CN111311710B - 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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- CN111311710B CN111311710B CN202010199826.0A CN202010199826A CN111311710B CN 111311710 B CN111311710 B CN 111311710B CN 202010199826 A CN202010199826 A CN 202010199826A CN 111311710 B CN111311710 B CN 111311710B
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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 disclosure provides a method and a device for manufacturing a high-precision map, electronic equipment and a storage medium, wherein the method comprises 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 category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow, determining to-be-compensated information of the initial high-precision map according to the category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow, drawing to-be-compensated direction indication arrow on the to-be-compensated lane according to the track direction corresponding to the road, generating a target high-precision map, displaying the target high-precision map, and determining to-be-compensated information so as to draw the initial high-precision map based on the to-be-compensated information, thereby obtaining a drawn target high-precision map with higher accuracy and higher reliability, saving manpower resources and improving the manufacturing efficiency.
Description
Technical Field
The disclosure relates to the technical field of high-precision maps, and in particular relates to a method and a device for manufacturing a high-precision map, electronic equipment and a storage medium.
Background
It is well known that high-precision maps are one of the important factors for realizing navigation and other technologies, and that the production of high-precision maps is mainly realized based on image recognition technology.
In the prior art, for the direction indication arrow (such as a straight or turning arrow, a turning arrow, an unrecognizable arrow caused by abrasion, etc.) which cannot be identified by the identification technology (specifically, the image identification technology), the unrecognizable direction indication arrow is drawn mainly by a manual mode so as to finish the manufacture of a high-precision map.
However, in implementing the present disclosure, the inventors found that at least the following problems exist: the accuracy of making the high-precision map is low and the time is long due to the influence of human factors.
Disclosure of Invention
The disclosure provides a method and a device for manufacturing a high-precision map, an electronic device and a storage medium, which are used for solving the 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 category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow;
Determining to-be-compensated 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, wherein the to-be-compensated information comprises the to-be-compensated direction indication arrow and to-be-compensated lanes corresponding to the to-be-compensated direction indication arrow;
drawing the direction indication arrow to be supplemented on the lane to be supplemented according to the track direction corresponding to the road, and generating a target precise map;
and displaying the target high-precision map.
In some embodiments, the drawing the direction indication arrow on the lane to be complemented according to the track direction corresponding to the road includes:
extracting one of the identified direction indication arrows as a target arrow;
and drawing 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 the direction-to-be-compensated arrow on the lane to be compensated 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 complemented;
And drawing the direction indication arrow to be complemented according to the center position, the center line and the track direction.
In some embodiments, the drawing the direction indication arrow to be compensated according to the center position and the center line includes:
generating a ray having the central location perpendicular to the centerline;
determining an intersection point of the ray and the central line as a central point of the direction indication arrow to be complemented;
and drawing the direction indicating arrow to be complemented according to the center point, wherein the direction of the direction indicating arrow to be complemented is the same as the track direction.
In some embodiments, the target arrow is a leftmost one of the identified direction indication arrows, and the leftmost one is referenced to the trajectory 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 including the identified direction indication arrow includes:
determining the total number of lanes of the road according to the marking information of the road;
and responding to the fact that the total number of lanes is larger than a preset first threshold value, and the number of lanes of the identified direction indication arrow is larger than a preset second threshold value, selecting the information to be supplemented corresponding to the category information of the road from the mapping relation of the preset category information and the information to be supplemented, wherein the first threshold value and the second threshold value are set based on the category information of the road.
On the other hand, the embodiment of the disclosure also provides a device for manufacturing a high-precision map, which comprises:
the generation module is used for generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow;
the determining module is used for determining to-be-compensated 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, wherein the to-be-compensated information comprises the to-be-compensated direction indication arrow and to-be-compensated lanes corresponding to the to-be-compensated direction indication arrow;
the drawing module is used for drawing the direction indication arrow to be compensated on the lane to be compensated according to the track direction corresponding to the road, and generating a target precise 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 complemented on the lane to be complemented 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 complemented, and draw the direction indication arrow to be complemented according to the center position, the center line and the track direction.
In some embodiments, the drawing module is configured to generate a ray with the central position perpendicular to the central line, determine an intersection point of the ray and the central line as a central point of the direction indication arrow to be compensated, and draw the direction indication arrow to be compensated according to the central point, where a direction of the direction indication arrow to be compensated is the same as the track direction.
In some embodiments, the target arrow is a leftmost one of the identified direction indication arrows, and the leftmost one is referenced to the trajectory direction.
In some embodiments, the determining module is configured to determine a total number of lanes of the road according to the marking information of the road, and select the information to be complemented corresponding to the category information of the road from a mapping relationship between the preset category information and the information to be complemented in response to the total number of lanes being greater than a preset first threshold and the number of lanes of the identified direction indication arrow being greater than a preset second threshold, 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;
the memory is used for storing the processor executable instructions;
wherein the processor, when executing the instructions in the memory, is configured to implement the method as described in any of the embodiments above.
In another aspect, the disclosed embodiments also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement the method of any of the above embodiments.
The disclosure provides a method and a device for manufacturing a high-precision map, electronic equipment and a storage medium, wherein the method comprises 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 category information of the road, marking information of the road and the number of lanes containing the identified direction indication arrow of the road, determining to-be-compensated information of the initial high-precision map according to the category information of the road, marking information of the road and the number of lanes containing the identified direction indication arrow of the road, wherein the to-be-compensated information comprises the to-be-compensated direction indication arrow and the to-be-compensated lanes corresponding to the to-be-compensated direction indication arrow, drawing the to-be-compensated direction indication arrow 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 through the to-be-compensated information, so as to draw the initial high-precision map based on the to-be-compensated information, and achieving the target high-precision map with higher accuracy and higher reliability, saving artificial resources and improving the manufacturing efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic illustration of various directional arrows in accordance with an embodiment of the present disclosure;
fig. 2 is a flow chart of a method for manufacturing a high-precision map according to an embodiment of the disclosure;
fig. 3 is an application scenario schematic diagram of a method for manufacturing a high-precision map according to an embodiment of the disclosure;
fig. 4 is a flow chart of a method for drawing a direction indication arrow on a lane to be supplemented according to a track direction corresponding to a road in an embodiment of the disclosure;
FIG. 5 is a flow chart of a method for drawing a direction-indicating arrow for a lane to be repaired according to a target arrow and a track direction in an embodiment of the disclosure;
FIG. 6 is a flow chart of a method of drawing a direction-to-be-compensated arrow according to a center position, a center line, and a trajectory direction in an embodiment of the disclosure;
FIG. 7 is a parameter of a directional arrow of an international standard in accordance with an embodiment of the present disclosure;
fig. 8 is a flowchart illustrating a method for determining information to be supplemented of an initial high-definition map according to category information of a road, marking information of the road, and the number of lanes of the road including an identified direction indication arrow according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of an embodiment of the present disclosure, taking a common channel as an example;
FIG. 10 is a schematic diagram of an example highway according to an embodiment of the present disclosure;
fig. 11 is a schematic diagram of a high-precision map making 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 present disclosure.
Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
Referring to fig. 1, fig. 1 exemplarily illustrates images of various directional arrow heads. Wherein the directional arrow available through the recognition technique is boxed. That is, straight-going arrows, left-turn arrows, right-turn arrows, left-turn, or left-merge may be obtained by recognition techniques.
In the prior art, the direction indication arrow which cannot be identified by the identification technology is drawn mainly in a manual mode, so that the high-precision map is manufactured, on one hand, because staff is easily influenced by personal subjective factors in the drawing process, the drawing accuracy is not high, and the reliability of the manufactured high-precision map is low; on the other hand, in general, the drawing amount is large, and various factors such as the constitution of the staff tend to cause problems such as low drawing efficiency and high labor cost.
In order to solve the problems caused by manually drawing the direction indication arrow in the prior art, the inventor obtains the technical scheme implemented by the disclosure through creative labor. In the embodiment of the disclosure, the direction indication arrow to be complemented and the lane to be complemented are determined through the identified category information of the road, the marked line information of the road and the number of lanes containing the identified direction indication arrow of the road, so that the direction indication arrow to be complemented is automatically drawn on the lane to be complemented, the automation of drawing is realized, the accuracy and the reliability of a high-precision map are further improved, and the efficiency of manufacturing the high-precision map is improved.
The following describes the technical scheme of the present disclosure and how the technical scheme of the present disclosure solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.
In one aspect, an embodiment of the present disclosure provides a method for manufacturing a high-precision map.
Referring to fig. 2, fig. 2 is a flow chart of a method for manufacturing a high-precision map according to an embodiment of the 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 category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow.
The execution body of the embodiment of the disclosure may be a device for manufacturing a high-precision map, and the device for manufacturing the high-precision map may specifically be a server (including a local server and a cloud server), or may be a Road Side Unit (RSU) disposed at two sides of a road, or the like.
If the high-precision map making apparatus is a road side unit, the manner of the embodiments of the present disclosure may be applied to an application scenario as shown in fig. 3.
In the application scenario shown in fig. 3, the road side unit 100 collects image information of the road 200, generates a target precise map (refer to a high-precision map after drawing an initial high-precision map) by executing the method for manufacturing a high-precision map according to the embodiment of the disclosure, and may issue the target precise map to a vehicle accessing the road side unit 100.
Wherein, the category information of the road can be divided into expressways and common roads (non-expressways) according to whether the road is an expressway or not; the marking information of the road is information for representing the marking for distinguishing the lanes of the road, namely, the number of the lanes of the road and the positions (such as 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 arranged on the pavement of the road and used for indicating the running direction of the vehicle, and comprises, but is not limited to, a straight arrow, a straight or left-turn arrow, a right-turn arrow, a straight or right-turn arrow, a turning arrow and the like; the number of lanes of the road containing the identified direction indication arrow, as the name implies, is used to characterize the number of lanes comprising the direction indication arrow obtained by identifying the image by the identification technique, it is understood that the number of lanes of the road containing the identified direction indication arrow may be one or more.
S102: and determining to-be-compensated 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, wherein the to-be-compensated information comprises the to-be-compensated direction indication arrow and the to-be-compensated lanes corresponding to the to-be-compensated direction indication arrow.
The to-be-compensated information is used for representing information for drawing an to-be-compensated direction indication arrow on a to-be-compensated lane 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 characterizing a lane to be drawn by a direction arrow to be complemented, and the other is a direction-indicating arrow to be complemented for characterizing a direction-indicating arrow to be drawn on the lane to be complemented.
In the step, the information to be supplemented of the initial high-precision map is determined 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, so that the problem that in the prior art, the accuracy and the efficiency are low when the information to be supplemented is determined manually is solved, and the accuracy and the efficiency of determining the information to be supplemented are improved.
S103: and drawing an arrow indicating the direction to be compensated on the lane to be compensated according to the track direction corresponding to the road, and generating a target precise map.
The track direction is used to characterize the driving direction of the vehicle on the road.
In the step, drawing the direction indicating arrow to be compensated is equivalent to drawing the direction indicating arrow to be compensated on the lane to be compensated so as to realize completion of the direction indicating arrow to be compensated on the lane to be compensated, thereby realizing accuracy and reliability of the target precise map and further realizing technical effects of safe running of the vehicle and the like.
Illustratively, in the embodiments of the present disclosure, in order to distinguish between the high-precision map before drawing and the high-precision map after drawing, "initial" and "target" are used to define the "high-precision map". 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. The target precise map is a high-precise map supplemented with the direction indication arrow to be supplemented on the basis of the initial map.
S104: and displaying the target precise map.
As can be seen in fig. 4 (fig. 4 is a schematic flow chart of a method for drawing a direction indication arrow on a lane to be complemented according to a track direction corresponding to a road in an embodiment of the disclosure), in some embodiments, S103 may include:
S31: one of the identified direction indication arrows is extracted as a target arrow.
For example, the number of the identified direction indication arrows may be one or a plurality, and if the number of the identified direction indication arrows is one, the target arrow is the identified direction indication arrow; if the number of identified directional arrows is plural, the target arrow may be any one of the plural identified directional arrows.
In some embodiments, if the identified direction indication arrow is a plurality of, the target arrow is a leftmost one of the identified direction indication arrows, and the leftmost one is referenced to the track direction.
S32: and drawing the direction indication arrow to be compensated on the lane to be compensated according to the target arrow and the track direction.
As can be seen in conjunction with fig. 5 (fig. 5 is a schematic flow chart of a method for drawing a direction indicating arrow on a lane to be complemented according to a target arrow and a track direction in an embodiment of the 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 complemented.
Wherein the center position may be determined based on the coordinates of the target arrow.
Specifically, when the image information is identified, the coordinates of the identified direction indication arrow can be obtained, that is, the coordinates of the target arrow can be obtained, and the coordinates of the center point (i.e., the center position) of the target arrow can be obtained by calculating the coordinates of the target arrow.
The specific calculation method can 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 selected, respectively, 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 described in the above example may be the end point of the target arrow, or may be the end point of the non-target arrow, and specifically, the determination is based on the type of the target arrow.
For example, if the target arrow is a straight arrow, the end point described in the above example is the end point of the straight arrow; if the target arrow is a left-turn arrow, the end point described in the above example is the end point of the left-turn arrow; if the target arrow is a turning arrow, the end point in the above example is not the end point of the turning arrow, but is a point farthest from the start point of the turning arrow in the track direction, that is, the highest point of the protrusion on the turning arrow; etc., and are not described in detail herein.
In some embodiments, the centerline of the lane to be repaired may be determined from the marking information of the lane to be repaired.
Specifically, when the image information is identified, the marking information (including the coordinates corresponding to the marking) of the road can be obtained, namely the marking information of each lane is obtained, and under the condition that the lane to be repaired is known, the center line of the lane to be repaired can be obtained by calculation according to the coordinates of two markings corresponding to the lane to be repaired.
S322: and drawing the indication arrow of the direction to be compensated according to the central position, the central line and the track direction.
As can be seen in conjunction with fig. 6 (fig. 6 is a flow chart illustrating a method for drawing a direction indication arrow to be compensated according to a center position, a center line and a track direction in an embodiment of the disclosure), in some embodiments, S322 includes:
s3221: a ray is generated having a central position perpendicular to the centerline.
In this step, a straight line perpendicular to the center line is drawn with the center position as a starting point.
S3222: and determining the intersection point of the ray and the central line as the central point of the direction indication arrow to be complemented.
It will be appreciated that since the ray is a straight line perpendicular to the center line drawn with the center position as the starting point, there is an intersection point between the ray and the center line, and the intersection point is determined as the 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, the technical effect of ensuring the accuracy and reliability of the center point of the direction indication arrow to be complemented can be achieved.
S3223: and drawing the direction indicating arrow to be complemented according to the center point, wherein the direction of the direction indicating arrow to be complemented is the same as the track direction.
Based on the above step, the center point of the direction indicating arrow to be compensated can be accurately determined through the intersection point of the ray and the center line, so that when the direction indicating arrow to be compensated is drawn according to the center point, the reliability and the accuracy of the drawn direction indicating arrow to be compensated can be ensured.
It is noted that the parameters of the directional arrow may be referred to the international standard, in particular, see fig. 7 described below.
As can be seen in conjunction with fig. 8 (fig. 8 is a flowchart of a method for determining information to be complemented of an initial high-definition map according to category information of a road, line information of the road, and the number of lanes of the road including an identified direction indication arrow in 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.
Wherein the marking information of the road includes the number of markings.
In some embodiments, the total number of lanes = number of markings-1.
S22: and responding to the fact that the total number of lanes is larger than a preset first threshold value, and the number of lanes of the identified direction indication arrow is larger than a preset second threshold value, selecting to-be-compensated information corresponding to the category information of the road from the mapping relation between the preset category information and the to-be-compensated information, wherein the first threshold value and the second threshold value are set based on the category information of the road.
Based on the above example, the category information of the road is classified into an expressway and a general road, and thus, this 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 first threshold value, if the total number of lanes is larger than the first threshold value, continuing judging the number of lanes of the identified direction indication arrow and the second threshold value, if the number of lanes of the identified direction indication arrow is larger than the second threshold value, and the category information of the road is an expressway, selecting information to be complemented corresponding to the expressway from the mapping relation, and if the category information of the road is a common road, selecting information to be complemented corresponding to the common road from the mapping relation.
The first threshold value corresponding to the expressway is different from the first threshold value corresponding to the normal road, and the second threshold value corresponding to the expressway is also different from the second threshold value corresponding to the normal road.
In some embodiments, if the class information of the lane is a highway, the first threshold is 3 and the second threshold is 2; if the class information of the lane is a common road, the first threshold value is 2, and the second threshold value is 1.
In the above example, there is no absolute relationship between the step of determining the total number of lanes and the first threshold value and the step of determining the number of lanes of the identified direction arrow and the size of the second threshold value.
In some embodiments, if the category information of the road is a common road, the mapping relationship includes: if the leftmost lane does not recognize the direction indication arrow, determining the leftmost lane as a lane to be complemented, and determining the direction indication arrow to be complemented as a straight or left-turning arrow; if the rightmost lane does not recognize the direction indication arrow, determining the rightmost lane as a lane to be complemented, and determining the direction indication arrow to be complemented as a straight or right-turning arrow; if the middle lane between the leftmost lane and the rightmost lane does not recognize the direction indication arrow, the middle lane is determined as a lane to be complemented, and the direction indication arrow to be complemented is determined as a straight arrow.
In some embodiments, if the category information of the road is an expressway, the mapping relationship includes: if the direction indication arrow is not recognized for the non-rightmost lane, the non-rightmost lane is determined to be the lane to be complemented, and the direction indication arrow to be complemented is determined to be the straight arrow.
It should be noted that, a plurality of to-be-repaired lanes and to-be-repaired direction indication arrows corresponding to the to-be-repaired lanes may exist at the same time.
For a better understanding of the solution of the embodiments of the present disclosure, the following description will be made with reference to fig. 9 for a drawing method of an initial high-precision map corresponding to a general road:
as shown in fig. 9, the normal road has 6 lanes marked 1 to 6, respectively, and then the normal road has 5 lanes, such as one lane between the lanes marked 1 and 2, and the lanes are marked 1 to 5 lanes, respectively, i.e., the lanes are marked from left to right, based on the track direction (marked "the traveling direction of the vehicle" in fig. 9).
Wherein the direction indicating arrow identified by the identification technique includes a straight arrow of 2 lanes between the reticle 2 and the reticle 3 (labeled as "identified arrow" in fig. 9), and a straight arrow of 4 lanes between the reticle 4 and the reticle 5 (labeled as "identified arrow" in fig. 9).
The center position of the identified leftmost arrow (i.e. the straight arrow on the 2 lanes) is determined (the determination method of the center position is not repeated herein, and is referred to as a, and the center line of the 1 lanes is determined, a ray perpendicular to the center line from the a is led out, an intersection point B exists between the ray and the center line, the intersection point B is the center point of the direction indication arrow to be compensated, the direction indication arrow to be compensated of the 1 lanes is known to be the straight arrow or the left-turn arrow based on the mapping relationship, therefore, the straight arrow or the left-turn arrow is drawn based on the center point B, and the drawn straight arrow or the left-turn arrow is referred to as the "arrow to be compensated" in fig. 9.
In other embodiments, a ray perpendicular to the track direction (the running direction of the vehicle) from a may be led out, where the ray is a horizontal position where the direction indication arrow to be compensated is located, and the center B point of the marking 1 and the marking 2 is a center point of the direction indication arrow to be compensated (a straight or left-turning arrow, which is labeled as "arrow to be compensated" in fig. 9) of the 1 lane.
Similarly, the center point C of the marking 3 and the marking 4 is the center point of the 3-lane to-be-compensated direction indication arrow, and the to-be-compensated direction indication arrow of the 3-lane is known to be 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 "to-be-compensated arrow" in fig. 9, and the length and width of the arrow are the sizes of the existing straight arrows preferentially referring to the same lane.
Similarly, the center D points of the marking 5 and the marking 6 are the center points of the 5-lane to-be-compensated direction indication arrows, and the to-be-compensated direction indication arrow of the 1-lane can be known to be a straight-going or right-turning arrow based on the mapping relationship, so that the straight-going or right-turning arrow is drawn based on the center point D, and the drawn straight-going or right-turning arrow is marked as a "to-be-compensated arrow" in fig. 9.
The method for drawing the initial high-precision map corresponding to the expressway is described below with reference to fig. 10:
as shown in fig. 10, the expressway has 5 lanes marked 1 to 5, respectively, and then the expressway has 4 lanes, such as one lane between the lane 1 and the lane 2, and the lanes are marked 1 to 4 lanes, respectively, i.e., the lanes are marked from left to right, based on the track direction (marked as "the traveling direction of the vehicle" in fig. 10).
Wherein the direction indication arrow identified by the identification technique includes an arrow of 2 lanes to 4 lanes (labeled as "identified arrow" in fig. 10).
The center position of the identified leftmost arrow (i.e. the straight arrow on the 2 lanes) is determined (the determination method of the center position is not repeated herein, see the above example), and is denoted as a, and the center line of the 1 lanes is determined, a ray perpendicular to the center line from the a is led out, an intersection point B exists between the ray and the center line, the intersection point B is the center point of the direction indication arrow to be compensated, it is known that the direction indication arrow to be compensated of the 1 lanes is the straight arrow based on the mapping relationship, therefore, the straight arrow is drawn based on the center point B, and the drawn straight arrow is denoted as the "arrow to be compensated" in fig. 10.
In other embodiments, a ray perpendicular to the track direction (the running direction of the vehicle) from a may be led out, where the ray is a horizontal position where the direction indicating arrow to be compensated is located, and the center B point of the marking 1 and the marking 2 is the center point of the direction indicating arrow to be compensated (straight arrow, labeled as "arrow to be compensated" in fig. 10) of the 1 lane.
According to another aspect of the embodiment of the disclosure, the embodiment of the disclosure also provides a device for manufacturing the high-precision map.
Referring to fig. 11, fig. 11 is a schematic diagram of a device for manufacturing a high-precision map according to an embodiment of the disclosure.
As shown in fig. 11, the apparatus includes:
a generating module 11, 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, line marking information of the road, and the number of lanes of the road including the identified direction indication arrow;
the determining module 12 is configured to determine to-be-compensated information of the initial high-precision map according to category information of the road, marking information of the road, and the number of lanes of the road including the identified direction indication arrow, where the to-be-compensated information includes a to-be-compensated direction indication arrow and a to-be-compensated lane corresponding to the to-be-compensated direction indication arrow;
The drawing module 13 is configured to draw the direction indication arrow to be compensated on the lane to be compensated according to the track direction corresponding to the road, and generate a target precise map;
and a display module 14 for displaying the target precise map.
In some embodiments, the drawing module 13 is configured to extract one of the identified direction indicating arrows as a target arrow, and draw the direction indicating arrow to be complemented on the lane to be complemented 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 complemented, and draw the direction indication arrow to be complemented 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 central position perpendicular to the central line, determine an intersection point of the ray and the central line as a central point of the direction indication arrow to be compensated, and draw the direction indication arrow to be compensated according to the central point, where the direction of the direction indication arrow to be compensated is the same as the track direction.
In some embodiments, the target arrow is a leftmost one of the identified direction indication arrows, and the leftmost one is referenced to the trajectory direction.
In some embodiments, the determining module 12 is configured to determine a total number of lanes of the road according to the marking information of the road, and select the to-be-compensated information corresponding to the category information of the road from a mapping relationship between the preset category information and the to-be-compensated information in response to the total number of lanes being greater than a preset first threshold and the number of lanes of the identified direction indication arrow being greater than a preset second threshold, 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 the processor, when executing the instructions in the memory, is configured to implement the method as described in 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 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 configured to execute executable modules, such as computer programs, stored in the memory.
The memory may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. Communication connection between the system network element and at least one other network element is achieved through at least one communication interface, which may be wired or wireless, and the internet, wide area network, local network, metropolitan area network, etc. may be used.
The bus may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be divided into address buses, data buses, control buses, etc.
The memory is used for storing a program, and the processor executes the program after receiving an execution instruction, so that the method disclosed in any embodiment of the foregoing disclosure may be applied to the processor or implemented by the processor.
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 by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal processor (Digital SignalProcessing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
According to another aspect of the disclosed embodiments, the disclosed embodiments also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement a method as described in any of the above embodiments.
The reader will appreciate that in the description of this specification, a description of terms "one embodiment," "some embodiments," "an example," "a particular 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, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and units described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purposes of the embodiments of the present disclosure.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should also be understood that, in the embodiments of the present disclosure, the sequence number of each process described above does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
The foregoing is merely a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any equivalent modifications or substitutions will be apparent to those skilled in the art within the scope of the present disclosure, and these modifications or substitutions should be covered in the scope of the present 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 making a high-precision map, the method comprising:
generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow;
determining to-be-supplemented information of the initial high-precision map according to category information of the road, marking information of the road and the number of lanes of the road, which contain the identified direction indication arrow, wherein the to-be-supplemented information is obtained according to a mapping relation between the preset category information and the to-be-supplemented information when the total number of lanes is larger than a preset first threshold value and the number of lanes of the identified direction indication arrow is larger than a preset second threshold value, the first threshold value is larger than the second threshold value, the marking information of the road comprises the number of markings, the total number of lanes is determined according to the number of markings, and the to-be-supplemented information comprises the to-be-supplemented direction indication arrow and to-be-supplemented lanes corresponding to the to-be-supplemented direction indication arrow; the category information of the road is divided into a highway and a common road;
If the category information of the road is a common road, the mapping relationship includes: the lane in which the direction indication arrow is not recognized in the road is a lane to be complemented, and the direction indication arrow to be complemented of the lane to be complemented comprises: straight arrow, left turn arrow, right turn arrow;
if the category information of the road is a highway, the mapping relationship includes: the method comprises the steps that a non-rightmost lane in the road does not recognize a direction indication arrow as a lane to be complemented, and the direction indication arrow to be complemented of the lane to be complemented is a straight arrow;
drawing the direction indication arrow to be compensated on the lane to be compensated according to the track direction corresponding to the road, and generating a target precise map, wherein the drawing of the direction indication arrow to be compensated is based on a ray of which the central position of the target arrow is perpendicular to the central line of the lane to be compensated, the target arrow is one of the identified direction indication arrows, and the central position of the target arrow is the coordinate of an intermediate point between the coordinates of the starting point and the coordinates of the end point of the target arrow in the track direction;
and displaying the target high-precision map.
2. The method of claim 1, wherein the drawing the direction-to-be-compensated indication arrow on the lane to be compensated according to the track direction corresponding to the road comprises:
Extracting one of the identified direction indication arrows as a target arrow;
and drawing the direction indication arrow 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 drawing the direction-to-be-compensated arrow on the lane to be-compensated 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 complemented;
and drawing the direction indication arrow to be complemented according to the center position, the center line and the track direction.
4. A method according to claim 3, wherein said drawing the direction indication arrow to be compensated from the center position and the center line comprises:
generating a ray having the central location perpendicular to the centerline;
determining an intersection point of the ray and the central line as a central point of the direction indication arrow to be complemented;
and drawing the direction indicating arrow to be complemented according to the center point, wherein the direction of the direction indicating arrow to be complemented is the same as the track direction.
5. The method of claim 2, wherein the target arrow is a leftmost one of the identified direction indication arrows, and the leftmost one is referenced to the trajectory direction.
6. The method according to any one of claims 1 to 5, wherein 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 including the identified direction indication arrow includes:
determining the total number of lanes of the road according to the marking information of the road;
and responding to the fact that the total number of lanes is larger than a preset first threshold value, and the number of lanes of the identified direction indication arrow is larger than a preset second threshold value, selecting the information to be supplemented corresponding to the category information of the road from the mapping relation of the preset category information and the information to be supplemented, wherein the first threshold value and the second threshold value are set based on the category information of the road.
7. A high-precision map making apparatus, characterized in that the apparatus comprises:
the generation module is used for generating an initial high-precision map according to the acquired image information of the road, wherein the initial high-precision map comprises category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow;
The system comprises a determining module, a determining module and a determining module, wherein the determining module is used for determining to-be-supplemented information of the initial high-precision map according to category information of the road, marking information of the road and the number of lanes of the road containing the identified direction indication arrow, the to-be-supplemented information comprises to-be-supplemented direction indication arrow and to-be-supplemented lanes corresponding to the to-be-supplemented direction indication arrow, the to-be-supplemented information is obtained according to the mapping relation between the preset category information and the to-be-supplemented information when the total number of lanes is larger than a preset first threshold value and the number of lanes of the identified direction indication arrow is larger than a preset second threshold value, the first threshold value is larger than the second threshold value, the marking information of the road comprises the number of markings, the total number of lanes is determined according to the number of markings, and the category information of the road is divided into highways and common roads; if the category information of the road is a common road, the mapping relationship includes: the lane in which the direction indication arrow is not recognized in the road is a lane to be complemented, and the direction indication arrow to be complemented of the lane to be complemented comprises: straight arrow, left turn arrow, right turn arrow; if the category information of the road is a highway, the mapping relationship includes: the method comprises the steps that a non-rightmost lane in the road does not recognize a direction indication arrow as a lane to be complemented, and the direction indication arrow to be complemented of the lane to be complemented is a straight arrow;
The drawing module is used for drawing the direction indication arrow to be compensated on the lane to be compensated according to the track direction corresponding to the road, and generating a target precise map, wherein the drawing of the direction indication arrow to be compensated is based on the ray that the central position of a target arrow is perpendicular to the central line of the lane to be compensated, the target arrow is one of the identified direction indication arrows, and the central position of the target arrow is the coordinate of an intermediate point between the coordinate of the starting point and the coordinate of the end point of the target arrow in the track direction;
and the display module is used for displaying the target high-precision map.
8. The apparatus of claim 7, wherein the means for drawing is configured to extract one of the identified direction indication arrows as a target arrow, and draw the direction indication arrow on the lane to be complemented according to the target arrow and the trajectory direction.
9. An electronic device, comprising: a memory, a processor;
the memory is used for storing the processor executable instructions;
Wherein the processor, when executing the instructions in the memory, is configured to implement the method of any one of claims 1 to 6.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 6.
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| CN112528747A (en) * | 2020-11-13 | 2021-03-19 | 浙江大华技术股份有限公司 | Motor vehicle turning behavior identification method, system, electronic device and storage medium |
| CN112132853B (en) * | 2020-11-30 | 2021-02-05 | 湖北亿咖通科技有限公司 | Method and device for constructing ground guide arrow, electronic equipment and storage medium |
| CN112541049B (en) * | 2020-12-25 | 2024-03-01 | 北京百度网讯科技有限公司 | High-precision map processing method, apparatus, device, storage medium, and program product |
| CN113096399A (en) * | 2021-04-01 | 2021-07-09 | 浙江大华技术股份有限公司 | Lost information complementing method and device |
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