CN112632663A - Road traffic direction mark generation method, device, equipment and medium - Google Patents
Road traffic direction mark generation method, device, equipment and medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a medium for generating road traffic direction signs, wherein the method comprises the following steps: determining a target road to be placed with a road directing mark; determining the intersection position and the intersection shape of the target road; determining the shape of a schematic diagram of the road directing sign according to the shape of the intersection; generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection; associating the planned destination path with the road name and the destination name; and generating the road traffic direction mark. The invention improves the generation efficiency and the precision of the road sign, improves the information quantity which can be expressed by the sign, and can be widely applied to the technical field of traffic data processing.
Description
Technical Field
The invention relates to the technical field of traffic data processing, in particular to a method, a device, equipment and a medium for generating road traffic direction signs.
Background
The current manufacturing of the road indicator is realized according to the flow of field collection and field manufacturing. In interior manufacturing, intersection schematic diagrams in the road-directing sign board need to be drawn manually, road names and place names in the road-directing sign board need to be written manually, and the sizes and colors of fonts need to be set manually.
In addition, even if no problem exists in the manufacturing process of field work and interior work, the final road indicating sign is only a picture, the information content contained in the final road indicating sign is only limited to the road indicating sign, the topological structure of the road indicating sign intersection and the path information between the current position and the target road are not contained, the current correct driving lane of different destinations is not contained, and the information content of the road indicating sign is less.
Disclosure of Invention
In view of this, embodiments of the present invention provide an efficient and accurate method, apparatus, device and medium for generating a road traffic direction indicator, and increase the amount of information that can be expressed by the direction indicator.
The first aspect of the invention provides a method for generating a road traffic direction mark, which comprises the following steps:
determining a target road to be placed with a road directing mark;
determining the intersection position and the intersection shape of the target road;
determining the shape of a schematic diagram of the road directing sign according to the shape of the intersection;
generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection;
associating the planned destination path with the road name and the destination name;
associating the lane on the road section where the road indicating mark is located with the name of the road, the place or the facility indicated in the road indicating mark;
and generating the road traffic direction mark.
Preferably, the determining the target road on which the road indicator is to be placed includes:
acquiring a mark position of a road traffic direction mark;
determining a buffer circle by taking the mark position as a circle center according to a preset radius;
when an adjacent road is intersected with the buffer circle, calculating the distance between each adjacent road and the mark position;
and determining the adjacent road with the minimum distance as the target road.
Preferably, the determining the intersection position and the intersection shape of the target road comprises:
calculating a first intersection encountered in the driving direction according to the target road on which the road directing sign is to be placed and the driving direction of the vehicle, taking the intersection as a target intersection, and determining the coordinate position of the target intersection;
searching a related road section connected with the target intersection according to the coordinate position of the target intersection;
and determining the shape of the intersection at the target intersection according to the target intersection and the related road section.
Preferably, the determining the intersection shape at the target intersection according to the target intersection and the related road segment includes:
using the coordinate position of the target intersection as a vertex, clockwise searching for a related road section from the due north direction of the vertex, and calculating an azimuth angle between the road section and the target intersection when finding one related road section;
determining the shape of the intersection according to the azimuth angle of the related road section;
wherein the intersection shape includes, but is not limited to, an intersection, a T-junction, and a cross-junction.
Preferably, the associating the planned destination path with the road name and the destination name includes:
constructing a destination path between the origin and each road section in the index mark by taking the position of the index mark as the origin;
determining the optimal path in each path according to the road distance and the road grade;
and recording the road name of each destination path, and recording the destination name of each destination path.
Preferably, the method further comprises:
determining the position of a vehicle exit according to the destination in the direction mark and the destination path reaching the destination;
acquiring the steering relation of the vehicle;
determining the lane of the vehicle according to the vehicle exit position and the steering relation;
associating the vehicle into the destination.
Preferably, the method further comprises:
and generating and storing road relations in the road traffic direction signs, wherein the road relations comprise topological relations of intersections, intersection traffic flow relations, relations between road sections connected with intersections and road names, place names and facilities, relations between roads, place names and facilities pointed by paths and the direction signs and lane relations.
The embodiment of the invention also provides a device for generating the road traffic direction sign, which comprises:
the first determining module is used for determining a target road on which the road directing mark is to be placed;
the second determination module is used for determining the intersection position and the intersection shape of the target road;
the third determining module is used for determining the shape of the schematic diagram of the road directing sign according to the shape of the intersection;
the first generation module is used for generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection;
a first association module for associating the planned destination path with the road name and the destination name;
the second correlation module is used for correlating the lane on the road section where the road indicating mark is located with the name of the road, the place or the facility pointed by the road indicating mark;
and the second generation module is used for generating the road traffic direction mark.
The embodiment of the invention also provides the electronic equipment, which comprises a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a program, and the program is executed by a processor to implement the method described above.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the foregoing method.
The embodiment of the invention determines a target road to be placed with a road directing mark; determining the intersection position and the intersection shape of the target road; determining the shape of a schematic diagram of the road directing sign according to the shape of the intersection; generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection; associating the planned destination path with the road name and the destination name; and generating the road traffic direction mark. The invention improves the generation efficiency and the precision of the road sign and improves the information quantity which can be expressed by the sign.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of steps provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of the location of a direction indicator provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of intersection shape calculation according to an embodiment of the present invention;
FIG. 4 is a first schematic diagram of a direction indicator according to an embodiment of the present invention;
FIG. 5 is a second schematic diagram of a direction indicator according to an embodiment of the present invention;
fig. 6 is a schematic diagram of path planning provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of lane association provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.
To solve the problems in the prior art, an embodiment of the present invention provides a method for generating a road traffic guidance sign, as shown in fig. 1, the method includes:
determining a target road to be placed with a road directing mark;
determining the intersection position and the intersection shape of the target road;
determining the shape of a schematic diagram of the road directing sign according to the shape of the intersection;
generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection;
associating the planned destination path with the road name and the destination name;
associating the lane on the road section where the road indicating mark is located with the name of the road, the place or the facility indicated in the road indicating mark;
and generating the road traffic direction mark.
Preferably, the determining the target road on which the road indicator is to be placed includes:
acquiring a mark position of a road traffic direction mark;
determining a buffer circle by taking the mark position as a circle center according to a preset radius;
when an adjacent road is intersected with the buffer circle, calculating the distance between each adjacent road and the mark position;
and determining the adjacent road with the minimum distance as the target road.
Preferably, the determining the intersection position and the intersection shape of the target road comprises:
calculating a first intersection encountered in the driving direction according to the target road on which the road directing sign is to be placed and the driving direction of the vehicle, taking the intersection as a target intersection, and determining the coordinate position of the target intersection;
searching a related road section connected with the target intersection according to the coordinate position of the target intersection;
and determining the shape of the intersection at the target intersection according to the target intersection and the related road section.
Preferably, the determining the intersection shape at the target intersection according to the target intersection and the related road segment includes:
using the coordinate position of the target intersection as a vertex, clockwise searching for a related road section from the due north direction of the vertex, and calculating an azimuth angle between the road section and the target intersection when finding one related road section;
determining the shape of the intersection according to the azimuth angle of the related road section;
wherein the intersection shape includes, but is not limited to, an intersection, a T-junction, and a cross-junction.
Preferably, the associating the planned destination path with the road name and the destination name includes:
constructing a destination path between the origin and each road section in the index mark by taking the position of the index mark as the origin;
determining the optimal path in each path according to the road distance and the road grade;
and recording the road name of each destination path, and recording the destination name of each destination path.
Preferably, the method further comprises:
determining the position of a vehicle exit according to the destination in the direction mark and the destination path reaching the destination;
acquiring the steering relation of the vehicle;
determining the lane of the vehicle according to the vehicle exit position and the steering relation;
associating the vehicle into the destination.
Preferably, the method further comprises:
and generating and storing road relations in the road traffic direction signs, wherein the road relations comprise topological relations of intersections, intersection traffic flow relations, relations between road sections connected with intersections and road names, place names and facilities, relations between roads, place names and facilities pointed by paths and the direction signs and lane relations.
The following describes in detail the implementation process of the way sign generation method of the present invention, taking the schematic diagram illustrated in the attached drawings of the specification as an example, and specifically includes the following steps 1) to 9):
1) determining the road where the road indication sign is located
And calculating the road R and R closest to the point (X, Y) according to the position (X, Y) of the road sign and the spatial relationship, wherein the road R and R are the roads where the road sign is located.
Specifically, the method for calculating the road R closest to the point P (X, Y) in the embodiment of the present invention includes the following steps a to D:
A. firstly, taking dis as a radius and P as a circle center, and making a buffer circle C1;
B. second, judge C1 and road intersection:
a) if the crossed roads exist, continuing the third step;
b) if no intersected road exists, jumping to the first step;
C. traversing intersecting roads (R)1，R2……Rn) Respectively calculating the distances from the point P to the roads { L1, L2, … …, Ln }
D. The road with the smallest L is the road R closest to the point P (X, Y).
As shown in fig. 2, the position of the direction indicator in the embodiment of the present invention is denoted by L, where L represents a specific position where the direction indicator is to be placed; r1、R2、R3、R4Respectively representing different roads.
2) Calculating intersection position
According to the road R where the road-indicating sign is located and the driving direction, calculating the first crossing C to be met in the driving direction, and determining the position (X) of the crossing0，Y0) Searching the road section (R) connected with the intersection in the urban road network data1，R2……Rn)
3) Crossing shape
As shown in fig. 3, based on the intersection point C, and the acquired data { R of the link1：{X11 Y11，X12 Y12，……X1nY1n}；R2：{X21 Y21，X22 Y22，……X2n Y2n}；……Rn：{Xn1 Yn1，Xn2 Yn2，……Xnn YnnCalculating azimuth angles A with the intersection point C as a vertex and in the north direction respectively1，A2，……An. Determining the shape of the intersection according to the included angle between the road sections, for example: orthogonal intersections, T-junctions, crossroads, etc. Referring to fig. 3, the road section is rotated clockwise from the north direction as the starting point until the direction of the measured road section, which is the azimuth angle of the road section. The included angle between the road sections is the absolute value of the difference of the road section azimuth angles. For example: road section R2And road section R3The included angle between the two is as follows: | A2–A3I 90 degrees.
4) Determining road sign road network intention shape
Determining the shape of the road-directing sign schematic diagram according to the shape of the intersection, selecting a specific road-directing sign schematic diagram template according to the fixed template of the road-directing sign, and displaying the road network structure of the road-directing sign.
As shown in fig. 4, the determined shape of the road indicator at the intersection according to the embodiment of the present invention is shown in fig. 4, and this fig. 4 can be used as a template of the road indicator at the intersection.
5) Determining target road and place name of road indicating sign
According to road section (R) of intersection association1，R2……Rn) A road Name and a destination Name (Name1, Name2, … …, Name) are generated at the end point of the road sign schematic diagram, names of road sections associated with intersections are generated as shown in fig. 5, and road signs with road names are generated on the basis of the intersection templates in fig. 4.
6) Destination path planning
Using the current point (X, Y) as O point to indicate the road RD indicated in the road sign1，RD2，……，RDnAre respectively D1，D2，……，DnTo make ODiAnd (3) planning a path, wherein weights (the weights can be set into different categories according to different requirements, such as shortest time, shortest distance, minimum oil consumption, high-level road priority and the like) used in the path planning are the lengths of roads, and the high-level roads are prioritized, so that the path planning is performed by comprehensively considering the distance and the road level. The final planned path is Route1, Route2, … …, Route.
As shown in fig. 6, fig. 6 is a schematic diagram illustrating the association relationship between the route planning and the roads. For the current position where the direction indicator L is located, there may be, for example, R in fig. 6 in the vicinity thereof1-R16And the 16 roads are equal, any two adjacent roads can be used for constructing a path plan, for example, from the current position R of the road indicator L3Starting from R, if the vehicle wants to reach R5Then the planned shortest path R can be passed3+R4+R5To complete.
7) Associating destinations and paths
Respectively comparing the planned path (Route1, Route2, … …, Route) with D (D) in the Route indication schematic diagram1，D2，……，Dn) The road or place names of the points are related (Name1, Name2, … …, Name).
If the destination of the vehicle is R, as shown in FIG. 75Then, referring to the path planning diagram of fig. 6, the optimal path should be R3+R4+R5At this time, the vehicle should be at the current R3Turn left at the intersection C, and therefore, the vehicle should be on the current road R3For left turn entry.
8) Lane association
According to a destination D in the road indicating sign and a planned path Route for reaching the destination, determining a turning relation Turn of the vehicle at the intersection C, determining a lane Lanei where the vehicle should be located at present according to the turning Turn, and associating the Lanei lane with the destination D.
9) Way indication storage
a) Way indication schematic diagram storage
b) Destination information storage
c) Planned path storage
d) Intersection c structure storage
e) Relational storage
In summary, the road sign generated by the embodiment of the present invention is not only a picture, but also includes a path to a destination road or a destination point, how to turn at the next intersection C, and whether a lane to be reached and currently driven is appropriate. The intelligent road sign plays an important role in the subsequent intelligent road sign construction, and can also be used as an important basis for cooperatively correcting the driving lane of the vehicle on the road.
The embodiment of the invention also provides a device for generating the road traffic direction sign, which comprises:
the first determining module is used for determining a target road on which the road directing mark is to be placed;
the second determination module is used for determining the intersection position and the intersection shape of the target road;
the third determining module is used for determining the shape of the schematic diagram of the road directing sign according to the shape of the intersection;
the first generation module is used for generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection;
the association module is used for associating the planned destination path with the road name and the destination name;
and the second generation module is used for generating the road traffic direction mark.
The embodiment of the invention also provides the electronic equipment, which comprises a processor and a memory;
the memory is used for storing programs;
the processor executes the program to implement the method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a program, and the program is executed by a processor to implement the method described above.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the foregoing method.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for generating a road traffic indicator, comprising:
determining a target road to be placed with a road directing mark;
determining the intersection position and the intersection shape of the target road;
determining the shape of a schematic diagram of the road directing sign according to the shape of the intersection;
generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection;
associating the planned destination path with the road name and the destination name;
associating the lane on the road section where the road indicating mark is located with the name of the road, the place or the facility indicated in the road indicating mark;
and generating the road traffic direction mark.
2. The method as claimed in claim 1, wherein the determining the target road to be placed with the road indicator comprises:
acquiring a mark position of a road traffic direction mark;
determining a buffer circle by taking the mark position as a circle center according to a preset radius;
when an adjacent road is intersected with the buffer circle, calculating the distance between each adjacent road and the mark position;
and determining the adjacent road with the minimum distance as the target road.
3. The method of claim 1, wherein said determining the intersection position and the intersection shape of the target road comprises:
calculating a first intersection encountered in the driving direction according to the target road on which the road directing sign is to be placed and the driving direction of the vehicle, taking the intersection as a target intersection, and determining the coordinate position of the target intersection;
searching a related road section connected with the target intersection according to the coordinate position of the target intersection;
and determining the shape of the intersection at the target intersection according to the target intersection and the related road section.
4. The method of claim 3, wherein determining the intersection shape of the target intersection according to the target intersection and the related road segment comprises:
using the coordinate position of the target intersection as a vertex, clockwise searching for a related road section from the due north direction of the vertex, and calculating an azimuth angle between the road section and the target intersection when finding one related road section;
determining the shape of the intersection according to the azimuth angle of the related road section;
wherein the intersection shape includes, but is not limited to, an intersection, a T-junction, and a cross-junction.
5. The method of claim 1, wherein associating the planned destination path with the road name and the destination name comprises:
constructing a destination path between the origin and each road section in the index mark by taking the position of the index mark as the origin;
determining the optimal path in each path according to the road distance and the road grade;
and recording the road name of each destination path, and recording the destination name of each destination path.
6. A road traffic indicator flag generation method according to any of claims 1-5, characterized in that the method further comprises:
determining the position of a vehicle exit according to the destination in the direction mark and the destination path reaching the destination;
acquiring the steering relation of the vehicle;
determining the lane of the vehicle according to the vehicle exit position and the steering relation;
associating the vehicle into the destination.
7. The method of claim 1, further comprising:
and generating and storing road relations in the road traffic direction signs, wherein the road relations comprise topological relations of intersections, intersection traffic flow relations, relations between road sections connected with intersections and road names, place names and facilities, relations between roads, place names and facilities pointed by paths and the direction signs and lane relations.
8. A road traffic indicator generating device, comprising:
the first determining module is used for determining a target road on which the road directing mark is to be placed;
the second determination module is used for determining the intersection position and the intersection shape of the target road;
the third determining module is used for determining the shape of the schematic diagram of the road directing sign according to the shape of the intersection;
the first generation module is used for generating a road name and a destination name at the end point of the road-directing sign schematic diagram according to the road section associated with the intersection;
a first association module for associating the planned destination path with the road name and the destination name;
the second correlation module is used for correlating the lane on the road section where the road indicating mark is located with the road, the place or the facility name indicated in the road indicating mark;
and the second generation module is used for generating the road traffic direction mark.
9. An electronic device comprising a processor and a memory;
the memory is used for storing programs;
the processor executing the program realizes the method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the storage medium stores a program, which is executed by a processor to implement the method according to any one of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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