CN111782751A - Method and device for generating road of intersection in map and electronic equipment - Google Patents
Method and device for generating road of intersection in map and electronic equipment Download PDFInfo
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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
Technical Field
The embodiment of the invention relates to the technical field of geographic information, in particular to a method and a device for generating a road of an intersection in a map and electronic equipment.
Background
The high-precision map manufacturing method comprises field operation and field operation, wherein the field operation refers to the process of acquiring road data of vehicles when the vehicles go out, and the field operation refers to the process of processing the acquired road data of the vehicles to manufacture the high-precision map.
The intersection is a plane intersection, that is, a part where two or more roads intersect on the same plane, and there is a conflict between traffic flows. In general, when interior work is executed, an operator draws roads of intersections in a point-by-point drawing mode manually, the drawn map needs to be reshaped, time and labor are wasted, the operation efficiency is low, in addition, a manually drawn curve is irregular, a break angle easily occurs, and the product requirement is not met.
However, the existing way of manually drawing roads at intersections is inefficient and drawing quality is not high.
Disclosure of Invention
The application provides a method and a device for generating a road of an intersection in a map and electronic equipment, and aims to solve the technical problem that the existing mode for manually drawing the road of the intersection is low in efficiency.
In a first aspect, the present application provides a method for generating an intersection road in a map, including: acquiring a first node on the boundary line of each first lane in a first road and a second node on the boundary line of each second lane in a second road, wherein the intersection of the first road and the second road forms an intersection, and the first node and the second node are both positioned at the intersection; determining a representation line endpoint for representing a third road at the intersection according to the plurality of first nodes and the plurality of second nodes; a representation line representing a third road located at the intersection is generated from the representation line end points 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: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a first node on the boundary line of each first lane in a first road and a second node on the boundary line of each second lane in a second road, the intersection of the first road and the second road forms an intersection, and the first node and the second node are both positioned at the intersection; a determination module for determining a representation line end point for representing a third road located 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.
In a third aspect, the present application provides an electronic device, comprising: a memory for storing a program; a processor for executing the program stored in the memory, and when the program is executed, the processor is configured to execute the method for generating an intersection road in a map according to the first aspect.
The application provides a method, a device and electronic equipment for generating a road of an intersection in a map, which are used for acquiring nodes in an intersection area on each lane boundary line on a first road, acquiring nodes in the intersection area on each lane boundary line on a second road to acquire an endpoint candidate set of an intersection road reference line and a boundary line, selecting the endpoints of the reference line and the boundary line from the nodes, and fitting the reference line and the boundary line according to the endpoints to generate the road of the intersection. 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. According to the method, the cost of drawing the intersection road with only one outgoing lane is 12min according to the statistics of operators, the working time can be shortened to 7s, the cost of drawing the intersection road with a plurality of outgoing lanes is 45min, the working time can be shortened to 15min, and the efficiency is obviously improved.
Drawings
Fig. 1 is a schematic flowchart illustrating a method for generating an intersection road according to an embodiment of the present application;
fig. 2 is a schematic view of a real scene of an intersection based on the method provided in the second embodiment of the present application;
fig. 3 is a schematic diagram of an intersection based on the method provided in the second embodiment of the present application in a high-precision map;
fig. 4 is a schematic diagram of an intersection based on the method provided in the second embodiment of the present application;
FIG. 5 is another schematic diagram of an intersection based on which the method provided in the second embodiment of the present application is based;
FIG. 6 is a schematic view of the present application using the method of example two to generate the intersection roads of FIG. 4;
FIG. 7 is a schematic diagram of the method of the second embodiment of the present application for generating the intersection shown in FIG. 5;
FIG. 8 is a schematic diagram of a high-precision map of an intersection road generated by the method of the second embodiment of the present application;
FIG. 9 is a schematic diagram of a road intersection generated using the method of the second embodiment of the present application;
FIG. 10 is a schematic diagram of a road without intersections generated using the method of the second embodiment of the present application;
fig. 11 is a schematic diagram of an intersection based on the method provided in the third embodiment of the present application in a high-precision map;
fig. 12 is a schematic view of an intersection based on the method provided in the third embodiment of the present application;
fig. 13 is another schematic diagram of an intersection on which the method provided in the third embodiment of the present application is based;
FIG. 14 is a diagram illustrating the method of the third embodiment used by the present application to generate roads for the intersection shown in FIG. 12;
FIG. 15 is a diagram illustrating the method of the third embodiment used by the present application to create the roads at the intersection shown in FIG. 13;
FIG. 16 is a schematic diagram of a high-precision map of an intersection road generated by the method of the third embodiment of the present application;
fig. 17 is a schematic view of an intersection generated by the method according to the fourth embodiment of the present application;
fig. 18 is a schematic view of a road of an intersection generated by using the method of the fourth embodiment of the present application in a high-precision map;
FIG. 19 is a schematic view of an actual scene of an intersection according to an embodiment of the present application;
FIG. 20 is a schematic view of the intersection shown in FIG. 19;
FIG. 21 is a schematic view of another intersection upon which embodiments of the present application are based;
FIG. 22 is a schematic diagram illustrating the distribution of endpoints of a boundary line in the fifth embodiment of the present application;
FIG. 23 is a schematic view of the road at the intersection shown in FIG. 20 after fitting;
FIG. 24 is a schematic view of the road at the intersection shown in FIG. 21 after fitting;
FIG. 25 is a schematic view of the intersection roads shown in FIG. 20 in a high-precision map;
FIG. 26 is a schematic view of the intersection shown in FIG. 20 drawn by a prior art manual method;
FIG. 27 is a schematic view of an intersection upon which a sixth embodiment of the present application is based;
FIG. 28 is a schematic view of the road shown in FIG. 27 after fitting the intersection;
FIG. 29 is a schematic view of a right-turn intersection after fitting;
fig. 30 is a schematic view of an intersection road creation device shown in the seventh embodiment of the present application;
fig. 31 is a schematic structural diagram of an electronic device according to an eighth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
When an operator executes interior works and draws roads of intersections, points need to be drawn manually one by one, then a plurality of points are connected, the preliminary shape of the intersection road is drawn, then the preliminary shape of the road is adjusted, and the intersection road is manufactured. The intersection is classified according to the number of lanes in the same direction, and can be divided into a large intersection and a small intersection. Wherein, the intersection with only one lane in the same direction is defined as a small intersection. For example: the community entrance and exit are converged into the intersection of the municipal road. An intersection having a plurality of lanes in the same direction is defined as a small intersection. For example: the junction of one town road and another town road. By counting the road use time of the operator drawn intersection, the following data can be obtained: the skilled worker takes 12min on average to draw a road at a small intersection and 45min on average to draw a road at a large intersection. The analysis shows that the existing road drawing mode of manually drawing the intersection by operators has the problem of long time consumption. In addition, in a way of drawing a lane boundary line by manually connecting a plurality of points, the drawn lane boundary line is likely to have a break angle, and cannot meet the drawing requirement.
Aiming at the problems, the invention idea of the application is as follows: and selecting nodes positioned at the intersection from the boundary of the two roads needing to be intersected as candidate points of the end points of the reference line and the boundary line. The end points of the reference lines are determined first, and the end points of the boundary lines are determined according to the end points of the reference lines. And after the end points of the reference line and the boundary line are determined, fitting each end point to realize automatic generation of the road of the intersection.
Fig. 1 is a flowchart illustrating a method for generating an intersection road according to an embodiment of the present application. As shown in fig. 1, a first embodiment of the present application provides a generating method, including the following steps:
s101, 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.
The intersection of the first road and the second road forms an intersection, the first road comprises at least one first lane connected with the road of the intersection, and the second road comprises at least one second lane connected with the road of the intersection. And extracting a first node on the boundary line of each first lane, wherein the first node is positioned at the intersection. And extracting a second node on the boundary line of each second lane, wherein the second node is positioned at the intersection. Wherein the node meaning is defined as follows: when the operation vehicle collects road data, if another road needs to be intersected with the current collection road at the current collection position, the current collection position is marked, and nodes are formed on the boundary of each lane of the current collection road according to the current collection position.
It should be noted that if the first road and the second road are both town roads, lane boundary lines are marked on the first road and the second road, and if any one of the first road and the second road is a community road and a part of the community road is not marked with a distinct lane boundary line, the node can be determined arbitrarily, but the node needs to be located in an intersection region.
And S102, determining a representation line end point for representing a third road at the intersection according to the plurality of first nodes and the plurality of second nodes.
Wherein the representation line of the third road includes a third reference line and a third boundary line. One end point of a reference line of an 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 the reference line end points of the intersection roads are determined, one end point of the boundary line of the intersection road is determined from one end point of the reference line of the intersection road, and the other end point of the boundary line of the intersection road is determined from the other end point of the reference line of the intersection road. The end points of the boundary line may be located on the boundary line of the first road or on the boundary line of the second road.
And S103, generating a representation line for representing the third road positioned at the intersection according to the representation line end point of the third road.
The method comprises the following steps of fitting two end points of a reference line of an intersection road to generate the reference line of the intersection road, wherein the fitting mode is selected to follow the following principle: if the included angle between the reference line of the first road and the reference of the second road is greater than a preset value, for example: at 45 deg., a curve fit is used, otherwise a straight line fit is used.
After the reference lines of the roads of the intersection are obtained through fitting, fitting is performed on two end points of the boundary line of each lane, the boundary line can be fitted before the reference lines, and the fitting sequence is not limited here. The principle of the fitting mode of boundary line selection is the same as that of the reference line. After the boundary lines of all lanes of the intersection are obtained through fitting, the center lines are generated through fitting.
In the method for generating the intersection road in the map provided by the embodiment of the application, the reference line end point and the boundary line end point of the intersection road are selected from the nodes on the boundary line of the first road and the second road, and the reference line and the boundary line are fitted to generate the intersection road.
The following description focuses on the intersection road generation method according to the second embodiment of the present application. Fig. 2 is a schematic view of a real scene of an intersection based on the method provided by the second embodiment, fig. 3 is a schematic view of the intersection based on the method provided by the second embodiment in a high-precision map, as shown in fig. 3, a first road R1 and a second road R2 form a t-junction, the first road R1 only includes a first road for bidirectional driving, and the first road R1 is a road located at a gateway of a community. Accordingly, the number of 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. I.e. the width of the first lane and the width of the second lane do not differ too much. The intersection roads include a third road R3 and a fourth road R4, the direction of the third road R3 being the direction of exiting the second road R2, and the direction of the fourth road R4 being 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. As described below by way of example of generating the third road R3, the fourth road R4 may be generated in such a manner as to generate the third road R3.
The intersection road generating method provided by the second embodiment of the application comprises the following steps:
s201, acquiring a first node on a boundary line of each first lane in the first road and a second node on a boundary line of each second lane in the second road.
Wherein, this step has already been described in detail in S101, and repetition is not repeated again, and what needs to be described is: the first road R1 is a road at the entrance/exit of the community, and has no distinct boundary line on the first road R1, and the first road R1 includes only one lane for two-way driving, and two points can be arbitrarily selected in the first road R1 located at the intersection, as shown in fig. 3, for example: and the node A and the node B enable the distance between the two points to be close to the width of the second lane, so that the difference value between the width of the first lane and the width of the second lane is smaller than or equal to a preset threshold value.
Fig. 4 is a schematic view of an intersection based on the method provided in the second embodiment, fig. 5 is another schematic view of an intersection based on the method provided in the second embodiment, a second road R2 is a town road, and a general town road can be divided into two cases, as shown in fig. 4, the outermost lane is a driving lane which can be connected with an intersection road, and second nodes are a node C, a node D, a node E, and a node F. As shown in fig. 5, the outermost lane is a non-driving lane, that is, one side of the node P and the node Q has a boundary line, and the other side has no boundary line, and the second lane from bottom to top is connected to the intersection road.
S202, according to the first nodes and the second nodes, a representation line end point used for representing a third road located at the intersection is determined.
Wherein the first end point of the third reference line of the third road is determined 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. The 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. And taking the remaining first end point as a second end point of the boundary line of the third lane.
Taking the intersection shown in fig. 4 as an example, one of the nodes a and B is selected, and any one of the first nodes is selected from the two first nodes as the first end point of the reference line of the third lane. And taking the node A as the first endpoint of the reference line of the third lane. And selecting the node C, the node D, the node E and the node F, wherein the node D is closest to the node A, and the node D is used as a second endpoint of the reference line of the third lane. The node C is closest to the node D, and the node C is selected as the first end point 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 and node B is used as the second end point of the boundary line of the third lane.
And S203, generating a representation line for representing the third road positioned at the intersection according to the representation line end point of the third road.
Here, this step has already been described in detail in S103, and repeated parts are not described again, and the effect of the generated road is described below with reference to the intersection shown in fig. 4. Fig. 6 is a schematic diagram of a road for generating the intersection shown in fig. 4 by using the method of the second embodiment. As shown in fig. 6, a reference line of the third road R3 is a curve L1 from the second node D to the first node a, a boundary line of the third road R3 is a curve B2 from the second node C to the first node B, and a middle line is OM.
The fourth road R4 may be generated in such a way that the third road R3 is generated. Two end points of the reference line and two end points of the boundary line of the fourth road R4 are sequentially determined as follows: and fitting the reference line and the endpoint of the boundary line to generate a reference line L2 and a boundary line B3 and then generate a center line B4 at the node B, the node F, the node E and the node A.
As shown in fig. 6, the lane starting point width of the third road is CD, the lane ending point width is AB, the lane starting point width of the fourth road is AB, and the lane ending point width is EF. The lane end width of the third road is the lane start width of the fourth road. And after the third lane and the fourth lane are generated, automatically hooking the lane ending point of the third lane and the lane starting point of the fourth lane. For example: the end point of the boundary line DA and the start point of the boundary line AE are automatically combined into a boundary node at the position A; similarly, the end point of the boundary line CB and the starting point of the boundary line BF can be automatically combined into a boundary node at the position B; the end point of the centerline MO and the start point of the centerline ON merge at the location of O into a centerline node.
Fig. 7 is a schematic diagram of a road for generating the intersection shown in fig. 5 by using the method of the second embodiment. The difference from fig. 6 is that the road of the intersection is connected to the second lane from bottom to top, and the second junction is shifted to the second lane boundary line from bottom to top.
Note that after the boundary line, the center line, and the reference line of the third road and the fourth road are generated, attribute editing may be performed, for example: reference line attributes: the road classification is defaulted to a common road. Lane boundary attribute: the boundary types are 'no mark line or no distinguishable boundary', the crossing direction is 'unable to cross', and the adjacency attribute is 'not applied'. The center line defaults to the center line of a conventional lane without any attribute change. After the above configuration is completed, a road-in-high-precision map diagram of the intersection as shown in fig. 8 can be generated.
In addition, by adjusting the fitting parameters, the boundary line and the center line connected to the same point are not crossed with the reference line, fig. 9 is a schematic diagram of the road generated in the second embodiment showing the crossing, and fig. 10 is a schematic diagram of the road generated in the second embodiment showing the crossing.
In the method for generating a road at an intersection provided in the second embodiment of the present application, in a t-junction formed by a first road and a second road, when the first road includes a bidirectional lane, an intersection road with only one lane may be generated.
The following description focuses on the intersection road generation method according to the third embodiment of the present application. Fig. 11 is a schematic diagram of an intersection based on the method provided by the third embodiment in a high-precision map, and as shown in fig. 11, a first road R1 and a second road R2 form a t-junction, and the differences from the second embodiment are as follows: the first road includes two lanes, one of which is an incoming lane and the other of which is an outgoing lane.
The method for generating the road at the intersection provided by the third embodiment of the application comprises the following steps:
s301, a first node on a boundary line of each first lane in the first road and a second node on a boundary line of each second lane in the second road are obtained.
S301 has already been described in detail in S101, and repetition is not repeated again, and it should be further described that:
the first road R1 includes two lanes, one lane is an incoming lane, the other lane is an outgoing lane, and since the first road is a community road and no boundary line is marked on the road, three points can be arbitrarily selected in the first road R1 located at the intersection, and the width between any two nearest nodes is close to the width of the second lane. As shown in fig. 11, for example: and the distance between the two points AB and BC is close to the width of the second lane so that the difference between the width of the first lane and the width of the second lane is smaller than or equal to a preset threshold value. The first node includes node a and node B, or the first node includes node B and node C.
Fig. 12 is a schematic view of an intersection based on the method provided in the third embodiment, and fig. 13 is another schematic view of an intersection based on the method provided in the third embodiment, as shown in fig. 12, the outermost lane is a driving lane which can be connected to an intersection road, and the second nodes are a node D, a node E, a node F, and a node G. As shown in fig. 13, the outermost lane is a non-driving lane, that is, one side of the node P and the node Q has a boundary line, and the other side has no boundary line, and the second lane from bottom to top is connected to the intersection road.
S302, according to the first nodes and the second nodes, a representation line end point used for representing a third road at the intersection is determined.
Here, this step has already been described in detail in S202, and is not repeated again. Taking the intersection shown in fig. 12 as an example, the first nodes are node a and node B. The node a is selected as the first end point of the reference line of the third lane. The second nodes are node D, node E, node F, and node G. And the node D is closest to the node A, and the node D is taken as a second endpoint of the reference line of the third lane. The node E is closest to the node D, and is set as the first end point of the boundary line of the third lane. The node B is located between the node a and the node C, and the node B is selected as a second end point of the reference line of the third lane.
And S303, generating a representation line for representing the third road positioned at the intersection according to the representation line end point of the third road.
Here, this step has already been described in detail in S103, and repeated parts are not described again, and the effect of the generated road will be described below with reference to the intersection shown in fig. 12. Fig. 14 is a diagram illustrating roads at 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 a curve L1 from the node D to the node a, the boundary line of the third road R3 is a curve B2 from the node E to the node B, and the center line is B1.
The fourth road R4 may be generated in such a way that 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. Two end points of the reference line and two end points of the boundary line of the fourth road R4 are sequentially determined as follows: and fitting the reference line and the endpoint of the boundary line to generate a reference line L2 and a boundary line B3 and then generate a center line B4 according to the node B, the node G, the node C and the node F.
As shown in fig. 14, the lane start point width of the third road is DE, the lane end point width is AB, the lane start point width of the fourth road is BC, and the lane end point width is FG. After the third lane and the fourth lane are generated, the lane ending point of the third road and the lane starting point of the fourth lane may be automatically hitched. For example: the end point of the boundary EB and the start point of the boundary BG are automatically combined into a boundary node at the position of B.
Fig. 15 is a diagram illustrating roads at the intersection shown in fig. 13 generated by the method of the third embodiment. The difference from fig. 14 is that the road of the intersection is connected to the second lane from bottom to top, and the second junction is shifted to the second lane boundary line from bottom to 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 embodiment two, and are not described herein again. By adjusting the fitting parameters, no intersection exists between the boundary line and the center line, which are hung at the same point, and the reference line, a schematic diagram of the road at the intersection in the high-precision map as shown in fig. 16 can be generated.
In the method for generating a road at an intersection provided by the third embodiment of the present application, in a t-junction formed by a first road and a second road, when the first road includes an outgoing lane and an incoming lane, an intersection road with only one lane may be generated.
The following description focuses on the method for generating an intersection road provided in the fourth embodiment of the present application, and the difference from the method for generating an intersection road shown in the second embodiment is that: the difference between the width of the first lane and the width of the second lane is greater than a preset threshold.
The method for generating the intersection road provided by the fourth embodiment of the application comprises the following steps:
s401, a first node on a boundary line of each first lane in the first road and a second node on a boundary line of each second lane in the second road are obtained.
Wherein, this step has already been described in detail in S101, and repetition is not repeated again, and what needs to be described is: two points may be arbitrarily selected within the first road R1 located at the intersection such that the distance between the two points is far from the width of the second lane, such 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, according to the first nodes and the second nodes, a representation line end point used for representing a third road at the intersection is determined.
Wherein the first end point of the third reference line of the third road is determined 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. The 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. And determining a second endpoint of the boundary line of the third lane from the boundary line of the second lane where the second endpoint of the reference line of the third lane is located.
Fig. 17 is a schematic diagram of an intersection on which the method according to the fourth embodiment is based, and in order to determine the second endpoint of the boundary line of the third lane, the endpoint of the center line of the third lane may be randomly selected on the boundary line of the second lane where the second endpoint of the reference line of the third lane is located. For example: g is selected such that the distance between the second end point of the boundary line and the end point of the centre line is the same as the distance between the first end point of the reference line and the end point of the centre line. I.e., AG ═ GI. The boundary line end H of the fourth road, BG ═ GH, is determined in the same manner. The width of the starting point of the lane of the third road is CD, the width of the ending point of the lane is AI, the width of the starting point of the lane of the fourth road is BH, and the width of the ending point of the lane is EF. A schematic diagram of the roads of the intersection in a high-precision map as shown in fig. 18 can be generated.
And S403, generating a representation line for representing the third road at the intersection according to the representation line end point of the third road.
Here, this step has already been described in detail in S103, and repeated descriptions are omitted.
In the road generation method provided by the fourth embodiment of the present application, in a t-junction formed by a first road and a second road, when the first road includes a bidirectional driving lane, an intersection road with only one lane may be generated.
The intersection road generation method provided by the fifth embodiment of the present application is described below with emphasis, and the intersection road generation method provided by the fifth embodiment of the present application includes the following steps:
s501, acquiring a first node on a boundary line of each first lane in the first road and a second node on a boundary line of each second lane in the second road.
The first road comprises at least one first lane, the second road comprises at least one second lane, the number of the first lanes to be connected is the same as that of the second lanes to be connected, the intersection road comprises a third road, and the third road comprises at least one third lane. And extracting a first node on the boundary line of each first lane, wherein the first node is positioned at the intersection. And extracting a second node on the boundary line of each second lane, wherein the second node is positioned at the intersection.
Fig. 19 is a schematic view of an actual scene of an intersection based on the fifth embodiment, fig. 20 is a schematic view of the intersection shown in fig. 19, as shown in fig. 20, reference lines of a first road L1 and a second road L2 are parallel, and both the first road L1 and the second road L2 only show 3 lanes to be connected. The boundary line end points of the 3 lanes of the first road L1 are used as first nodes, the boundary line end points of the 3 lanes of the second road L2 are used as second nodes, fig. 21 is a schematic diagram of another intersection based on the fifth embodiment, as shown in fig. 21, the first road B1 is perpendicular to the reference line of the second road L2, only lanes to be connected are indicated on the second road L2, the boundary line end points of the lanes to be connected of the first road B1 are used as first nodes, and the boundary line end points of the lanes to be connected of the second road L2 are used as second nodes.
S502, according to the plurality of first nodes and the plurality of second nodes, a representation line end point used for representing a third road located at the intersection is determined.
The method for determining the end point of the third reference line of the third road specifically comprises the following steps: a first end point of a third reference line of a third road is selected from a plurality of first nodes according to an actual scene of the intersection, and a second end point of the third reference line is selected from a second node. The actual scene of the intersection refers to the connection condition of each lane of the road of the intersection with each lane of the first road and the connection condition of 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 with the example of the intersection shown in fig. 20, the actual scene of the intersection is: the first road L1 and the second road L2 each have 3 straight lanes to be connected, and the right boundary line of the leftmost lane is selected as a reference line end point from the first road L1 and the second road L2, respectively.
Continuing with the example of the intersection shown in fig. 21, the actual scene of the intersection is: the left-turn lane of the first road B1 needs to be connected with the straight lane of the second lane L2, and a junction is selected as a reference line end point from the right boundary line of the lanes to be connected on the first road and the second road.
The specific way for determining the third boundary line end point of the third road is as follows: a third reference line end point of the third road is selected from the plurality of first nodes and the plurality of second nodes, respectively. A first number of first lanes and a second number of second roads on the same side of the third reference line end point are obtained. 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.
Since the number of the first lanes and the second lanes is the same, the first number and the second number are generally the same. 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 end point of the boundary line of the 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 end point of the boundary line of the third lane.
Continuing with the example of the intersection shown in fig. 20, according to the actual scene of the intersection, one third lane is left of the reference line, two third lanes are right of the reference line, and taking the third lane left of the reference line as an example, the node next to the reference line end is selected from the first nodes left of the reference line end as an end point of the boundary line of the third lane. A node immediately adjacent to the reference line end is selected as the other end point of the boundary line of the third lane among the second nodes located on the left side of the reference line end. Fig. 22 is a schematic diagram showing the distribution of the end points of the boundary line in the fifth embodiment, and the end point of one boundary line of the third lane located on the left side of the reference line is divided into a node C and a node F.
And S503, generating a representation line for representing the third road at the intersection according to the representation line end point of the third road.
Here, this step has already been described in detail in S103, and repeated descriptions are omitted.
Fig. 23 is a schematic view of a road after fitting of the intersection shown in fig. 20, which only shows the connection relationship of three straight lanes, and fig. 24 is a schematic view of a road after fitting of the intersection shown in fig. 21, which only shows a left-turning lane. Fig. 25 is a schematic view of the intersection shown in fig. 20 in a high-precision map. Fig. 26 is a conventional road drawing method for obtaining the intersection shown in fig. 20. As can be seen from comparing fig. 25 and fig. 26, the method provided in the embodiment of the present application can generate a higher quality road without a corner.
According to the road generation method provided by the fifth embodiment of the application, when the lane to be connected of the first road is the same as the lane to be connected of the second road, the intersection road comprising a plurality of lanes can be generated.
The following description focuses on the intersection road generation method according to the sixth embodiment, and the difference from the intersection road generation method according to the fifth embodiment is that: the number of first lanes and the number of second lanes are different.
The intersection road generating method provided by the sixth embodiment of the application comprises the following steps:
s601, acquiring 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.
Here, this step has already been described in detail in S401, and repeated parts are not described again, which is exemplified here. Fig. 27 is a schematic diagram of an intersection according to the sixth embodiment, as shown in fig. 27, a first road L1 is parallel to a reference line of a second road L2, the first road L1 has two straight lanes to be connected, and the second road L2 has three lanes to be connected. The boundary line end points of the 2 lanes of the first road L1 were set as first nodes, and the boundary line end points of the 3 lanes of the second road L2 were set as second nodes.
S602, determining a representation line end point for representing a third road at the intersection according to the first nodes and the second nodes.
Here, this step has already been described in detail in S501, and repeated parts are not described again. The third reference line end point of the third road is determined in the same manner as in the fifth embodiment. The specific way for determining the third boundary line end point of the third road is as follows: a third reference line end point of the third road is selected from the plurality of first nodes and the plurality of second nodes, respectively. A first number of first lanes and a second number of second roads on the same side of the third reference line end point are obtained. 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.
Since the number of the first lanes and the second lanes is different, the first number and the second number are usually different. And 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 node as a first end point of the boundary line of the third lane. Judging whether a node with a first preset node number away from a 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. 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.
Continuing with the example of the intersection shown in fig. 27, the actual scene of the intersection is: 2 lanes of the first road L1 and 3 straight lanes of the second road L2 need to be connected, and the reference line end point on the right boundary line of the leftmost lane is selected from the first road L1 and the second road L2.
The end points of the reference line of the third road are a node A and a node B, according to the actual road condition of the intersection, a lane is arranged on the left side of the node A, a lane is arranged on the right side of the node A, a lane is arranged on the left side of the node B, and two lanes are arranged on the right side of the node B.
Aiming at the lane on the left side of the reference line, a first node C is adjacent to a first node A, a second node F is adjacent to a second node B, and the first node C and the second node F are two endpoints on the same boundary line. Aiming at the lane on the right side of the reference line, a first node D is close to the right side of a first node A, a second node G is close to the right side of a second node B, the first node D and the second node G are two end points on the same boundary line, the second node H is separated by one node of the second node B, the second node H cannot find a node with the same first separation node number, the first node D close to the first node A is selected, and the first node D and the second node H are two end points on the same boundary line. A boundary line AG corresponding to a boundary line formed by the first node D and the second node H is determined.
And S603, generating a representation line for representing the third road at the intersection according to the representation line end point of the third road.
Here, this step has already been described in detail in S103, and repeated descriptions are omitted. Fig. 28 is a schematic view of the road after the intersection shown in fig. 27 is fitted, and the figure only shows the connection relationship of three straight lanes. When the right-turn lane in the first road is connected with the straight lane in the second road, or the left-turn lane in the first road is connected with the straight lane in the second road, the same method is also adopted. Fig. 29 is a schematic diagram of a road after fitting at a right-turn intersection, where AB is a reference line.
According to the generation method provided by the sixth embodiment of the application, when the lane to be connected of the first road is different from the lane to be connected of the second road, the intersection road comprising a plurality of lanes can be generated.
Fig. 30 is a schematic view of an intersection road creation device according to a seventh embodiment of the present application. As shown in fig. 30, an intersection road creation device 700 in a map according to a seventh embodiment of the present invention includes:
the acquiring module 701 is configured to acquire 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, where an intersection is formed at an intersection of the first road and the second road, and the first node and the second node are both located at the intersection;
a determining module 702, configured to determine, according to the plurality of first nodes and the plurality of second nodes, a representing line end point for representing a third road located at the intersection;
a generating module 703, configured to generate a representation line representing a third road located at the intersection according to the representation line endpoint of the third road.
Optionally, the intersection is a t-junction, and the third road includes only one third lane, the representation line includes a reference line; the determining module 702 is specifically configured to: determining a first end point of a third reference line of a 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.
Optionally, the representation line comprises a boundary line; the determining module 702 is specifically configured to: the 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.
Optionally, the first road includes 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; the determining module 702 is specifically configured to: and taking the remaining first end point as a second end point of the boundary line of the third lane.
Optionally, the first road includes 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; the determining module 702 is specifically configured to: 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.
Optionally, the third road comprises at least one third lane, and the total number of the first lanes is the same as the total number of the second lanes; the determining module 702 is specifically configured to: selecting a third reference line end point of a 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.
Optionally, the generating module 703 is specifically configured to: 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 end point of the boundary line of the 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 end point of the boundary line of the third lane.
Optionally, the generating module 703 is specifically configured to: 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 node as a first end point of the boundary line of the third lane; judging whether a node with a first preset node number away from a 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; 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.
Fig. 31 is a schematic structural diagram of an electronic device according to an eighth embodiment of the present invention. As shown in fig. 31, the electronic device 800 provided in the present embodiment includes: a transmitter 801, a receiver 802, a memory 803, and a processor 802.
A transmitter 801 for transmitting instructions and data;
a receiver 802 for receiving instructions and data;
a memory 803 for storing computer-executable instructions;
the processor 804 is configured to execute the computer-executable instructions stored in the memory to implement the steps performed by the method for generating an intersection road in a map in the foregoing embodiment. Specifically, reference may be made to the related description in the foregoing embodiment of the method for generating an intersection road in a map.
Alternatively, the memory 803 may be separate or integrated with the processor 804. When the memory 803 is separately provided, the electronic device further includes a bus for connecting the memory 803 and the processor 804.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer execution instruction is stored in the computer-readable storage medium, and when a processor executes the computer execution instruction, the method for generating the road of the intersection in the map, which is executed by the electronic device, is realized.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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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