CN111311710A - High-precision map manufacturing method and device, electronic equipment and storage medium - Google Patents
High-precision map manufacturing method and device, electronic equipment and storage medium Download PDFInfo
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- CN111311710A CN111311710A CN202010199826.0A CN202010199826A CN111311710A CN 111311710 A CN111311710 A CN 111311710A CN 202010199826 A CN202010199826 A CN 202010199826A CN 111311710 A CN111311710 A CN 111311710A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/004—Map manufacture or repair; Tear or ink or water resistant maps; Long-life maps
Abstract
The present disclosure provides a method and an apparatus for manufacturing a high-precision map, an electronic device, and a storage medium, including: the method comprises the steps of generating an initial high-precision map according to collected image information of roads, wherein the initial high-precision map comprises road category information, road marking information and the number of lanes containing identified direction indication arrows of the roads, determining information to be compensated of the initial high-precision map according to the road category information, the road marking information and the number of the lanes containing the identified direction indication arrows of the roads, drawing the direction indication arrows to be compensated on the lanes to be compensated according to the track direction corresponding to the roads, generating a target high-precision map, displaying the target high-precision map, and determining the information to be compensated so as to draw the initial high-precision map based on the information to be compensated, so that the drawn target high-precision map with high accuracy and high reliability is obtained, manual resource saving is achieved, and the technical effect of manufacturing efficiency is improved.
Description
Technical Field
The present disclosure relates to the field of high-precision maps, and in particular, to a method and an apparatus for manufacturing a high-precision map, an electronic device, and a storage medium.
Background
As is well known, a high-precision map is one of important factors for implementing technologies such as navigation, and the production of the high-precision map is mainly implemented based on an image recognition technology.
In the prior art, for direction indication arrows (such as straight or turning arrows, unrecognizable arrows due to wear, and the like) that cannot be recognized by a recognition technology (specifically, image recognition technology), the direction indication arrows that cannot be recognized are mainly drawn in a manual manner, so as to complete the production of high-precision maps.
However, in the process of implementing the present disclosure, the inventors found that at least the following problems exist: the method has the problems of low accuracy of making a high-precision map and long time consumption caused by the influence of human factors.
Disclosure of Invention
The present disclosure provides a method and an apparatus for manufacturing a high-precision map, an electronic device, and a storage medium, so as to solve the above problems in the prior art.
In one aspect, an embodiment of the present disclosure provides a method for manufacturing a high-precision map, where the method includes:
generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrows of the road;
determining information to be supplemented of the initial high-precision map according to the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrow of the road, wherein the information to be supplemented comprises the direction indication arrow to be supplemented and the lane to be supplemented corresponding to the direction indication arrow to be supplemented;
drawing the to-be-supplemented direction indication arrow on the to-be-supplemented lane according to the track direction corresponding to the road to generate a target high-precision map;
and displaying the target high-precision map.
In some embodiments, the drawing the to-be-supplemented direction indication arrow on the to-be-supplemented lane according to the track direction corresponding to the road includes:
extracting one of the recognized direction indication arrows as a target arrow;
and drawing the indication arrow of the direction to be compensated on the lane to be compensated according to the target arrow and the track direction.
In some embodiments, the plotting the complementary direction indication arrow on the complementary lane according to the target arrow and the trajectory direction includes:
determining the central position of the target arrow and the central line of the lane to be compensated;
and drawing the arrow of the direction indication to be compensated according to the central position, the central line and the track direction.
In some embodiments, the plotting the complementary direction indication arrow according to the center position and the center line includes:
generating a ray having the center position perpendicular to the centerline;
determining the intersection point of the ray and the central line as the central point of the direction indication arrow to be compensated;
and drawing the to-be-compensated direction indication arrow according to the central point, wherein the direction of the to-be-compensated direction indication arrow is the same as the track direction.
In some embodiments, the target arrow is a leftmost direction indication arrow of the identified direction indication arrows, and the leftmost side is referenced to the track direction.
In some embodiments, the determining the information to be complemented of the initial high-precision map according to the category information of the road, the marking information of the road and the number of lanes of the road containing the identified direction indication arrow comprises:
determining the total number of lanes of the road according to the marking information of the road;
in response to the fact that the total number of the lanes is larger than a preset first threshold and the number of the lanes of the identified direction indication arrow is larger than a preset second threshold, selecting the information to be compensated corresponding to the category information of the road from a mapping relation between preset category information and the information to be compensated, wherein the first threshold and the second threshold are set based on the category information of the road.
On the other hand, the embodiment of the present disclosure further provides a device for manufacturing a high-precision map, where the device includes:
the generating module is used for generating an initial high-precision map according to the collected image information of the road, wherein the initial high-precision map comprises the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrows;
the determining module is used for determining information to be supplemented of the initial high-precision map according to the category information of the road, the marking information of the road and the number of lanes containing the identified direction indicating arrow of the road, wherein the information to be supplemented comprises the direction indicating arrow to be supplemented and the lane to be supplemented corresponding to the direction indicating arrow to be supplemented;
the drawing module is used for drawing the to-be-supplemented direction indication arrow on the to-be-supplemented lane according to the track direction corresponding to the road to generate a target high-precision map;
and the display module is used for displaying the target high-precision map.
In some embodiments, the drawing module is configured to extract one of the identified direction indication arrows as a target arrow, and draw the direction indication arrow to be compensated on the lane to be compensated according to the target arrow and the track direction.
In some embodiments, the drawing module is configured to determine a center position of the target arrow and a center line of the lane to be compensated, and draw the direction indication arrow to be compensated according to the center position, the center line, and the track direction.
In some embodiments, the rendering module is configured to generate a ray with the center position perpendicular to the center line, determine an intersection point of the ray and the center line as a center point of the direction indication arrow to be supplemented, and render the direction indication arrow to be supplemented according to the center point, where a direction of the direction indication arrow to be supplemented is the same as the track direction.
In some embodiments, the target arrow is a leftmost direction indication arrow of the identified direction indication arrows, and the leftmost side is referenced to the track direction.
In some embodiments, the determining module is configured to determine the total number of lanes of the road according to the marking information of the road, and in response to that the total number of lanes is greater than a preset first threshold and the number of lanes of the identified direction indication arrow is greater than a preset second threshold, select the information to be supplemented corresponding to the category information of the road from a mapping relationship between preset category information and the information to be supplemented, where the first threshold and the second threshold are set based on the category information of the road.
In another aspect, an embodiment of the present disclosure further provides an electronic device, including: a memory, a processor;
a memory for storing the processor-executable instructions;
wherein the processor, when executing the instructions in the memory, is configured to implement a method as in any of the embodiments above.
In another aspect, the disclosed embodiments also provide a computer-readable storage medium, in which computer-executable instructions are stored, and when executed by a processor, the computer-executable instructions are used to implement the method according to any one of the above embodiments.
The present disclosure provides a method and an apparatus for manufacturing a high-precision map, an electronic device, and a storage medium, including: generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises road category information, road marking information and the number of lanes containing the identified direction indication arrows, determining to-be-compensated information of the initial high-precision map according to the road category information, the road marking information and the number of the lanes containing the identified direction indication arrows, wherein the to-be-compensated information comprises the to-be-compensated direction indication arrows and the to-be-compensated lanes corresponding to the to-be-compensated direction indication arrows, drawing the to-be-compensated direction indication arrows on the to-be-compensated lanes according to the track direction corresponding to the road, generating a target high-precision map, displaying the target high-precision map, determining the to-be-compensated information so as to draw the initial high-precision map based on the to-be-compensated information, and thus obtaining the target high-precision map with higher accuracy and higher reliability, and the technical effects of saving labor resources and improving the manufacturing efficiency are achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic view of various directional indicator arrows of an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for manufacturing a high-precision map according to an embodiment of the present disclosure;
fig. 3 is a schematic view of an application scenario of a method for manufacturing a high-precision map according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a method for drawing a direction indication arrow to be compensated on a lane to be compensated according to a track direction corresponding to a road according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a method for drawing a direction indication arrow to be compensated on a lane to be compensated according to a target arrow and a track direction in an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a method for drawing a direction-to-be-compensated arrow according to a center position, a center line, and a track direction according to an embodiment of the present disclosure;
FIG. 7 is a parameter of a directional indicator arrow of the international standard of an embodiment of the present disclosure;
fig. 8 is a flowchart illustrating a method of determining information to be supplemented for an initial high-precision map according to category information of a road, marking information of the road, and the number of lanes of the road containing identified directional arrows according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram illustrating a common approach according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram illustrating an exemplary highway according to an embodiment of the present disclosure;
fig. 11 is a schematic diagram of a high-precision map manufacturing apparatus according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1, fig. 1 exemplarily shows images of various direction indication arrows. Wherein the direction indication arrows obtainable by the recognition technique are boxed. That is, a straight arrow, a left-turn arrow, a right-turn arrow, a left-turn, or a left-merge can be obtained by the recognition technique.
In the prior art, a direction indication arrow which cannot be identified by an identification technology is drawn mainly in a manual mode, so that the high-precision map is manufactured; on the other hand, generally, the drawing amount is large, and due to various factors such as the physique of the worker, the drawing efficiency is low, and the labor cost is high.
In order to solve the above problems caused by manually drawing the direction indication arrow in the prior art, the inventor obtains the technical solution implemented by the present disclosure through creative work. In the embodiment of the disclosure, the direction indication arrow to be compensated and the lane to be compensated are determined according to the recognized road category information, the road marking information and the number of lanes containing the recognized direction indication arrow of the road, so that the direction indication arrow to be compensated is automatically drawn on the lane to be compensated, the drawing automation is realized, the accuracy and the reliability of the high-precision map are improved, and the efficiency of manufacturing the high-precision map is improved.
The following describes the technical solutions of the present disclosure and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.
In one aspect, the disclosed embodiments provide a method for making a high-precision map.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a method for manufacturing a high-precision map according to an embodiment of the present disclosure.
As shown in fig. 2, the method includes:
s101: and generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrows.
The execution main body of the embodiment of the present disclosure may be a manufacturing device of a high-precision map, and the manufacturing device of the high-precision map may specifically be a server (including a local server and a cloud server), and may also be a Road Side Unit (RSU) disposed on two sides of a road, and the like.
If the device for manufacturing the high-precision map is a road side unit, the method of the embodiment of the present disclosure may be applied to the application scenario shown in fig. 3.
In the application scenario shown in fig. 3, the roadside unit 100 collects image information of a road 200, generates a target high-precision map (i.e., a high-precision map obtained by drawing an initial high-precision map) by performing the method for making a high-precision map according to the embodiment of the present disclosure, and can distribute the target high-precision map to a vehicle accessing the roadside unit 100.
The type information of the road can be divided into an expressway and a normal road (non-expressway) according to whether the road is the expressway or not; the marking information of the road is used for representing marking information for distinguishing the lanes of the road, namely the number of the lanes of the road and the positions (such as the width and the like) of the lanes can be determined according to the marking information of the road; the direction indication arrow is used for representing an arrow which is arranged on the road surface of the road and is used for indicating the driving direction of the vehicle, and the arrow comprises but is not limited to a straight arrow, a straight or left-turning arrow, a right-turning arrow, a straight or right-turning arrow, a turning arrow and the like; as the name implies, the number of lanes including the recognized direction indication arrow of the road is used to represent the number of lanes including the direction indication arrow obtained by recognizing the image by the recognition technology, and it is understood that the number of lanes including the recognized direction indication arrow of the road may be one or more.
S102: and determining the information to be compensated of the initial high-precision map according to the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrow of the road, wherein the information to be compensated comprises the direction indication arrow to be compensated and the lane to be compensated corresponding to the direction indication arrow to be compensated.
The information to be compensated is used for representing information for drawing the direction indication arrow to be compensated on the lane to be compensated of the initial high-precision map. That is, the information to be complemented can be understood from two aspects, one is a lane to be complemented for representing a lane to be complemented with a direction arrow to be complemented, and the other is a direction indication arrow to be complemented for representing a direction indication arrow to be complemented.
In the step, the information to be compensated of the initial high-precision map is determined according to the type information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrows of the road, so that the problem that the accuracy and the efficiency are low when the information to be compensated is determined manually in the prior art is solved, and the accuracy and the efficiency of determining the information to be compensated are improved.
S103: and drawing the indication arrow of the direction to be compensated on the lane to be compensated according to the track direction corresponding to the road, and generating the target high-precision map.
The track direction is used for representing the driving direction of the vehicle running on the road.
In the step, the drawing of the direction indication arrow to be compensated is equivalent to the drawing of the direction indication arrow to be compensated on the lane to be compensated, so that the completion of the direction indication arrow to be compensated on the lane to be compensated is realized, the accuracy and the reliability of the target high-precision map are realized, and the safe driving of the vehicle is realized.
It is to be noted that, in the embodiment of the present disclosure, in order to distinguish between the high-precision map before and after the rendering, the "high-precision map" is defined using the "initial" and the "target". The initial high-precision map is used for representing the high-precision map before drawing, and the target high-precision map is used for representing the high-precision map after drawing. Namely, the target high-precision map is a high-precision map supplemented with the direction indication arrow to be supplemented on the basis of the initial map.
S104: and displaying the target high-precision map.
As can be seen from fig. 4 (fig. 4 is a flowchart illustrating a method for drawing a to-be-compensated direction indication arrow on a to-be-compensated lane according to a track direction corresponding to a road according to an embodiment of the present disclosure), in some embodiments, S103 may include:
s31: extracting one of the recognized direction indication arrows as a target arrow.
For example, the number of the identified direction indication arrows may be one or multiple, and if the number of the identified direction indication arrows is one, the target arrow is the identified direction indication arrow; if there are a plurality of identified direction indication arrows, the target arrow may be any one of the plurality of identified direction indication arrows.
In some embodiments, if the number of the identified direction indication arrows is multiple, the target arrow is a leftmost direction indication arrow in the identified direction indication arrows, and the leftmost side is based on the track direction.
S32: and drawing the indication arrow of the direction to be compensated on the lane to be compensated according to the target arrow and the track direction.
As can be seen from fig. 5 (fig. 5 is a schematic flowchart of a method for drawing a to-be-supplemented direction indication arrow on a to-be-supplemented lane according to a target arrow and a trajectory direction according to an embodiment of the present disclosure), in some embodiments, S32 includes:
s321: and determining the central position of the target arrow and the central line of the lane to be compensated.
Wherein the center position can be determined from the coordinates of the target arrow.
Specifically, when the image information is recognized, the coordinates of the recognized direction indication arrow, that is, the coordinates of the target arrow may be obtained, the coordinates of the target arrow may be calculated, and the coordinates of the center point (that is, the center position) of the target arrow may be obtained.
The specific calculation method may be as follows: the coordinates of the start point and the coordinates of the end point of the target arrow in the track direction are respectively selected, the coordinates of an intermediate point between the coordinates of the start point and the coordinates of the end point are calculated, and the coordinates of the intermediate point are determined as the center position.
It should be noted that the end point in the above example may be an end point of a target arrow, and may also be an end point of a non-target arrow, and is specifically determined based on the type of the target arrow.
For example, if the target arrow is a straight arrow, the end point in the above example is the end point of the straight arrow; if the target arrow is a left-turn arrow, the terminal point in the above example is the terminal point of the left-turn arrow; if the target arrow is a u-turn arrow, the end point in the above example is not the end point of the u-turn arrow, but is a point farthest from the start point of the u-turn arrow in the track direction, that is, the highest point of the protrusion on the u-turn arrow; etc., which are not described in detail herein.
In some embodiments, a centerline of the lane to be compensated may be determined from the marking information of the lane to be compensated.
Specifically, when the image information is identified, the marking information (including the coordinates corresponding to the marking) of the road can be obtained, that is, the marking information of each lane can be obtained, and under the condition that the lane to be compensated is known, the center line of the lane to be compensated can be obtained by calculating according to the coordinates of the two markings corresponding to the lane to be compensated.
S322: and drawing the direction indication arrow to be compensated according to the center position, the center line and the track direction.
As can be seen from fig. 6 (fig. 6 is a flowchart illustrating a method for drawing a direction-indicating arrow to be complemented according to a center position, a centerline, and a track direction according to an embodiment of the present disclosure), in some embodiments, S322 includes:
s3221: rays are generated with a center position perpendicular to the centerline.
In this step, a straight line perpendicular to the center line is drawn with the center position as a start point.
S3222: and determining the intersection point of the ray and the center line as the center point of the direction indication arrow to be compensated.
It is understood that, since the ray is a straight line perpendicular to the center line drawn with the center position as a start point, there is an intersection point between the ray and the center line, and the intersection point is determined as a center point of the direction indication arrow to be complemented.
That is, the center position of the identified direction indication arrow is the same position as the center point of the direction indication arrow to be complemented. Therefore, a technical effect of ensuring accuracy and reliability of the center point of the direction indication arrow to be complemented can be achieved.
S3223: and drawing a to-be-compensated direction indication arrow according to the central point, wherein the direction of the to-be-compensated direction indication arrow is the same as the track direction.
Based on the above steps, the central point of the direction indication arrow to be compensated can be accurately determined through the intersection point of the ray and the central line, so that when the direction indication arrow to be compensated is drawn according to the central point, the reliability and the accuracy of the drawn direction indication arrow to be compensated can be ensured.
It is worth mentioning that the parameters of the directional arrows can be found in international standards, and in particular in fig. 7 described below.
As can be seen from fig. 8 (fig. 8 is a flowchart illustrating a method for determining information to be supplemented for an initial high-precision map according to category information of a road, marking information of the road, and the number of lanes of the road containing identified directional arrows according to an embodiment of the present disclosure), in some embodiments, S102 includes:
s21: and determining the total number of lanes of the road according to the marking information of the road.
The marking information of the road comprises the number of markings.
In some embodiments, the total number of lanes is-1.
S22: and in response to the fact that the total number of the lanes is larger than a preset first threshold value and the number of the lanes of the identified direction indication arrow is larger than a preset second threshold value, selecting information to be compensated corresponding to the category information of the road from a mapping relation between the preset category information and the information to be compensated, wherein the first threshold value and the second threshold value are set based on the category information of the road.
As can be seen from the above example, the category information of the road is divided into an expressway and an ordinary road, and therefore, the step may specifically include: setting a first threshold value and a second threshold value according to the category information of the road, judging the total number of lanes and the size of the first threshold value, if the total number of lanes is greater than the first threshold value, continuing to judge the number of lanes of the identified direction indication arrow and the size of the second threshold value, if the number of lanes of the identified direction indication arrow is greater than the second threshold value and the category information of the road is the expressway, selecting information to be compensated corresponding to the expressway from the mapping relation, and if the category information of the road is the ordinary road, selecting information to be compensated corresponding to the ordinary road from the mapping relation.
It should be noted that the first threshold corresponding to the highway is different from the first threshold corresponding to the normal way, and the second threshold corresponding to the highway is also different from the second threshold corresponding to the normal way.
In some embodiments, if the category information of the lane is an expressway, the first threshold is 3, and the second threshold is 2; if the type information of the lane is a normal road, the first threshold value is 2, and the second threshold value is 1.
In addition, in the above example, there is no absolute sequential relationship between the step of determining the total number of lanes and the first threshold and the step of determining the number of lanes of the identified direction indication arrow and the size of the second threshold.
In some embodiments, if the category information of the road is a general road, the mapping relationship includes: if the leftmost lane does not recognize the direction indicating arrow, determining the leftmost lane as a lane to be supplemented, and determining the direction indicating arrow to be supplemented as a straight-going or left-turning arrow; if the rightmost lane does not recognize the direction indicating arrow, determining the rightmost lane as a lane to be supplemented, and determining the direction indicating arrow to be supplemented as a straight-going or right-turning arrow; and if the middle lane between the leftmost lane and the rightmost lane does not recognize the direction indication arrow, determining the middle lane as a lane to be compensated, and determining the direction indication arrow to be compensated as a straight arrow.
In some embodiments, if the type information of the road is an expressway, the mapping relationship includes: and if no direction indication arrow is recognized in the non-rightmost lane, determining the non-rightmost lane as a lane to be compensated, and determining the direction indication arrow to be compensated as a straight arrow.
It should be noted that a plurality of lanes to be compensated and the respective direction-indicating arrows to be compensated corresponding to the lanes to be compensated may exist simultaneously.
In order to better understand the scheme of the embodiment of the present disclosure, the method for drawing the initial high-precision map corresponding to the general road is now described as follows with reference to fig. 9:
as shown in fig. 9, the general road has 6 marked lines, which are respectively marked as 1 to 6, and the general road has 5 lanes, i.e., one lane is between the marked lines 1 and 2, and the lanes are respectively marked as 1 lane to 5 lanes based on the track direction (marked as "driving direction of vehicle" in fig. 9), i.e., the lanes are marked from left to right.
The direction indication arrows recognized by the recognition technique include a straight arrow in a 2-lane between the markings 2 and 3 (marked as "recognized arrow" in fig. 9) and a straight arrow in a 4-lane between the markings 4 and 5 (marked as "recognized arrow" in fig. 9).
Determining the center position of the identified leftmost arrow (i.e., the straight arrow on the 2-lane) (the determination method of the center position may refer to the above example, which is not described herein again), and marking as a, determining the center line of the 1-lane, drawing a ray perpendicular to the center line from a, where there is an intersection B between the ray and the center line, where the intersection B is the center point of the direction-to-be-supplemented arrow, and knowing that the direction-to-be-supplemented arrow of the 1-lane is a straight arrow or a left-turn arrow based on the mapping relationship, therefore, drawing the straight arrow or the left-turn arrow based on the center point B, and marking the drawn straight arrow or the left-turn arrow as a "to-be-supplemented arrow" in fig.
In other embodiments, a ray perpendicular to the track direction (the driving direction of the vehicle) from a may also be extracted, where the position of the ray is the horizontal position of the direction-to-be-compensated arrow, and the point B at the center of the marked lines 1 and 2 is the center point of the direction-to-be-compensated arrow (straight or left-turn arrow, marked as "arrow-to-be-compensated" in fig. 9) of the lane 1.
Similarly, the point C at the center of the marked line 3 and the marked line 4 is the center point of the arrow indicating the direction to be compensated of the 3 lanes, and it can be known that the arrow indicating the direction to be compensated of the 3 lanes is a straight arrow based on the mapping relationship, so that the straight arrow is drawn based on the center point C, the drawn straight arrow or left-turn arrow is marked as a "arrow to be compensated" in fig. 9, and the length and width of the arrow are the size of the existing straight arrow in which the straight arrow of the same-row lane is preferentially referred to.
Similarly, the center point D of the marked lines 5 and 6 is the center point of the direction indicating arrow of the 5 lanes to be compensated, and it can be known that the direction indicating arrow of the 1 lane to be compensated is a straight arrow or a right-turn arrow based on the mapping relationship, so that the straight arrow or the right-turn arrow is drawn based on the center point D, and the drawn straight arrow or right-turn arrow is marked as a "arrow to be compensated" in fig. 9.
The method for drawing the initial high-precision map corresponding to the expressway is now explained with reference to fig. 10 as follows:
as shown in fig. 10, there are 5 markings on the highway, respectively marked 1 to 5, and there are 4 lanes on the highway, for example, there is one lane between the markings 1 and 2, and the lanes are respectively marked 1 to 4 lanes based on the track direction (marked as "traveling direction of vehicle" in fig. 10), that is, the lanes are marked from left to right.
Wherein the direction indication arrows recognized by the recognition technology include 2-lane to 4-lane arrows (labeled as "recognized arrows" in fig. 10).
Determining the center position of the identified leftmost arrow (i.e., the straight arrow on the lane 2) (the determination method of the center position may refer to the above example, which is not described herein again), and marking as a, determining the center line of the lane 1, drawing a ray perpendicular to the center line from a, where there is an intersection point B between the ray and the center line, where the intersection point B is the center point of the direction indication arrow to be supplemented, and knowing that the direction indication arrow of the lane 1 is the straight arrow based on the mapping relationship, therefore, drawing the straight arrow based on the center point B, and marking the drawn straight arrow as the "arrow to be supplemented" in fig. 10.
In other embodiments, a ray perpendicular to the track direction (the driving direction of the vehicle) from a may also be extracted, where the position of the ray is the horizontal position of the to-be-compensated direction indication arrow, and the point B at the center of the marked lines 1 and 2 is the center point of the to-be-compensated direction indication arrow (straight arrow, marked as "to-be-compensated arrow" in fig. 10) of the lane 1.
According to another aspect of the embodiment of the disclosure, an apparatus for manufacturing a high-precision map is also provided.
Referring to fig. 11, fig. 11 is a schematic diagram of a device for making a high-precision map according to an embodiment of the present disclosure.
As shown in fig. 11, the apparatus includes:
the generating module 11 is configured to generate an initial high-precision map according to the acquired image information of the road, where the initial high-precision map includes category information of the road, marking information of the road, and the number of lanes of the road that include the identified direction indication arrow;
a determining module 12, configured to determine to-be-supplemented information of the initial high-precision map according to the category information of the road, the marking information of the road, and the number of lanes of the road that include the identified direction indication arrow, where the to-be-supplemented information includes the to-be-supplemented direction indication arrow and the to-be-supplemented lane corresponding to the to-be-supplemented direction indication arrow;
the drawing module 13 is configured to draw the to-be-supplemented direction indication arrow on the to-be-supplemented lane according to the track direction corresponding to the road, so as to generate a target high-precision map;
and the display module 14 is used for displaying the target high-precision map.
In some embodiments, the drawing module 13 is configured to extract one of the identified direction indication arrows as a target arrow, and draw the direction indication arrow to be compensated on the lane to be compensated according to the target arrow and the track direction.
In some embodiments, the drawing module 13 is configured to determine a center position of the target arrow and a center line of the lane to be compensated, and draw the direction indication arrow to be compensated according to the center position, the center line, and the track direction.
In some embodiments, the drawing module 13 is configured to generate a ray with the center position perpendicular to the center line, determine an intersection point of the ray and the center line as a center point of the direction indication arrow to be supplemented, and draw the direction indication arrow to be supplemented according to the center point, where the direction of the direction indication arrow to be supplemented is the same as the track direction.
In some embodiments, the target arrow is a leftmost direction indication arrow of the identified direction indication arrows, and the leftmost side is referenced to the track direction.
In some embodiments, the determining module 12 is configured to determine the total number of lanes of the road according to the marking information of the road, and in response to that the total number of lanes is greater than a preset first threshold and the number of lanes of the identified directional arrow is greater than a preset second threshold, select the information to be supplemented corresponding to the category information of the road from a mapping relationship between preset category information and information to be supplemented, where the first threshold and the second threshold are set based on the category information of the road.
According to another aspect of the embodiments of the present disclosure, there is also provided an electronic device, including: a memory, a processor;
a memory for storing processor-executable instructions;
wherein, when executing the instructions in the memory, the processor is configured to implement the method of any of the embodiments above.
Referring to fig. 12, fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
As shown in fig. 12, the electronic device includes a memory and a processor, and the electronic device may further include a communication interface and a bus, wherein the processor, the communication interface, and the memory are connected by the bus; the processor is used to execute executable modules, such as computer programs, stored in the memory.
The Memory may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Via at least one communication interface, which may be wired or wireless), the communication connection between the network element of the system and at least one other network element may be implemented using the internet, a wide area network, a local network, a metropolitan area network, etc.
The bus may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc.
The memory is used for storing a program, and the processor executes the program after receiving an execution instruction.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The steps of the method disclosed in connection with the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
According to another aspect of the embodiments of the present disclosure, there is also provided a computer-readable storage medium having stored therein computer-executable instructions, which when executed by a processor, are configured to implement the method according to any one of the embodiments.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
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 apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present disclosure.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be substantially or partially contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should also be understood that, in the embodiments of the present disclosure, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
While the present disclosure has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A method for manufacturing a high-precision map is characterized by comprising the following steps:
generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrows of the road;
determining information to be supplemented of the initial high-precision map according to the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrow of the road, wherein the information to be supplemented comprises the direction indication arrow to be supplemented and the lane to be supplemented corresponding to the direction indication arrow to be supplemented;
drawing the to-be-supplemented direction indication arrow on the to-be-supplemented lane according to the track direction corresponding to the road to generate a target high-precision map;
and displaying the target high-precision map.
2. The method according to claim 1, wherein the drawing the to-be-compensated direction indication arrow on the to-be-compensated lane according to the track direction corresponding to the road comprises:
extracting one of the recognized direction indication arrows as a target arrow;
and drawing the indication arrow of the direction to be compensated on the lane to be compensated according to the target arrow and the track direction.
3. The method of claim 2, wherein the plotting the complementary direction indication arrow on the complementary lane according to the target arrow and the trajectory direction comprises:
determining the central position of the target arrow and the central line of the lane to be compensated;
and drawing the arrow of the direction indication to be compensated according to the central position, the central line and the track direction.
4. The method of claim 3, wherein said plotting the complementary direction indication arrow according to the center position and the center line comprises:
generating a ray having the center position perpendicular to the centerline;
determining the intersection point of the ray and the central line as the central point of the direction indication arrow to be compensated;
and drawing the to-be-compensated direction indication arrow according to the central point, wherein the direction of the to-be-compensated direction indication arrow is the same as the track direction.
5. The method of claim 2, wherein the target arrow is a leftmost direction indication arrow of the identified direction indication arrows, and the leftmost side is referenced to the track direction.
6. The method according to any one of claims 1 to 5, wherein the determining of the complementary information of the initial high-precision map according to the category information of the road, the marking information of the road, and the number of lanes of the road containing the identified direction indication arrow comprises:
determining the total number of lanes of the road according to the marking information of the road;
in response to the fact that the total number of the lanes is larger than a preset first threshold and the number of the lanes of the identified direction indication arrow is larger than a preset second threshold, selecting the information to be compensated corresponding to the category information of the road from a mapping relation between preset category information and the information to be compensated, wherein the first threshold and the second threshold are set based on the category information of the road.
7. An apparatus for creating a high-precision map, the apparatus comprising:
the generating module is used for generating an initial high-precision map according to the collected image information of the road, wherein the initial high-precision map comprises the category information of the road, the marking information of the road and the number of lanes containing the identified direction indication arrows;
the determining module is used for determining information to be supplemented of the initial high-precision map according to the category information of the road, the marking information of the road and the number of lanes containing the identified direction indicating arrow of the road, wherein the information to be supplemented comprises the direction indicating arrow to be supplemented and the lane to be supplemented corresponding to the direction indicating arrow to be supplemented;
the drawing module is used for drawing the to-be-supplemented direction indication arrow on the to-be-supplemented lane according to the track direction corresponding to the road to generate a target high-precision map;
and the display module is used for displaying the target high-precision map.
8. The device according to claim 7, wherein the drawing module is configured to extract one of the identified direction indication arrows as a target arrow, and draw the direction indication arrow to be compensated on the lane to be compensated according to the target arrow and the track direction.
9. An electronic device, comprising: a memory, a processor;
a memory for storing the processor-executable instructions;
wherein the processor, when executing the instructions in the memory, is configured to implement the method of any of claims 1 to 6.
10. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the method of any one of claims 1 to 6.
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