surface drawing data of the road segment, drawing the bottom surface of the generated road segment comprises:
triangulating the bottom surface graph of the road segment to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the road segment formed by the vertexes of the triangles;
and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.
4. The method of claim 3, wherein obtaining and surfacing shape points of each lane of the road segment in the modeling data, generating lane delineation data of the road segment comprises:
and obtaining shape points of each lane line of the road line segment in the modeling data, carrying out surfacing on the shape point data of the lane line according to the line width information of each lane line, generating a wide line graph of the lane line, and obtaining lane line drawing data of the road line segment.
5. A road segment drawing apparatus for a road map, comprising:
the acquisition module is used for determining the positions of the lane group units according to the geographic position information of the lane group units of the road line segment in the map data;
according to the lane information of each lane group unit of the road line segment and the running direction of each lane group unit, adopting the end point information of each lane line of the previous lane group unit to match with the start point information of each lane line of the next lane group unit: if the end point information of one lane line is only matched with the start point information of one lane line, the two lane lines are matched lane lines; if the end point information of one lane line is matched with the start point information of at least two lane lines, lanes of the next lane group unit are increased, the lane line of the last lane group unit is a boundary lane line, at least two lane lines of the next lane group unit comprise one boundary lane line, and the two boundary lane lines are matched lane lines; if the end point information of at least two lane lines is matched with the start point information of one lane line, lanes of the next lane group unit are reduced, at least two lane lines of the last lane group unit comprise one boundary lane line, the lane line of the next lane group unit is a boundary lane line, and the two boundary lane lines are matched lane lines; connecting the two matched boundary lane lines so that lanes of each lane group unit of the road line segment are connected into a whole according to the running direction, and generating modeling data of the road line segment;
the bottom surface graph generating module is used for generating a starting edge line and a stopping edge line of the road line segment according to the modeling data;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the modeling data, a bottom surface graph of the road line segment is built in a surrounding mode;
the bottom surface drawing module is used for generating bottom surface drawing data of the road line segment according to the bottom surface graph of the road line segment, and drawing the bottom surface of the generated road line segment;
and the lane line drawing module is used for acquiring the shape points of each lane line of the road line segment in the modeling data, carrying out surfacing to generate lane line drawing data of the road line segment, and drawing the lane line of the generated road line segment on the bottom surface of the road line segment.
6. The apparatus of claim 5, wherein the bottom surface graph generating module is specifically configured to obtain starting points of respective lane lines of a starting lane group unit of a road segment in the modeling data and sequentially connect the starting points to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the road line segment termination lane group unit in the modeling data, and sequentially connecting the end points to obtain the termination edge line of the road line segment.
7. The apparatus of claim 5, wherein the bottom surface drawing module is specifically configured to triangulate a bottom surface graph of the road segment to obtain vertices of a plurality of triangles, and obtain bottom surface drawing data of the road segment composed of the vertices of the triangles;
and drawing each triangle in the data on the bottom surface of the road line segment, acquiring the vertex of the triangle, and drawing to obtain the bottom surface of the road line segment.
8. The apparatus of claim 7, wherein the lane line drawing module is specifically configured to obtain shape points of each lane line of the road line segment in the modeling data, to planarize shape point data of the lane line according to line width information of each lane line, to generate a wide line pattern of the lane line, and to obtain lane line drawing data of the road line segment.
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