CN112508111A - Rod fusion method and system based on road structure, server and medium - Google Patents
Rod fusion method and system based on road structure, server and medium Download PDFInfo
- Publication number
- CN112508111A CN112508111A CN202011460626.2A CN202011460626A CN112508111A CN 112508111 A CN112508111 A CN 112508111A CN 202011460626 A CN202011460626 A CN 202011460626A CN 112508111 A CN112508111 A CN 112508111A
- Authority
- CN
- China
- Prior art keywords
- rod
- shaped object
- road
- segment
- central point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
Landscapes
- Engineering & Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Bioinformatics & Computational Biology (AREA)
- General Engineering & Computer Science (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a rod-shaped object fusion method and system based on a road structure, a server and a medium, wherein a plurality of segment roads are formed by segmenting a vehicle track, the central point of a rod-shaped object is adjusted according to the road structure, namely, the segment road where the rod-shaped object is positioned is determined according to the central point of the rod-shaped object and the central points of the segment roads, the lane line corresponding to the rod-shaped object is determined according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is positioned, and the central point of the rod-shaped object is adjusted according to the projection of the central point of the rod-shaped object on the corresponding lane; and then clustering the center points of the adjusted rod-shaped objects to obtain clustering center points, and adjusting the clustering center points again according to the road structure to obtain the final rod-shaped object position, so that the fusion of the rod-shaped objects is realized based on the map elements nearby, the output rod-shaped objects have better position precision, and the help can be better provided for vehicle driving decision.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a rod fusion method and system based on a road structure, a server and a medium.
Background
In the field of automatic driving, in order to accurately control the driving of a vehicle, high-precision map drawing is often involved, and rod-shaped object data of the high-precision map drawing participates in the driving decision of the automatic driving vehicle. When sensors of the automatic driving vehicle are affected by severe weather such as heavy fog, hail, heavy rain and the like, the vehicle can decide driving behaviors through rod-shaped object data in a known high-precision map. Because the position of the acquired rod-shaped object has errors due to factors such as equipment and the like in the rod-shaped object acquisition process, if the rod-shaped object which deviates a large amount is not moved to a correct position or filtered in the fusion process, the rod-shaped object possibly enters a wrong lane when an automatic driving vehicle runs, and the running safety and the comfort are greatly reduced; therefore, it is desirable to fuse the shafts to improve safety and comfort. For this reason, a fusion method is required to process data of a shaft having a large deviation.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a rod fusion method and system based on a road structure, a server and a medium, and solves the problem that in the existing rod collection process, errors occur due to factors such as equipment, and therefore deviation occurs in a driving decision with rod participation.
In order to achieve the above technical object, a first aspect of the present invention provides a rod fusion method based on a road structure, including the following steps:
acquiring the central point of the rod-shaped object, segmenting the vehicle track to form a plurality of segment roads, and solving the central point of each segment road and the central point of each lane line contained in each segment road;
adjusting the central point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the central point of the rod-shaped object and the central points of the segment roads, determining the lane line corresponding to the rod-shaped object according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the central point of the rod-shaped object according to the projection of the central point of the rod-shaped object on the corresponding lane line;
and clustering the adjusted central points of the rod-shaped objects to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod-shaped object position.
The invention provides a rod-shaped object fusion system based on a road structure, which comprises the following functional modules:
the data preprocessing module is used for acquiring the central point of the rod-shaped object, segmenting the vehicle track to form a plurality of segment roads, and solving the central point of each segment road and the central point of each lane line contained in each segment road;
the central point adjusting module is used for adjusting the central point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the central point of the rod-shaped object and the central points of the segment roads, determining the lane line corresponding to the rod-shaped object according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the central point of the rod-shaped object according to the projection of the central point of the rod-shaped object on the corresponding lane line;
and the position fusion module is used for clustering the adjusted central points of the rod-shaped objects to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod-shaped object position.
A third aspect of the present invention provides a server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a method for road structure based shaft fusion as described above when executing the computer program.
A fourth aspect of the invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for road structure based shaft fusion as described above.
Compared with the prior art, the central point of the rod-shaped object is adjusted through the road structure, namely the segment road where the rod-shaped object is located is determined according to the central point of the rod-shaped object and the central points of the segment road, the lane line corresponding to the rod-shaped object is determined according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and the central point of the rod-shaped object is adjusted according to the projection of the central point of the rod-shaped object on the corresponding lane line; and then clustering the center points of the adjusted rod-shaped objects to obtain clustering center points, and adjusting the clustering center points again according to the road structure to obtain the final rod-shaped object position, so that the fusion of the rod-shaped objects is realized based on the map elements nearby, the output rod-shaped objects have better position precision, and the help can be better provided for vehicle driving decision.
Drawings
FIG. 1 is a block flow diagram of a rod fusion method based on a road structure according to an embodiment of the present invention;
FIG. 2 is a block diagram of a sub-flow of step S3 in FIG. 1;
fig. 3 is a block diagram of a rod fusion system based on a road structure according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a rod fusion method based on a road structure, which includes the following steps:
and S1, acquiring the center point of the rod-shaped object, segmenting the vehicle track to form a plurality of segment roads, and solving the center point of each segment road and the center point of each lane line contained in each segment road.
Specifically, the collected upper and lower end points A, B of the rod-shaped object assume that point a is a lower end point, point B is an upper end point, the center point is C, the x and y coordinates of point a and point B under the x, y and z planes are the same, and the z coordinates are different.
Segmenting the vehicle track to form a plurality of segment roads, and forming a segment road data set omega 0 ═ R1,R2,…,RnAnd each segment road R is composed of a plurality of lane lines, the length of each lane line is set to be 5 m, the central point of each segment road is C0, the central point C0 of each segment road is the same as the calculation method of the central point C of the rod-shaped object, and the central point coordinate of each segment road is obtained through the mean value of the coordinates of the four top points of each segment road. The segment road comprises a plurality of lane lines, and the number set of the lane lines in each segment road is omega 1 ═ q1,q2,…,qnThe coordinates of the central point of the lane line are the mean value of the coordinates of the top points of the two ends of the lane line, and each lane line has a central point and a direction vector, namely
S2, adjusting the center point of the rod according to the road structure, namely determining the segment road where the rod is located according to the center point of the rod and the center point of the segment road, determining the lane line corresponding to the rod according to the center point of the rod and the center points of the left and right outermost lane lines of the segment road where the rod is located, and adjusting the center point of the rod according to the projection of the center point of the rod on the corresponding lane line.
Firstly, calculating the Euler distance between the center point of a rod-shaped object and the center point of each segment road, selecting the segment road with the minimum Euler distance as the segment road where the rod-shaped object is located, then calculating the distance between the center point of the rod-shaped object and the center points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and selecting the lane line with the smaller distance as the lane line corresponding to the rod-shaped object; and finally, projecting the central point of the rod-shaped object to the corresponding lane line, and taking the projection point of the central point on the lane line as the adjustment central point of the rod-shaped object. The method comprises the following specific steps:
calculating the shaft center point C and the road center point C0 of each segment1,C02,…,C0nEuler distance d01,d02,…,d0nSelecting the segment road with the minimum distance from the central point C of the rod-shaped object, namely the segment road R where the rod-shaped object is positioned*。
Selecting two lane lines with the farthest distance from the segment road where the rod-shaped object is located, namely the left and right outermost lane lines l0, l1 of the segment road, and assuming that the lane line l0 is the left lane line, the lane line l1 is the right lane line, and the center point C1 of the lane line l0l0Center point C1 of lane line l1l1Calculate C and C1l0And C1l1The lane line with the smaller distance is selected as the lane line corresponding to the rod, and the lane line l1 is assumed to be the lane line with the smaller distance, and the vector is calculated
At the passing point Cl01And is parallel to
The vertical point C' on the straight line of (a) serves as the center point of the adjusted shaft.
When the segment road is a bidirectional lane, determining the lane line corresponding to the rod-shaped object according to the central point of the rod-shaped object, the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located and the central points of the up-down boundary lane lines of the segment road where the rod-shaped object is located, namely calculating the distance between the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located and the central points of the up-down boundary lane lines of the segment road where the rod-shaped object is located, and selecting the lane line with the smaller distance as the lane line corresponding to the rod-shaped object. The central point of the lane line of the up-down boundary is the central point between a forward lane line and a reverse lane line which are adjacent to the up-down boundary.
The segment road data consists of a plurality of lane line data in one or two driving directions, and the lane line data in each driving direction are arranged from left to right according to the driving directions; each lane line includes two points (start point, stop point) and a direction vector, and the start point and the stop point are arranged according to the direction vector. Therefore, the first lane line data on the left side of the lane line data in each driving direction is the lane line of the uplink and downlink boundary.
When the segment road is a bidirectional lane, if the distance between the clustering center point C3 and one of the center points of the left and right outermost lane lines of the segment road where the clustering center point C3 is located is the closest, the clustering center point C is projected onto the corresponding lane line, and the projected point C on the lane line is used as the adjustment center point of the rod-shaped object.
When the segment road is a bidirectional lane, if the distance between the clustering center point C3 and the center point of the up-down boundary lane line of the segment road is the shortest, the center point of the up-down boundary lane line is the adjustment center point of the rod-shaped object. I.e. if the segment road structure R*If the middle is a bidirectional driving section road, taking out the lane lines l2, l3 of the boundary of the upper and lower lines, wherein the central points of the lane lines l2 and l3 are C1 respectivelyl2And C1l3Calculate point C1l2And C1l3Center point C2l2l3Calculate C and C1l0、C1l1And C2l2l3The lane line with the smaller distance is selected as the lane line corresponding to the rod, assuming that C2l2l3The distance between the rod-shaped body and the C is the minimum, the lane lines l2 and l3 which are used for dividing the upper line and the lower line are the lane lines corresponding to the rod-shaped body, and C2 is used for dividing the upper line and the lower line into the lane linesl2l3As the center point of the adjusted shaft.
And S3, clustering the adjusted central points of the rods to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod positions.
As shown in fig. 2, the step S3 includes the following steps:
s31, clustering the central points of all the rod-shaped objects, wherein the clustering characteristic is a space coordinate, and obtaining the clustering central point of each type of rod-shaped objects;
s32, adjusting the clustering center point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the clustering center point of the rod-shaped object and the center point of the segment road, determining the lane line corresponding to the rod-shaped object according to the clustering center point of the rod-shaped object and the center points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the clustering center point of the rod-shaped object according to the projection of the clustering center point of the rod-shaped object on the corresponding lane line;
and S33, determining the final rod position according to the adjusted cluster center point.
Specifically, all the central points of the rods in the same rod set Q are clustered, the clustering characteristics are spatial coordinates x, y and z, a DBSCAN clustering method is adopted, the clustering radius is 5 meters, and the clustering central point C3 of each type of rod is calculated.
And adjusting the clustering center point C3 of the rod according to the road structure, namely calculating the Euler distance between the clustering center point C3 and the center point of each segment road, and selecting the segment road with the minimum Euler distance as the segment road where the rod is located.
When the segment road is a one-way lane, calculating the distance between the clustering center point C3 and the center point of the left and right outermost lane lines of the segment road where the clustering center point C3 is located, and selecting the lane line with the smaller distance as the lane line corresponding to the rod-shaped object; and finally, projecting the clustering center point to a corresponding lane line, and taking the projection point of the clustering center point on the lane line as the adjustment center point of the rod-shaped object.
When the segment road is a bidirectional lane, calculating the distance between the clustering center point C3 and the center point of the left and right outermost lane lines of the segment road where the clustering center point C3 is located, and the center points of the lane lines of the upper and lower boundaries of the segment road where the clustering center point C3 is located; if the distance between the cluster central point C3 and one of the central points of the left and right outermost lane lines of the segment road where the cluster central point C3 is located is the closest, projecting the cluster central point onto the corresponding lane line, and taking the projection point of the cluster central point on the lane line as the adjustment central point of the rod-shaped object; and if the distance between the clustering center point C3 and the center point of the lane line of the up-down boundary in the segment road is the shortest, the center point of the lane line of the up-down boundary is the adjustment center point of the rod-shaped object.
The invention relates to a rod-shaped object fusion method based on a road structure, which adjusts the central point of a rod-shaped object through the road structure, namely, a segment road where the rod-shaped object is positioned is determined according to the central point of the rod-shaped object and the central points of the segment road, a lane line corresponding to the rod-shaped object is determined according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is positioned, and the central point of the rod-shaped object is adjusted according to the projection of the central point of the rod-shaped object on the corresponding lane line; and then clustering the center points of the adjusted rod-shaped objects to obtain clustering center points, and adjusting the clustering center points again according to the road structure to obtain the final rod-shaped object position, so that the fusion of the rod-shaped objects is realized based on the map elements nearby, the output rod-shaped objects have better position precision, and the help can be better provided for vehicle driving decision.
As shown in fig. 3, an embodiment of the present invention further discloses a rod fusion system based on a road structure, which includes the following functional modules:
the data preprocessing module 10 is configured to obtain a center point of the rod, segment the vehicle trajectory to form a plurality of segment roads, and obtain the center point of each segment road and the center point of each lane line included in each segment road;
the central point adjusting module 20 is configured to adjust a central point of the rod according to the road structure, that is, determine the segment road where the rod is located according to the central point of the rod and the central points of the segment roads, determine a lane line corresponding to the rod according to the central point of the rod and the central points of the left and right outermost lane lines of the segment road where the rod is located, and adjust the central point of the rod according to a projection of the central point of the rod on the corresponding lane line;
and the position fusion module 30 is used for clustering the adjusted central points of the rod-shaped objects to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod-shaped object positions.
The implementation of the rod fusion system based on the road structure in this embodiment is substantially the same as the rod fusion method based on the road structure, and therefore, detailed descriptions thereof are omitted.
The server in this embodiment is a device for providing computing services, and generally refers to a computer with high computing power, which is provided to a plurality of consumers via a network. The server of this embodiment includes: a memory including an executable program stored thereon, a processor, and a system bus, it will be understood by those skilled in the art that the terminal device structure of the present embodiment does not constitute a limitation of the terminal device, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
The memory may be used to store software programs and modules, and the processor may execute various functional applications of the terminal and data processing by operating the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
An executable program of a rod fusion method based on a road structure is contained in a memory, the executable program can be divided into one or more modules/units, the one or more modules/units are stored in the memory and executed by a processor to complete the information acquisition and implementation process, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions and used for describing the execution process of the computer program in the server. For example, the computer program may be divided into a data preprocessing module, a center point adjustment module, and a position fusion module.
The processor is a control center of the server, connects various parts of the whole terminal equipment by various interfaces and lines, and executes various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, thereby performing overall monitoring of the terminal. Alternatively, the processor may include one or more processing units; preferably, the processor may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The system bus is used to connect functional units in the computer, and can transmit data information, address information and control information, and the types of the functional units can be PCI bus, ISA bus, VESA bus, etc. The system bus is responsible for data and instruction interaction between the processor and the memory. Of course, the system bus may also access other devices such as network interfaces, display devices, etc.
The server at least includes a CPU, a chipset, a memory, a disk system, and the like, and other components are not described herein again.
In the embodiment of the present invention, the executable program executed by the processor included in the terminal specifically includes: a method of rod fusion based on a road structure, comprising the steps of:
acquiring the central point of the rod-shaped object, segmenting the vehicle track to form a plurality of segment roads, and solving the central point of each segment road and the central point of each lane line contained in each segment road;
adjusting the central point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the central point of the rod-shaped object and the central points of the segment roads, determining the lane line corresponding to the rod-shaped object according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the central point of the rod-shaped object according to the projection of the central point of the rod-shaped object on the corresponding lane line;
and clustering the adjusted central points of the rod-shaped objects to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod-shaped object position.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A rod fusion method based on a road structure is characterized by comprising the following steps:
acquiring the central point of the rod-shaped object, segmenting the vehicle track to form a plurality of segment roads, and solving the central point of each segment road and the central point of each lane line contained in each segment road;
adjusting the central point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the central point of the rod-shaped object and the central points of the segment roads, determining the lane line corresponding to the rod-shaped object according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the central point of the rod-shaped object according to the projection of the central point of the rod-shaped object on the corresponding lane line;
and clustering the adjusted central points of the rod-shaped objects to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod-shaped object position.
2. The rod fusion method based on the road structure according to claim 1, wherein the segment road where the rod is located is determined according to the central point of the rod and the central points of the segment roads; the method comprises the following steps:
and calculating the Euler distance between the central point of the rod and the central point of each segment road, and selecting the segment road with the minimum Euler distance as the segment road where the rod is located.
3. The rod fusion method based on the road structure as claimed in claim 1, wherein the lane of the rod is determined according to the center point of the rod and the center point of each lane line in the segment road where the rod is located; the method comprises the following steps:
and calculating the distance between the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the road segment where the rod-shaped object is located, and selecting the lane line with the smaller distance as the lane line corresponding to the rod-shaped object.
4. The road structure-based rod fusion method according to claim 1, wherein the center point of the rod is adjusted according to the projection of the center point of the rod on the lane center line of the lane; the method comprises the following steps:
and projecting the central point of the rod-shaped object to the corresponding lane line, and taking the projection point of the central point on the lane line as the adjustment central point of the rod-shaped object.
5. The rod fusion method based on the road structure according to claim 1, wherein when the segment road is a bidirectional lane, the distance between the center point of the rod and the center points of the left and right outermost lane lines of the segment road and the center points of the up-and-down boundary lane lines of the segment road is calculated, and the lane line with the smaller distance is selected as the lane line corresponding to the rod.
6. The rod fusion method based on the road structure as claimed in claim 5, wherein when the segment road is a bidirectional lane and the distance between the central point of the rod and the central point of the up-down lane line in the segment road is the closest, the central point of the up-down lane line is the adjustment central point of the rod.
7. The rod fusion method based on the road structure as claimed in claim 1, wherein the adjusted central points of the rods are clustered to obtain cluster central points, and the cluster central points are adjusted again according to the road structure to obtain final rod positions; the method comprises the following steps:
clustering the central points of all the rod-shaped objects, wherein the clustering characteristic is a space coordinate, and obtaining the clustering central point of each type of rod-shaped objects;
adjusting the clustering center point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the clustering center point of the rod-shaped object and the center point of the segment road, determining the lane line corresponding to the rod-shaped object according to the clustering center point of the rod-shaped object and the center points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the clustering center point of the rod-shaped object according to the projection of the clustering center point of the rod-shaped object on the corresponding lane line;
and determining the final rod position according to the adjusted clustering center point.
8. A rod fusion system based on a road structure is characterized by comprising the following functional modules:
the data preprocessing module is used for acquiring the central point of the rod-shaped object, segmenting the vehicle track to form a plurality of segment roads, and solving the central point of each segment road and the central point of each lane line contained in each segment road;
the central point adjusting module is used for adjusting the central point of the rod-shaped object according to the road structure, namely determining the segment road where the rod-shaped object is located according to the central point of the rod-shaped object and the central points of the segment roads, determining the lane line corresponding to the rod-shaped object according to the central point of the rod-shaped object and the central points of the left and right outermost lane lines of the segment road where the rod-shaped object is located, and adjusting the central point of the rod-shaped object according to the projection of the central point of the rod-shaped object on the corresponding lane line;
and the position fusion module is used for clustering the adjusted central points of the rod-shaped objects to obtain clustering central points, and adjusting the clustering central points again according to the road structure to obtain the final rod-shaped object position.
9. A server comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program realizes the steps of the road structure based shaft fusion method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for road structure based shaft fusion according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011460626.2A CN112508111B (en) | 2020-12-12 | 2020-12-12 | Rod fusion method and system based on road structure, server and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011460626.2A CN112508111B (en) | 2020-12-12 | 2020-12-12 | Rod fusion method and system based on road structure, server and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112508111A true CN112508111A (en) | 2021-03-16 |
| CN112508111B CN112508111B (en) | 2022-05-31 |
Family
ID=74972410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011460626.2A Active CN112508111B (en) | 2020-12-12 | 2020-12-12 | Rod fusion method and system based on road structure, server and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112508111B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513127A (en) * | 2015-12-25 | 2016-04-20 | 武汉大学 | Rod-shaped object regular three-dimensional modeling method and rod-shaped object regular three-dimensional modeling system based on density peak clustering |
| CN108764012A (en) * | 2018-03-27 | 2018-11-06 | 国网辽宁省电力有限公司电力科学研究院 | The urban road shaft recognizer of mobile lidar data based on multi-frame joint |
| CN109186617A (en) * | 2018-08-13 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of view-based access control model crowdsourcing data automatically generate method, system and the memory of lane grade topological relation |
| CN111046735A (en) * | 2019-11-13 | 2020-04-21 | 武汉中海庭数据技术有限公司 | Lane line point cloud extraction method, electronic device and storage medium |
| US20200202107A1 (en) * | 2018-12-20 | 2020-06-25 | Here Global B.V. | Automatic detection and positioning of pole-like objects in 3d |
-
2020
- 2020-12-12 CN CN202011460626.2A patent/CN112508111B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513127A (en) * | 2015-12-25 | 2016-04-20 | 武汉大学 | Rod-shaped object regular three-dimensional modeling method and rod-shaped object regular three-dimensional modeling system based on density peak clustering |
| CN108764012A (en) * | 2018-03-27 | 2018-11-06 | 国网辽宁省电力有限公司电力科学研究院 | The urban road shaft recognizer of mobile lidar data based on multi-frame joint |
| CN109186617A (en) * | 2018-08-13 | 2019-01-11 | 武汉中海庭数据技术有限公司 | A kind of view-based access control model crowdsourcing data automatically generate method, system and the memory of lane grade topological relation |
| US20200202107A1 (en) * | 2018-12-20 | 2020-06-25 | Here Global B.V. | Automatic detection and positioning of pole-like objects in 3d |
| CN111046735A (en) * | 2019-11-13 | 2020-04-21 | 武汉中海庭数据技术有限公司 | Lane line point cloud extraction method, electronic device and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 朱岩彬等: "一种层次化的车载激光点云中杆状地物提取方法研究", 《地理信息世界》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112508111B (en) | 2022-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108519094B (en) | Local path planning method and cloud processing terminal | |
| CN111142525B (en) | High-precision map lane topology construction method and system, server and medium | |
| DE102017209346A1 (en) | Method and device for creating a lane-accurate road map | |
| CN110543473B (en) | Crowdsourcing data fusion optimization method and device and storage medium | |
| CN113155139A (en) | Vehicle track deviation rectifying method and device and electronic equipment | |
| CN110796066B (en) | Lane line group construction method and device | |
| CN111508272B (en) | Method and apparatus for providing robust camera-based object distance prediction | |
| CN113868356A (en) | Rendering method, rendering apparatus, storage medium, and computer program | |
| CN110717141B (en) | Lane line optimization method, device and storage medium | |
| CN110109165B (en) | Method and device for detecting abnormal points in driving track | |
| CN110782774A (en) | Crowdsourcing road data distributed processing method and device | |
| CN112508111B (en) | Rod fusion method and system based on road structure, server and medium | |
| CN116534059B (en) | Adaptive perception path decision method, device, computer equipment and storage medium | |
| CN112912894A (en) | Road boundary identification method and device | |
| CN111192322B (en) | Method and system for automatically calculating height of signboard based on point cloud track | |
| CN112509452B (en) | Ground marking fusion method and system based on road structure, server and medium | |
| CN112446315B (en) | High-precision map zebra crossing fusion method, system, server and storage medium | |
| CN114647681A (en) | Intersection matching method, equipment and storage medium | |
| CN112541048B (en) | High-precision map stop line fusion method, system, server and storage medium | |
| CN112560558B (en) | Lane line correction method and device and electronic equipment | |
| US10969231B2 (en) | Map data update system and non-transitory computer-readable storage medium | |
| CN112686904A (en) | Lane division method, lane division device, electronic equipment and storage medium | |
| CN112598075B (en) | Crowdsourcing data multi-road segment elevation processing method and device | |
| CN112508112A (en) | Zebra crossing fusion method and system based on relative position of stop line | |
| CN115879023A (en) | Lane line virtual and real classification method and system based on geometric features |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |