CN111782751A - Method, device and electronic device for generating road at intersection in map - Google Patents

Abstract

The application provides a method, a device and electronic equipment for generating a road of an intersection in a map, which are used for obtaining nodes in an intersection region on each boundary line of lanes to be connected on a first road and a second road so as to obtain an endpoint candidate set of road representation lines of the intersection, selecting endpoints of the representation lines from the nodes and generating the representation lines for representing the road of the intersection according to the endpoints. Compared with the existing method for manually drawing the road data of the intersection, the method and the device for automatically generating the intersection can automatically generate the high-quality intersection road.

Description

Method, device and electronic device for generating road at intersection in map

technical field

Embodiments of the present invention relate to the technical field of geographic information, and in particular, to a method, device and electronic device for generating a road at an intersection in a map.

Background technique

High-precision map production is divided into fieldwork and internal work. Fieldwork refers to the process of collecting road data when the vehicle goes out to collect road data. Internal work refers to the process of processing the data collected by the collecting vehicle and making it into a high-precision map.

An intersection refers to a plane intersection, that is, a place where two or more roads intersect on the same plane, and there is a conflict between traffic flows. Usually, when performing internal work, the operator draws the road at the intersection manually by drawing points one by one, and also needs to adjust the shape of the drawn map, which is time-consuming and labor-intensive, and the work efficiency is low. Folded corners do not meet product requirements.

However, the existing way of manually drawing roads at intersections is inefficient and the drawing quality is not high.

SUMMARY OF THE INVENTION

The present application provides a method, device and electronic device for generating a road at an intersection in a map, aiming to solve the technical problem of low efficiency in the existing method of manually drawing roads at an intersection.

In a first aspect, the present application provides a method for generating an intersection road in a map, comprising: acquiring a first node on the boundary line of each first lane in the first road and the boundary of each second lane in the second road The second node on the line, wherein the intersection of the first road and the second road forms an intersection, and both the first node and the second node are located at the intersection; according to the plurality of first nodes and the plurality of second nodes The node determines a representation line endpoint for representing the third road located at the intersection; and generates a representation line for representing the third road located at the intersection based on the representation line endpoints of the third road.

In a second aspect, the present application provides an apparatus for generating a road at an intersection in a map, the apparatus comprising: an acquisition module configured to acquire a first node on the boundary line of each first lane in the first road and each road in the second road A second node on the boundary line of the second lane, wherein the intersection of the first road and the second road forms an intersection, and both the first node and the second node are located at the intersection; the determining module is used for determining according to The plurality of first nodes and the plurality of second nodes determine the endpoints of the representation line for representing the third road located at the intersection; the generating module is configured to generate the endpoints for representing the line located at the intersection according to the endpoints of the representation line of the third road. The line representing the third road.

In a third aspect, the present application provides an electronic device, comprising: a memory for storing a program; a processor for executing a program stored in the memory, and when the program is executed, the processor is used for executing the map in the first aspect. Method for generating roads at intersections.

The present application provides a method, device, and electronic device for generating a road at an intersection in a map, obtaining nodes on the boundary line of each lane on the first road that are located in the intersection area, and obtaining nodes on the boundary line of each lane on the second road that are located in the intersection area. Nodes in the intersection area to obtain the endpoint candidate set of the intersection road reference line and boundary line, select the endpoints of the reference line and boundary line from the above nodes, and then fit the reference line and boundary line according to the above endpoints to generate intersections road at intersection. Compared with the existing road data of manually drawn intersections, the present application can automatically generate high-quality intersection roads. According to statistics, it takes 12 minutes for the operator to draw an intersection road with only one destination lane. This application can reduce the operation time to 7s, and it takes 45 minutes to draw an intersection road with multiple destination lanes. This application can reduce the operation time to 15min. , the efficiency is significantly improved.

Description of drawings

1 is a schematic flowchart of a method for generating an intersection road according to Embodiment 1 of the present application;

2 is a schematic diagram of a real scene of an intersection on which the method provided by Embodiment 2 of the present application is based;

3 is a schematic diagram of a high-precision map of an intersection on which the method provided by the second embodiment of the present application is based;

4 is a schematic diagram of an intersection on which the method provided in Embodiment 2 of the present application is based;

FIG. 5 is another schematic diagram of an intersection on which the method provided in Embodiment 2 of the present application is based;

FIG. 6 is a schematic diagram of generating the intersection road shown in FIG. 4 by using the method of Embodiment 2 for this application;

FIG. 7 is a schematic diagram of generating the intersection road shown in FIG. 5 by using the method of Embodiment 2 of the present application;

8 is a schematic diagram of an intersection road generated by the method of Embodiment 2 of the present application in a high-precision map;

9 is a schematic diagram of an intersection occurring in a road generated by the method of Embodiment 2 of the present application;

FIG. 10 is a schematic diagram showing no intersection in a road generated by the method of Embodiment 2 of the present application;

11 is a schematic diagram of a high-precision map of an intersection on which the method provided in Embodiment 3 of the present application is based;

12 is a schematic diagram of an intersection on which the method provided in Embodiment 3 of the present application is based;

13 is another schematic diagram of an intersection on which the method provided in Embodiment 3 of the present application is based;

Fig. 14 uses the method of Embodiment 3 to generate the road of the intersection shown in Fig. 12 for the application;

Fig. 15 uses the method of Embodiment 3 to generate the road of the intersection shown in Fig. 13 for the application;

FIG. 16 is a schematic diagram of an intersection road generated by the method of Embodiment 3 of the present application in a high-precision map;

17 is a schematic diagram of an intersection generated by the method provided in Embodiment 4 of the present application;

18 is a schematic diagram of a road at an intersection generated by the method of Embodiment 4 of the present application in a high-precision map;

19 is a schematic diagram of an actual scene of an intersection based on Embodiment 5 of the present application;

Figure 20 is a schematic diagram of the intersection shown in Figure 19;

21 is a schematic diagram of another intersection based on Embodiment 5 of the present application;

22 is a schematic diagram of the end point distribution of the boundary line in the fifth embodiment of the application;

Fig. 23 is the road schematic diagram of the intersection shown in Fig. 20 after fitting;

Figure 24 is a schematic diagram of the road after fitting of the intersection shown in Figure 21;

Fig. 25 is a schematic diagram of the intersection road shown in Fig. 20 in a high-precision map;

FIG. 26 is a schematic diagram of drawing the intersection shown in FIG. 20 by using an existing manual method;

FIG. 27 is a schematic diagram of an intersection on which Embodiment 6 of the present application is based;

Fig. 28 is a schematic diagram of the road after fitting of the intersection shown in Fig. 27;

Figure 29 is a schematic diagram of the road after the right-turn intersection is fitted;

30 is a schematic diagram of an intersection road generating apparatus shown in Embodiment 7 of the present application;

FIG. 31 is a schematic structural diagram of an electronic device according to Embodiment 8 of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

When the operator performs the internal work and draws the road at the intersection, he needs to manually draw the points one by one, and then connect multiple points to draw the preliminary shape of the road at the intersection, and then adjust the preliminary shape of the road to complete the intersection. the way. According to the number of lanes in the same direction of the intersection, it can be divided into large intersections and small intersections. Among them, an intersection with only one lane in the same direction is defined as a small intersection. For example: the intersection of the community entrance and exit into the municipal road. An intersection with multiple lanes in the same direction is defined as a small intersection. For example: the intersection of one municipal road with another municipal road. By counting the road usage time of the operators to draw the intersections, the following data can be obtained: it takes an average of 12 minutes for skilled operators to draw roads at small intersections, and it takes an average of 45 minutes to draw roads at large intersections. From the above analysis, it can be seen that the existing road method in which the operator manually draws the intersection has the problem of taking a long time. In addition, by manually connecting multiple points to draw the lane boundary line, the drawn lane boundary line is prone to corners, which cannot meet the drawing requirements.

In view of the above problems, the inventive concept of the present application is to select a node located at an intersection from the boundary of two roads that need to intersect, as a candidate point for the end point of the reference line and the boundary line. First determine the endpoint of the reference line, and then determine the endpoint of the boundary line based on the endpoint of the reference line. After the endpoints of the reference line and the boundary line are determined, each endpoint is fitted to realize the automatic generation of the road at the intersection.

FIG. 1 is a schematic flowchart of a method for generating a road at an intersection according to Embodiment 1 of the present application. As shown in FIG. 1, Embodiment 1 of the present application provides a generation method, which includes the following steps:

S101. Acquire a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second road.

The intersection of the first road and the second road forms an intersection, the first road includes at least one first lane connected to the road at the intersection, and the second road includes at least one second lane connected to the road at the intersection. A first node is extracted on the boundary line of each first lane, and the first node is located at the intersection. A second node is extracted on the boundary line of each second lane, and the second node is located at the intersection. Among them, the meaning of the node is defined as follows: when the work vehicle collects road data, if it encounters another road that needs to intersect with the current collection road at the current collection position, the current collection position will be marked, and according to the current collection position, the current collection position will be displayed at each point of the current collection road. A node is formed on the boundary of each lane.

It should also be noted that if the first road and the second road are both municipal roads, the lane boundary line will be marked on the first road and the second road. If either the first road or the second road is a road in the community, The roads in some communities are not marked with obvious lane boundary lines. At this time, the node can be arbitrarily determined, but the node needs to be located in the intersection area.

S102. Determine, according to a plurality of first nodes and a plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection.

The line representing the third road includes a third reference line and a third boundary line. One end point of the reference line of the intersection road is selected from the plurality of first nodes, and the other end point of the reference line of the intersection road is selected from the plurality of second nodes. After determining the reference line endpoint of the intersection road, one end point of the boundary line of the intersection road is determined according to one end point of the reference line of the intersection road, and one end point of the boundary line of the intersection road is determined according to the other end point of the reference line of the intersection road. Another endpoint of the boundary line. The endpoint of the boundary line may be located on the boundary line of the first road, or may be located on the boundary line of the second road.

S103. Generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Among them, the two end points of the reference line of the intersection road are fitted to generate the reference line of the intersection road, wherein the selection of the fitting method follows the following principles: if the reference line of the first road and the reference of the second road are the same If the angle between them is greater than the preset value, for example: 45°, use curve fitting, otherwise, use straight line fitting.

After the reference line of the road at the intersection is obtained by fitting, the two end points of the boundary line of each lane are fitted, and the boundary line can also be fitted before the reference line, and the fitting order is not limited here. The principle of fitting the boundary line selection is the same as that of the reference line. After the boundary line of each lane of the intersection is obtained by fitting, the center line is generated by fitting.

In the method for generating an intersection road in a map provided by this embodiment of the present application, the reference line endpoints and the boundary line endpoints of the intersection road are selected from the nodes on the boundary lines of the first road and the second road to compare the reference line and the boundary line. The boundary line is fitted to generate intersection roads. Compared with the existing manual drawing method, the efficiency is greatly improved, which shortens the original 15 minutes to draw small intersections to 7 seconds, and the original 45 minutes to draw large intersections to 12min.

The following describes the method for generating a road at an intersection according to Embodiment 2 of the present application. FIG. 2 is a schematic diagram of a real scene of an intersection on which the method provided by Embodiment 2 is based, and FIG. 3 is a schematic diagram of a high-precision map of the intersection on which the method provided by Embodiment 2 is based. As shown in FIG. The second road R2 constitutes a T-junction, the first road R1 only includes a first lane with two-way driving, and the first road R1 is a road located at the entrance and exit of the community. Correspondingly, the number of the first nodes is 2. The difference between the width of the first lane and the width of the second lane is within a preset threshold. The preset threshold is determined according to the standard width of the lane. That is, the width of the first lane and the width of the second lane are not much different. The intersection road includes a third road R3 and a fourth road R4, the direction of the third road R3 is the direction of exiting the second road R2, and the direction of the fourth road R4 is the direction of entering the second road R2. The third road R3 includes a third lane L3, and the fourth road R4 includes a fourth lane L4. In the following description, the generation of the third road R3 is taken as an example, and the fourth road R4 may be generated in the manner of generating the third road R3.

The method for generating an intersection road provided in Embodiment 2 of the present application includes the following steps:

S201. Obtain a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second road.

Wherein, this step has been described in detail in S101, and the repetition will not be repeated. It should also be noted that: the first road R1 is the road of the entrance and exit of the community, there is no obvious boundary line on the first road R1, and the first road R1 only has Including a two-way driving lane, two points can be arbitrarily selected in the first road R1 at the intersection, as shown in Figure 3, for example: node A and node B, so that the distance between the two points is the same as that of the second lane is close to the width of , so that the difference between the width of the first lane and the width of the second lane is less than or equal to the preset threshold.

FIG. 4 is a schematic diagram of an intersection on which the method provided by Embodiment 2 is based, and FIG. 5 is another schematic diagram of an intersection on which the method provided by Embodiment 2 is based. The second road R2 is a municipal road, and a general municipal road can be divided into two In this case, as shown in Figure 4, the outermost lane is the driving lane, which can be connected to the intersection road, and the second nodes are node C, node D, node E and node F. As shown in Figure 5, the outermost lane is a non-driving lane, that is, there is a boundary line on one side of node P and node Q, and there is no boundary line on the other side, and the second lane from bottom to top is connected with the intersection road .

S202. Determine, according to the plurality of first nodes and the plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection.

Wherein, the first end point of the third reference line of the third road is determined from the plurality of first nodes. A node closest to the first end point of the third reference line is selected from the plurality of second nodes as the second end point of the third reference line. A node closest to the second end point of the third reference line is selected from the plurality of second nodes as the first end point of the boundary line of the third lane. Take the remaining first node as the second endpoint of the boundary line of the third lane.

Taking the intersection shown in FIG. 4 as an example, select from node A and node B, and select any one of the first nodes from the two first nodes as the first end point of the reference line of the third lane. Take node A as the first endpoint of the reference line for the third lane. Select from node C, node D, node E and node F, node D is the closest to node A, and node D is used as the second end point of the reference line of the third lane. Node C is the closest to node D, and node C is selected as the first endpoint of the boundary line of the third lane. Node A has been used as the first end point of the reference line of the third lane, then node B is used as the second end point of the boundary line of the third lane.

S203. Generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Wherein, this step has been described in detail in S103, and the repeated parts will not be repeated. The effect of the generated road will be described below with reference to the intersection shown in FIG. 4 . FIG. 6 is a schematic diagram of generating a road at the intersection shown in FIG. 4 using the method of the second embodiment. As shown in FIG. 6 , the reference line of the third road R3 is the curve L1 between the second node D and the first node A, and the boundary line of the third road R3 is the line between the second node C and the first node B. The middle curve is B2, and the middle line is OM.

The fourth road R4 may be generated in the same manner as the third road R3 is generated. Determine in turn the two endpoints of the reference line and the two endpoints of the boundary line of the fourth road R4 as: node B, node F, node E, node A, and then fit the endpoints of the reference line and the boundary line to generate The reference line L2 and the boundary line B3 are used to regenerate the center line B4.

As shown in FIG. 6 , the width of the lane starting point of the third road is CD, the width of the lane end point is AB, the width of the lane starting point of the fourth road is AB, and the width of the lane end point is EF. The lane end width of the third road is the lane start width of the fourth road. After the third lane and the fourth lane are generated, the lane end point of the third road and the lane start point of the fourth lane are automatically connected. For example, the end point of the boundary line DA and the start point of the boundary line AE will be automatically merged into a boundary node at the position of A; similarly, the end point of the boundary line CB and the start point of the boundary line BF will be automatically merged into a boundary node at the position of B. Node; the end point of the center line MO and the start point of the center point ON will be merged into a center line node at the position of O.

FIG. 7 is a schematic diagram of generating a road at the intersection shown in FIG. 5 using the method of the second embodiment. The difference from Fig. 6 is that the road at the intersection is connected with the second lane from the bottom to the top, and the second node is translated to the boundary line of the second lane from the bottom to the top.

In addition, it should be noted that after generating the boundary line, center line and reference line of the third road and the fourth road, attribute editing can be performed, for example: reference line attribute: the default road type is ordinary road. Lane boundary attribute: the boundary type is "no marking or indistinguishable boundary", the crossing direction is "cannot cross", and the adjacency attribute is "not applicable". The centerline defaults to the centerline of the regular lane, no properties need to be changed. After completing the above configuration, a schematic diagram of the road at the intersection as shown in FIG. 8 can be generated in the high-precision map.

In addition, it should be noted that, by adjusting the fitting parameters, the boundary line, the center line and the reference line attached to the same point do not intersect. 10 is a schematic diagram of no intersection in the road generated in the second embodiment.

The method for generating an intersection road provided in the second embodiment of the present application can generate an intersection road with only one lane when the first road includes a two-way lane in a T-shaped intersection formed by a first road and a second road.

The following describes the method for generating an intersection road according to Embodiment 3 of the present application. Fig. 11 is a schematic diagram of the intersection on which the method provided by the third embodiment is based in the high-precision map. As shown in Fig. 11 , the first road R1 and the second road R2 form a T-shaped intersection, and the difference from the above-mentioned second embodiment is: A road consists of two lanes, one of which is an incoming lane and the other is an outgoing lane.

The method for generating an intersection road provided in Embodiment 3 of the present application includes the following steps:

S301. Obtain a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second road.

Among them, S301 has been described in detail in S101, and the repetition will not be repeated. What also needs to be explained is:

The first road R1 includes two lanes, one of which is an incoming lane and the other is an outgoing lane. Since the first road is a community road, the boundary line is not marked on the road, and the first road R1 at the intersection can be used at the intersection. Three points are arbitrarily selected in the interior, and the width between any two closest nodes is close to the width of the second lane. As shown in Figure 11, for example: node A, node B and node C, make the distance between two points AB and BC close to the width of the second lane, so that the width of the first lane and the second The difference between the widths of the lanes is less than or equal to the preset threshold. The first node includes node A and node B, or the first node includes node B and node C.

FIG. 12 is a schematic diagram of an intersection on which the method provided by Embodiment 3 is based, and FIG. 13 is another schematic diagram of an intersection on which the method provided by Embodiment 3 is based. As shown in FIG. 12 , the outermost lane is a driving lane, and can Connected with the intersection road, the second node is node D, node E, node F and node G. As shown in Figure 13, the outermost lane is a non-driving lane, that is, there is a boundary line on one side of node P and node Q, and there is no boundary line on the other side, and the second lane from bottom to top is connected to the intersection road .

S302. Determine, according to the plurality of first nodes and the plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection.

Wherein, this step has been described in detail in S202, and the repetition will not be repeated. Taking the intersection shown in FIG. 12 as an example, the first nodes are node A and node B. Select Node A as the first endpoint of the reference line for the third lane. The second nodes are node D, node E, node F, and node G. Node D is the closest to node A, and node D is used as the second endpoint of the reference line of the third lane. Node E is the closest to node D, and node E is used as the first endpoint of the boundary line of the third lane. Node B is located between Node A and Node C, and Node B is selected as the second endpoint of the reference line of the third lane.

S303. Generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Wherein, this step has been described in detail in S103, and the repeated parts will not be repeated. The effect of the generated road will be described below with reference to the intersection shown in FIG. 12 . FIG. 14 shows the road of the intersection shown in FIG. 12 generated by the method of the third embodiment. As shown in FIG. 14 , the reference line of the third road R3 is the curve L1 between the node D and the node A, the boundary line of the third road R3 is the curve B2 between the node E and the node B, and the center line is B1 .

The fourth road R4 may be generated in the same manner as the third road R3 is generated. The first node is node A, node B and node C, and the second node is node D, node E, node G and node F. Determine in turn the two endpoints of the reference line and the two endpoints of the boundary line of the fourth road R4 as: node B, node G, node C, node F, and then fit the endpoints of the reference line and the boundary line to generate The reference line L2 and the boundary line B3 are used to regenerate the center line B4.

As shown in FIG. 14 , the lane start width of the third road is DE, the lane end width is AB, the lane start width of the fourth road is BC, and the lane end width is FG. After the third lane and the fourth lane are generated, the lane end point of the third road and the lane start point of the fourth lane may be automatically connected. For example: the end point of the boundary EB and the start point of the boundary BG will be automatically merged into a boundary node at the position of B.

FIG. 15 shows the road of the intersection shown in FIG. 13 generated by the method of the third embodiment. The difference from Fig. 14 is that the road at the intersection is connected with the second lane from the bottom to the top, and the second node is translated to the boundary line of the second lane from the bottom to the top. The same can be described with reference to FIG. 14 .

In addition, it should be noted that the attributes of the boundary line, the center line and the reference line of the third road and the fourth road are the same as those of the second embodiment, and are not repeated here. By adjusting the fitting parameters so that there is no intersection between the boundary line, the center line and the reference line attached to the same point, the schematic diagram of the road at the intersection as shown in Figure 16 can be generated in the high-precision map.

The road generation method for the intersection provided by the third embodiment of the present application, in the T-shaped intersection formed by the first road and the second road, and when the first road includes an outgoing lane and an incoming lane, a road with only one lane can be generated. intersection road.

The following focuses on describing the method for generating roads at intersections provided in Embodiment 4 of the present application. The difference from the method for generating roads at intersections shown in Embodiment 2 is that the difference between the width of the first lane and the width of the second lane is: greater than the preset threshold.

The method for generating an intersection road provided in Embodiment 4 of the present application includes the following steps:

S401. Acquire a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second road.

Among them, this step has been described in detail in S101, and the repetition will not be repeated. It should be noted that: two points can be arbitrarily selected in the first road R1 located at the intersection, so that the distance between the two points is the same as the distance between the two points. The difference in width is relatively far, so that the difference between the width of the first lane and the width of the second lane is less than or equal to a preset threshold.

S402. Determine, according to the plurality of first nodes and the plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection.

Wherein, the first end point of the third reference line of the third road is determined from the plurality of first nodes. A node closest to the first end point of the third reference line is selected from the plurality of second nodes as the second end point of the third reference line. A node closest to the second end point of the third reference line is selected from the plurality of second nodes as the first end point of the boundary line of the third lane. The second end point of the boundary line of the third lane is determined from the boundary line of the second lane where the second end point of the reference line of the third lane is located.

17 is a schematic diagram of the intersection on which the method provided in the fourth embodiment is based. In order to determine the second end point of the boundary line of the third lane, the second end point of the reference line from the third lane may be located on the boundary line of the second lane. The endpoints of the centerline of the third lane are randomly selected. For example: select G so that the distance between the second end point of the boundary line and the end point of the center line is the same as the distance between the first end point of the reference line and the end point of the center line. That is, AG=GI. The end point H of the boundary line of the fourth road is determined in the same way, that is, BG=GH. The lane start width of the third road is CD, the lane end width is AI, the lane start width of the fourth road is BH, and the lane end width is EF. A schematic diagram of the road at the intersection as shown in Figure 18 can be generated in the high-precision map.

S403. Generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Wherein, this step has been described in detail in S103, and repeated parts will not be repeated.

In the road generation method provided in the fourth embodiment of the present application, in the T-junction formed by the first road and the second road, and the first road includes a two-way driving lane, an intersection road with only one lane can be generated.

The following describes the method for generating a road at an intersection provided by Embodiment 5 of the present application. The method for generating a road at an intersection provided by Embodiment 5 of the present application includes the following steps:

S501. Acquire a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second road.

Wherein, the first road includes at least one first lane, the second road includes at least one second lane, the number of the first lanes to be connected is the same as the number of the second lanes to be connected, the intersection road includes a third road, the third The road includes at least one third lane. A first node is extracted on the boundary line of each first lane, and the first node is located at the intersection. A second node is extracted on the boundary line of each second lane, and the second node is located at the intersection.

19 is a schematic diagram of an actual scene of an intersection based on Embodiment 5, and FIG. 20 is a schematic diagram of the intersection shown in FIG. 19 . As shown in FIG. 20 , the reference lines of the first road L1 and the second road L2 are parallel, and the Both the first road L1 and the second road L2 only show three lanes that need to be connected. The endpoints of the boundary lines of the three lanes of the first road L1 are taken as the first nodes, and the endpoints of the boundary lines of the three lanes of the second road L2 are taken as the second nodes. FIG. 21 is another intersection based on the fifth embodiment. A schematic diagram of the intersection, as shown in Figure 21, the reference line of the first road B1 and the second road L2 are perpendicular, and only the lanes that need to be connected are shown on the second road L2, and the boundary lines of the lanes to be connected of the first road B1 are drawn. The end point is used as the first node, and the end point of the boundary line of the lane to be connected of the second road L2 is used as the second node.

S502. Determine, according to a plurality of first nodes and a plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection.

Wherein, the method of determining the endpoint of the third reference line of the third road is specifically: selecting the first endpoint of the third reference line of the third road from a plurality of first nodes according to the actual scene of the intersection, and selecting the first endpoint of the third reference line of the third road from the second node Point to select the second endpoint of the third reference line. The actual scene of the intersection refers to the connection situation of each lane of the road at the intersection with each lane of the first road, and the connection situation with each lane of the second road. Based on this, the first end point of the third reference line of the third road is selected from the plurality of first nodes, and the second end point of the third reference line is selected from the second nodes.

Continuing to take the intersection shown in FIG. 20 as an example, the actual scene of the intersection is: the first road L1 and the second road L2 have 3 straight lanes that need to be connected, respectively, from the first road L1 and the second road L2. Select the reference line endpoint on the right boundary line of the leftmost lane.

Continuing to take the intersection shown in Figure 21 as an example, the actual scene of the intersection is: the left turn lane of the first road B1 needs to be connected to the straight lane of the second lane L2, and the first road and the second road are to be connected. Select the node on the right boundary line of the lane as the reference line endpoint.

The specific manner of determining the end point of the third boundary line of the third road is as follows: respectively selecting the end point of the third reference line of the third road from the plurality of first nodes and the plurality of second nodes. Obtain a first number of first lanes and a second number of second roads that are on the same side of the third reference line endpoint. Based on the first number and the second number, the boundary line endpoints of the third lane are selected from the first node and the second node, respectively.

Since the numbers of the first lane and the second lane are the same, in general, the first number and the second number are the same. If the first number and the second number are the same, select the node from the first node that is the first preset number of nodes from the end point of the third reference line as the first end point of the boundary line of the third lane, and select the node from the second node Select the node that is the first preset number of nodes away from the end point of the third reference line as the second end point of the boundary line of the third lane.

Continuing to take the intersection shown in Figure 20 as an example, according to the actual scene of the intersection, there is a third lane on the left of the reference line, two third lanes on the right of the reference line, and a third lane on the left of the reference line as an example. Among the first nodes on the left side of the line end point, the node next to the reference line end point is selected as an end point of the boundary line of the third lane. In the second node located to the left of the reference line end point, the node immediately adjacent to the reference line end point is selected as the other end point of the boundary line of the third lane. 22 is a schematic diagram of the distribution of endpoints of the boundary line in the fifth embodiment. The endpoints of a boundary line of the third lane located on the left side of the reference line are divided into node C and node F.

S503. Generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Wherein, this step has been described in detail in S103, and repeated parts will not be repeated.

Fig. 23 is a road schematic diagram of the intersection shown in Fig. 20 after fitting, the figure only shows the connection relationship of three straight lanes, Fig. 24 is a road schematic diagram of the intersection shown in Fig. 21 after fitting, The figure shows only one left-turn lane. FIG. 25 is a schematic diagram of the intersection shown in FIG. 20 in a high-precision map. Fig. 26 shows the road of the intersection shown in Fig. 20 obtained by using the existing manual method. By comparing FIG. 25 and FIG. 26 , it can be seen that the method provided by the embodiment of the present application can generate a road of higher quality, and the road has no corners.

The road generation method provided in the fifth embodiment of the present application can generate an intersection road including multiple lanes when the to-be-connected lane of the first road and the to-be-connected lane of the second road are the same.

The following describes the method for generating roads at intersections according to Embodiment 6 of the present application. The difference from the method for generating roads at intersections shown in Embodiment 5 is that the number of first lanes and the number of second lanes are different.

The method for generating an intersection road provided in Embodiment 6 of the present application includes the following steps:

S601. Acquire a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second road.

Wherein, this step has been described in detail in S401, and repeated parts will not be repeated, and this step is illustrated here as an example. FIG. 27 is a schematic diagram of an intersection based on Embodiment 6. As shown in FIG. 27 , the reference lines of the first road L1 and the second road L2 are parallel, the first road L1 has two straight lanes that need to be connected, and the second road L1 L2 has three lanes to connect. The end points of the boundary lines of the two lanes of the first road L1 are used as the first nodes, and the end points of the boundary lines of the three lanes of the second road L2 are used as the second nodes.

S602. Determine, according to the plurality of first nodes and the plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection.

Wherein, this step has been described in detail in S501, and repeated parts will not be repeated. The manner of determining the end point of the third reference line of the third road is the same as that in the fifth embodiment. The specific manner of determining the end point of the third boundary line of the third road is as follows: respectively selecting the end point of the third reference line of the third road from the plurality of first nodes and the plurality of second nodes. Obtain a first number of first lanes and a second number of second roads that are on the same side of the third reference line endpoint. Based on the first number and the second number, the boundary line endpoints of the third lane are selected from the first node and the second node, respectively.

Since the numbers of the first lane and the second lane are different, in general, the first number and the second number are different. If the first number is greater than the second number, a node from the first nodes by the first preset number of nodes from the end point of the third reference line is selected as the first end point of the boundary line of the third lane. Determine whether there is a node in the second node with a first preset number of nodes from the endpoint of the third reference line; if so, select a node with a first preset number of nodes away from the endpoint of the third reference line as the third The second endpoint of the boundary line of the lane. If not, select a node from the second node that is a second preset number of nodes away from the end point of the third reference line as the second end point of the boundary line of the third lane, where the second preset number of nodes and the first preset number of nodes are The difference is equal to the difference between the first quantity and the second quantity.

Continuing to take the intersection shown in FIG. 27 as an example, the actual scene of the intersection is: the 2 lanes of the first road L1 and the 3 straight lanes of the second road L2 need to be connected, from the first road L1 and the second road In L2, select the reference line endpoint on the right boundary line of the leftmost lane.

The endpoints of the reference line of the third road are Node A and Node B. According to the actual road conditions of the intersection, there is a lane on the left side of Node A, a lane on the right side of Node A, and a lane on the left side of Node B. There is one lane on the side and two lanes on the right side of node B.

For the lane on the left side of the reference line, the first node C is next to the first node A, the second node F is next to the second node B, and the first node C and the second node F are on the same boundary line. an endpoint. For the lane on the right side of the reference line, the first node D is adjacent to the right side of the first node A, the second node G is immediately adjacent to the right side of the second node B, and the first node D and the second node G are the same Two endpoints on the boundary line, the second node H is separated by a node from the second node B, the second node H cannot find the node with the same number of interval nodes, and the first node next to the first node A is selected Point D, the first node D and the second node H are two endpoints on the same boundary line. Then determine the boundary line AG corresponding to the boundary line formed by the first node D and the second node H of the cylinder.

S603. Generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Wherein, this step has been described in detail in S103, and repeated parts will not be repeated. FIG. 28 is a schematic diagram of a road after fitting of the intersection shown in FIG. 27 , and the diagram only shows the connection relationship of three straight lanes. The same method is also used when the right-turn lane on the first road is connected with the straight lane on the second road, or when the left-turn lane on the first road is connected with the straight lane on the second road. FIG. 29 is a schematic diagram of a road after fitting of a right-turn intersection, where AB is a reference line.

In the generation method provided in the sixth embodiment of the present application, when the lane to be connected on the first road and the lane to be connected on the second road are different, an intersection road including multiple lanes can be generated.

FIG. 30 is a schematic diagram of an apparatus for generating a road at an intersection according to Embodiment 7 of the present application. As shown in FIG. 30 , the device 700 for generating roads at intersections in the map provided in Embodiment 7 of the present application includes:

The obtaining module 701 is configured to obtain a first node on the boundary line of each first lane in the first road and a second node on the boundary line of each second lane in the second lane, wherein the first road The intersection with the second road forms an intersection, and both the first node and the second node are located at the intersection;

a determining module 702, configured to determine, according to the plurality of first nodes and the plurality of second nodes, an endpoint of a representation line for representing a third road located at an intersection;

The generating module 703 is configured to generate a representation line for representing the third road located at the intersection according to the endpoints of the representation line of the third road.

Optionally, the intersection is a T-junction, and the third road includes only one third lane, indicating that the line includes a reference line; the determining module 702 is specifically configured to: determine a third reference of the third road from a plurality of first nodes The first end point of the line; the node closest to the first end point of the third reference line is selected from the plurality of second nodes as the second end point of the third reference line.

Optionally, the representation line includes a boundary line; the determining module 702 is specifically configured to: select a node closest to the second end point of the third reference line from the plurality of second nodes as the first end of the boundary line of the third lane point.

Optionally, the first road includes a first lane, the difference between the width of the first lane and the width of the second lane is less than or equal to a preset threshold, and the number of first nodes is 2; the determining module 702 is specifically used for : Take the remaining first node as the second endpoint of the boundary line of the third lane.

Optionally, the first road includes a first lane, the difference between the width of the first lane and the width of the second lane is greater than a preset threshold, and the number of first nodes is 2; the determining module 702 is specifically configured to: from The boundary line of the second lane determines the second end point of the boundary line of the third lane, wherein the second lane is the lane where the second end point of the reference line of the third lane is located.

Optionally, the third road includes at least one three-lane, and the total number of the first lanes and the total number of the second lanes are the same; the determining module 702 is specifically configured to: select from a plurality of first nodes and a plurality of second nodes respectively Select the third reference line endpoint of the third road; obtain the first number of the first lane and the second number of the second road located on the same side of the third reference line endpoint; Node and Second Node Select the endpoint of the boundary line of the third lane.

Optionally, the generating module 703 is specifically configured to: if the first number and the second number are the same, select a node from the first node that is the first preset number of nodes from the end point of the third reference line as the boundary line of the third lane. The first endpoint is selected from the second nodes, and a node that is a first preset number of nodes away from the endpoint of the third reference line is selected as the second endpoint of the boundary line of the third lane.

Optionally, the generating module 703 is specifically configured to: if the first number is greater than the second number, select a node from the first node that is the first preset number of nodes from the end point of the third reference line as the boundary line of the third lane. an endpoint; determine whether there are nodes in the second node that are the first preset number of nodes away from the endpoint of the third reference line; if so, select the node that is the first preset number of nodes away from the endpoint of the third reference line from the second node point as the second end point of the boundary line of the third lane; if not, select a node from the second node that is the second preset number of nodes away from the end point of the third reference line as the second end point of the boundary line of the third lane. The difference between the two preset number of nodes and the first preset number of nodes is equal to the difference between the first number and the second number.

FIG. 31 is a schematic structural diagram of an electronic device according to Embodiment 8 of the present invention. As shown in FIG. 31 , the electronic device 800 provided in this embodiment includes: a transmitter 801 , a receiver 802 , a memory 803 , and a processor 802 .

A transmitter 801, used for sending instructions and data;

a receiver 802 for receiving instructions and data;

a memory 803 for storing computer-executed instructions;

The processor 804 is configured to execute the computer-executed instructions stored in the memory, so as to implement each step performed by the method for generating a road at an intersection in a map in the above-mentioned embodiment. For details, please refer to the relevant description in the embodiment of the method for generating the road at the intersection in the foregoing map.

Optionally, the above-mentioned memory 803 may be independent or integrated with the processor 804 . When the memory 803 is provided independently, the electronic device further includes a bus for connecting the memory 803 and the processor 804 .

Embodiments of the present invention further provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the processor executes the computer-executable instructions, the above-mentioned method for generating a road at an intersection in a map executed by an electronic device is implemented.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (10)

1. A method for generating a road of an intersection in a map, which is characterized by comprising the following steps:

acquiring a first node on a boundary line of each first lane in a first road and a second node on a boundary line of each second lane in a second road, wherein an intersection is formed at the intersection of the first road and the second road, and the first node and the second node are both positioned at the intersection;

determining a representation line end point for representing a third road positioned at the intersection according to the plurality of first nodes and the plurality of second nodes;

and generating a representation line for representing the third road positioned at the intersection according to the representation line end point of the third road.

2. The method of claim 1, wherein the intersection is a T-junction and the third road comprises only one third lane, the representative line comprising a reference line;

determining a representation line endpoint for representing a third road located at the intersection according to the plurality of first nodes and the plurality of second nodes, specifically comprising:

determining a first end point of a third reference line of the third road from the plurality of first nodes;

and selecting the node closest to the first end point of the third reference line from the plurality of second nodes as the second end point of the third reference line.

3. The method of claim 2, wherein the representation line comprises a boundary line;

determining a representation line endpoint for representing a road located at the intersection according to the plurality of first nodes and the plurality of second nodes, specifically comprising:

and selecting a node closest to the second end point of the third reference line from the plurality of second nodes as the first end point of the boundary line of the third lane.

4. The method of claim 3, wherein the first road comprises a first lane, a difference between a width of the first lane and a width of the second lane is less than or equal to a preset threshold, and the number of the first nodes is 2;

determining a representation line endpoint for representing a road located at the intersection according to the plurality of first nodes and the plurality of second nodes, specifically comprising:

and taking the remaining first nodes as second endpoints of the boundary line of the third lane.

5. The method of claim 3, wherein the first road comprises a first lane, a difference between a width of the first lane and a width of the second lane is greater than a preset threshold, and the number of the first nodes is 2;

determining a representation line endpoint for representing a road located at the intersection according to the plurality of first nodes and the plurality of second nodes, specifically comprising:

and determining a second endpoint of the boundary line of the third lane from the boundary line of the second lane, wherein the second lane is the lane where the second endpoint of the reference line of the third lane is located.

6. The method of claim 5, wherein the third road comprises at least one three lane, and the total number of first lanes and the total number of second lanes are the same;

determining a representation line endpoint for representing a road located at the intersection according to the plurality of first nodes and the plurality of second nodes, specifically comprising:

selecting a third reference line end point of the third road from the plurality of first nodes and the plurality of second nodes, respectively;

acquiring a first number of first lanes and a second number of second roads which are positioned on the same side of the end point of the third reference line;

and selecting the boundary line end points of the third lane from the first node and the second node respectively according to the first number and the second number.

7. The method according to claim 6, wherein selecting the boundary line end point of the third lane from the first node and the second node according to the first number and the second number, respectively, specifically comprises:

and if the first number is the same as the second number, selecting a node which is a first preset node number away from the third reference line end from the first nodes as a first boundary line end point of a third lane, and selecting a node which is a first preset node number away from the third reference line end from the second nodes as a second boundary line end point of the third lane.

8. The method according to claim 6, wherein selecting the boundary line end point of the third lane from the first node and the second node according to the first number and the second number, respectively, specifically comprises:

if the first number is larger than the second number, selecting a node which is a first preset node number away from the third reference line end point from the first nodes as a first boundary line end point of a third lane;

judging whether a node with a first preset node number away from the third reference line end point exists in the second node; if so, selecting a node which is a first preset node number away from the third reference line end point from the second node as a second boundary line end point of the third lane;

and if not, selecting a node which is a second preset node number away from the third reference line end point from the second node as a second boundary line end point of the third lane, wherein the difference between the second preset node number and the first preset node number is equal to the difference between the first number and the second number.

9. An apparatus for generating a road at an intersection in a map, the apparatus comprising:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a first node on a boundary line of each first lane in a first road and a second node on a boundary line of each second lane in a second road, an intersection is formed at the intersection of the first road and the second road, and the first node and the second node are both positioned at the intersection;

the determining module is used for determining a representation line end point used for representing a third road positioned at the intersection according to the plurality of first nodes and the plurality of second nodes;

and the generating module is used for generating a representation line for representing the third road positioned at the intersection according to the representation line end point of the third road.

10. An electronic device, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory, the processor being configured to execute the in-map intersection road generating method according to any one of claims 1 to 8 when the program is executed.

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