CN112747755B - Method and device for determining road route, readable storage medium and map updating system - Google Patents
Method and device for determining road route, readable storage medium and map updating system Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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Abstract
The disclosure provides a road line determining method, a device, a readable storage medium and a map updating system, comprising: receiving a plurality of road line element point data reported by a vehicle; determining the absolute position of each element point and a vehicle track curve according to the element point data; determining the road direction according to the position of the element point and the vehicle track curve; and determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route. The road line determining method, the device, the equipment and the computer readable storage medium can determine the road direction according to the element point data reported by the vehicle, and then determine the candidate road line according to the road direction and the absolute position of the element point of the road line, so that the discrete element point data are linearized, and meanwhile, the candidate road line can be further processed to obtain the target road line, and the zero fragmentation of the road line is avoided.
Description
Technical Field
The present disclosure relates to map making technology, and in particular, to a road line determining method, a road line determining device, a readable storage medium, and a map updating system.
Background
In the unmanned field, the high-precision map is used as a service provider of priori environmental information, has important roles, and particularly plays a vital role in high-precision positioning, auxiliary environmental perception, planning and decision-making processes. The high-precision map needs to contain detailed road models including lane models, road parts, road attributes, and other various dynamic information in addition to what is contained in the conventional map.
In order to enable the vehicle to run normally on the high-precision map, the freshness of the high-precision map needs to be maintained, and the vehicle should be synchronized with the high-precision map in time in the case of road repair and the like. The map data updating scheme adopted in the prior art cannot meet the requirements of high-precision map updating, for example, the aspects of granularity, precision, cost, freshness and the like cannot meet the requirements of industry, so that the updating of high-precision maps of most map service providers is required to be dependent on crowdsourcing updating, new technical schemes are required to be provided, and the aspects of granularity, precision, cost, freshness and the like are balanced.
The linear element data in various crowdsourcing reports used for high-precision map updating at present are mostly expressed by discrete point models, which is unfavorable for the subsequent matching fusion processing. Traditionally, linearization is performed on lane discrete points, and Hough transformation is mainly adopted to obtain all possible line segments in an area. However, the method has large operation amount, and a plurality of fine segments are often output, so that the post-treatment is inconvenient.
Disclosure of Invention
The disclosure provides a road line determining method, a road line determining device, a readable storage medium and a map updating system, which are used for solving the problem that the road line obtained in the prior art is a fine broken line and is inconvenient to post-process.
A first aspect of the present disclosure provides a road line determining method, including:
receiving a plurality of road line element point data reported by a vehicle;
Determining the absolute position of each element point and a vehicle track curve according to the element point data;
determining a road direction according to the absolute position of the element point and the vehicle track curve;
and determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route.
Another aspect of the present disclosure is to provide a road line determining apparatus including:
the receiving module is used for receiving a plurality of road line element point data reported by the vehicle;
the first determining module is used for determining the absolute position of each element point and the vehicle track curve according to the element point data;
the direction determining module is used for determining the road direction according to the absolute position of the element point and the vehicle track curve;
And the route determining module is used for determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route.
Yet another aspect of the present disclosure is to provide a road line determining apparatus including:
A memory;
A processor; and
A computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the road line determination method as described in the first aspect above.
It is a further aspect of the present disclosure to provide a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the road line determination method as described in the first aspect above.
Yet another aspect of the present disclosure is to provide a map updating system, including:
crowd-sourced vehicles and cloud platforms;
The crowdsourcing vehicle comprises a sensor and is used for acquiring element point data;
The cloud platform comprises a storage module for storing the element point data uploaded by the crowdsourcing vehicle, and a processing module for executing the road line determining method according to the first aspect.
The road line determining method, the road line determining device, the readable storage medium and the map updating system have the technical effects that:
The method, the device, the readable storage medium and the map updating system for determining the road line provided by the disclosure comprise the following steps: receiving a plurality of road line element point data reported by a vehicle; determining the absolute position of each element point and a vehicle track curve according to the element point data; determining the road direction according to the absolute position of the element point and the vehicle track curve; and determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route. The road line determining method, the road line determining device, the readable storage medium and the map updating system can determine the road direction according to the element point data reported by the vehicle, and then determine the candidate road line according to the road direction and the absolute position of the element point of the road line, so that the discrete element point data are linearized, and meanwhile, the candidate road line can be further processed to obtain the target road line, and zero fragmentation of the road line is avoided.
Drawings
FIG. 1 is a flow chart of a road line determination method according to an exemplary embodiment of the present invention;
FIG. 1A is a schematic diagram of a target track route according to an exemplary embodiment of the present invention;
Fig. 2 is a flowchart of a road line determination method according to another exemplary embodiment of the present invention;
FIG. 2A is a schematic diagram of a peripheral element point according to an exemplary embodiment of the present invention;
FIG. 2B is a schematic diagram of a candidate track route according to an exemplary embodiment of the present invention;
Fig. 3 is a block diagram of a road line determining apparatus according to an exemplary embodiment of the present invention;
fig. 4 is a block diagram of a road line determining apparatus according to another exemplary embodiment of the present invention;
fig. 5 is a block diagram of a road line determining apparatus according to an exemplary embodiment of the present invention.
Detailed Description
Currently, in order to ensure that a high-precision map can be updated in time, updating of high-precision maps of most map service providers is required to depend on crowdsourcing update and a new technical scheme is required to be provided. By generating road data by vehicles on the road surface, the road data can be analyzed and the high-precision map can be updated.
However, the line element data is expressed in a discrete point mode when the road data is analyzed, which causes inconvenience in post-processing.
Fig. 1 is a flowchart illustrating a road line determination method according to an exemplary embodiment of the present invention.
As shown in fig. 1, the road line determining method provided in the present embodiment includes:
And step 101, receiving a plurality of road line element point data reported by the vehicle.
The method provided in this embodiment may be performed by an electronic device with computing capability, for example, a background server with a high-precision map.
The electronic device may be connected to the vehicle via a network, in particular via a wireless network. With the development of the internet of vehicles, more and more vehicles can access to a network, and then the vehicles and the electronic equipment can be connected through the network.
Specifically, the vehicle may be further provided with a sensor for collecting road information, and the sensor may include a camera and a laser radar, for example. The vehicle may also be an autonomous vehicle, for example.
Furthermore, the vehicle can produce element point data according to the road information collected by the sensor and report the element point data to the electronic equipment through a network.
In practical application, the element point may be a point on a road line, for example, a point of a road line drawn on the road, such as a solid line, a broken line, etc., may be sensed by a sensor, and data corresponding to the point is reported to the electronic device.
The element point data may include position data of the element point with respect to the vehicle when the element point data is acquired, and may include a position of the vehicle itself when the element point data is acquired. Time information when the element point data is acquired may also be included.
And 102, determining the absolute position of each element point and the vehicle track curve according to the element points.
Specifically, after receiving element point data reported by a vehicle, the electronic device may determine an absolute position of each element point according to the element point data. For example, the absolute position of the element point may be determined from the position of the vehicle itself and the position of the element point relative to the vehicle.
Further, when the vehicle runs on the road, the electronic device can acquire a plurality of element point data along the road, so that the electronic device can determine a running track curve generated when the vehicle runs based on the data reported by the same vehicle.
The determination of the absolute position of the element point and the timing of the vehicle track curve are not particularly limited.
Wherein the vehicle trajectory profile may be determined from the vehicle positions included in the respective elemental point data. The element point data along the way that the vehicle can acquire during the running process of the vehicle has a certain time sequence, for example, the vehicle sequentially determines the data corresponding to the element point P 1、P2、P3、P4、P5 within 10 seconds. Therefore, the travel locus of the vehicle over this period of time can be determined based on the element point data having the time series attribute.
Specifically, the respective element points may be sorted according to the time at which the element point data is received, or may be sorted according to the time included in the element point data. Therefore, the positions of the sequential paths of the vehicles can be determined according to the positions of the vehicles included in the element point data, and the running track curve of the vehicles can be obtained.
Further, the travel locus of the vehicle may be drawn in the map according to the vehicle position included in the element point data and the time at which the element point data is generated. For example, a vehicle track curve may be a curve corresponding to the sequential connection P 1、P2、P3、P4、P5.
And step 103, determining a road direction angle according to the absolute position of the element point and the vehicle track curve.
For the high-precision map, the direction attribute included in the road and the road line attribute are two important attributes, and the method provided by the embodiment can determine the two attributes.
Specifically, the vehicle trajectory curve may have a certain directivity, for example, the traveling direction is from P 1 toward P 5. Generally, the traveling direction of the vehicle coincides with the road direction. However, when the vehicle changes lanes, the running direction and the road direction are inconsistent, so the absolute positions of the direction combination element points and the vehicle track curve provided by the embodiment jointly determine the road direction angle, and the direction of the road is determined more accurately according to the road direction angle.
Further, the road direction refers to a direction in which the vehicle is traveling on the road normally, and the road direction may be represented by an angle value, for example, an angle between the vehicle traveling direction and a map horizontal axis may be used as a road direction angle. For example, a high-precision map is drawn in the direction of "north, south, left, west, and right east", and the direction of travel of a road is from west to east, and the direction angle of the road is 0 degrees.
Alternatively, the road direction may also be described by a relative angle, such as a forward east direction, a north-east 30 degrees, etc. The road direction may also be described in terms of vectors in coordinates, which is not limited by the present embodiment.
In practical application, a plurality of sampling points can be obtained in the vehicle track curve, the tangential direction of each sampling point is determined according to the vehicle track curve, and the tangential direction is determined as the running direction of the vehicle at the position of the sampling point. In general, the traveling direction may be a road direction at which the sampling point is located, but in some rare cases, the traveling direction does not coincide with the road direction.
The element points near the sampling point can be acquired, and the road direction of the sampling point can be further determined through the element points. For example, element points less than a preset distance from the sampling point may be acquired.
Specifically, after any two element points are connected, the connection line direction of the element points can be calculated, for example, the two element points can be connected to obtain a straight line, and then the included angle between the straight line and the horizontal axis of the map is determined. The connecting line direction and the running direction of the vehicle can be compared, and if the difference between the connecting line direction and the running direction of the vehicle is too large, the connecting line direction can be eliminated. Specifically, a difference between the line angle and the tangential angle of the sampling point may be calculated, and if the difference is greater than a threshold value, the line angle may be eliminated. The threshold value may be, for example, a maximum angle with the road course when the vehicle is traveling normally, for example, the maximum angle may be 75 °.
Further, the road direction of the sampling point may be determined according to the remaining link angles, for example, the direction with the highest occurrence frequency among the remaining link directions may be used as the road direction angle. For example, when 6 element points are included, for example, three points on two road lines, there are four link angles that coincide with the road direction angle, and thus, they can be regarded as the road direction angle.
In practical application, whether the road direction angle is determined in the element point connecting line angle can be determined according to the element point number and the possible lane line number. For example, when the number of element points is smaller than the square of the number of possible lane lines, the vehicle traveling direction and the tangential direction of the sampling point may be directly taken as the road direction. For example, when two lanes are included and 6 element points are included in total, there is a possibility that there are two element points per road line, and at this time, a direction perpendicular to the lanes may be mistakenly regarded as a road direction.
And 104, determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route.
The candidate road line is a sequence set of element points, including a plurality of element points, for example (P 1、P2、P3…Pn), in which the first element point is the start point of the road line and the last point is the end point of the road line. Each candidate route is a road line.
Specifically, a set of candidate road lines may be constructed in which candidate road lines are stored. The element points can be traversed one by one according to the time sequence for generating the element points, and the corresponding candidate road routes can be determined.
Further, an element point may be obtained, and a road line matching the element point may be determined from the candidate road line set. At the beginning, no candidate road line exists in the set, and at this time, the road line matched with the element point cannot be determined, and the related road line can be directly generated according to the element point. For example, other element points generated before it may be acquired, and each other element point and the combination of the element points may be respectively used as one candidate road route. For example, a plurality of other element points P 0 may be acquired for the element point P 1, and one candidate road line combination (P 0,P1) may be obtained for each P0. For another example, assuming that there is no road in the candidate route set, in this case, the first element point P 0 may be acquired, then the element points after P 0 are acquired to form an element point pair, and then the candidate road is constructed from the element point pair.
In practical application, when the candidate set stores the candidate road lines and then the element points are traversed, whether the matched road lines exist in the set can be determined preferentially. Specifically, the tail point in the candidate road line can be connected with the acquired element point, a connecting angle is determined, whether the road direction angle corresponding to the absolute position of the element point is too large in phase difference with the connecting angle or not can be determined, if not, the element point can be considered to be matched with the candidate road line, and the element point which is traversed currently can be used as a new tail point of the candidate road line.
Among the candidate road routes included in the candidate set, there may be a plurality of problems, such as overlapping, missing, and the like. For example, due to a data miss, there may be two sub-road routes in the candidate set, which belong to two parts of the road line.
Therefore, the relation between every two candidate road routes in the candidate set can be determined, and the relation specifically comprises a direction relation, a distance relation and a parallel relation. And combining, deleting and the like are carried out on the candidate road routes according to the determined relation, so that the complete target road route is obtained.
Specifically, if two road lines are in the same direction and at the same time have the same relative position as a third road line, for example, are located 3 meters on the south side of the third road line, the two road lines can be considered to belong to the same road line, and a target road line can be generated according to the two road lines.
FIG. 1A is a schematic diagram of a target track route according to an exemplary embodiment of the invention.
As shown in fig. 1A, the determined target track route has directionality, and each target track route includes a plurality of element points, wherein the dots are used for representing the element points, and the arrows indicate the direction of the target track route.
The method provided by the present embodiment is for determining a road route, which is performed by an apparatus provided with the method provided by the present embodiment, which is typically implemented in hardware and/or software.
The road line determining method provided in the embodiment includes: receiving a plurality of road line element point data reported by a vehicle; determining the absolute position of each element point and a vehicle track curve according to the element point data; determining the road direction according to the absolute position of the element point and the vehicle track curve; and determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route. According to the method provided by the embodiment, the road direction can be determined firstly according to the element point data reported by the vehicle, and then the candidate road route is determined according to the road direction and the absolute position of the element point of the road route, so that the discrete element point data are linearized, meanwhile, the candidate road route can be further processed, the target road route is obtained, and the zero fragmentation of the road route is avoided.
Fig. 2 is a flowchart illustrating a road line determination method according to another exemplary embodiment of the present invention.
As shown in fig. 2, the road line determining method provided in this embodiment includes:
Step 201, receiving a plurality of road line element point data reported by a vehicle.
Step 201 is similar to the specific principles and implementation of step 101 and will not be described in detail herein.
Step 202, determining the absolute position of each element point according to the vehicle position and the relative position in the element points.
The element point data reported by the crowdsourcing vehicle can comprise the vehicle position and the relative position of the element point relative to the vehicle. Therefore, the absolute position of each pixel point can be determined from the vehicle position, the relative position. For example, the coordinates of the vehicle position are (x, y), the relative position may be (Δx, Δy), and the determined pixel position may be (x+Δx, y+Δy).
Step 203, grouping the vehicle positions according to the vehicle positions in the element points and the first distance threshold.
Specifically, since the element point data reported by the vehicle includes the vehicle position, that is, the position of the vehicle at each time (the time may be regarded as the time when the vehicle acquires the element point), the travel track curve of the vehicle can be determined according to the positions of the vehicle at different times.
Further, the vehicle positions included in the respective element point data may be acquired, and a first distance threshold may be preset for grouping the vehicle positions. Since there is vehicle position information, the relative position between the respective vehicle positions, for example, the distance between position 1 and position 2, or the like, can be determined.
In practice, the vehicle positions may be segmented according to a first distance threshold, and the vehicle positions located at the first distance threshold length may be grouped. For example, a total of 100 vehicle positions may be included, which may be divided into successive p segments, each segment including a vehicle position having a length of a first distance threshold.
Step 204, determining a curve corresponding to each group of vehicle positions, and determining a vehicle track curve according to the curves.
The vehicle positions included in each group can be fitted to obtain a curve corresponding to the vehicle positions in the group.
Specifically, fitting refers to connecting a series of points on a plane with a smooth curve. For example, a quadratic curve corresponding to each vehicle position group can be obtained by using least square fitting.
Furthermore, curves obtained by processing different groups of vehicle positions can be combined to obtain a vehicle track curve. For example, the curves corresponding to different groups can be directly spliced, and a complete track curve can be obtained. And the joint of the two curves can be subjected to smoothing treatment, so that an accurate vehicle track curve is obtained.
Alternatively, in order to be able to fit a curve corresponding to each set of vehicle positions, each set should comprise a plurality of vehicle positions, and therefore, when setting the first distance threshold, a value that can span a plurality of vehicle positions should be set, for example, to 50 meters.
The timing of steps 203-204 and 202 is not limited.
And 205, sampling the vehicle track curve according to the second distance threshold value to obtain a plurality of sampling points.
And 206, determining the vehicle running direction corresponding to the sampling point according to the vehicle track curve.
In practical application, a second distance threshold value can be preset for sampling the vehicle track curve.
The magnitude of the second distance threshold determines the calculation density of the road direction, and the more densely the sampling points are, the more accurate the road direction is. For example, when there is a curve on the road, if the second distance threshold is large, the main direction of the curve area of the road cannot be accurately represented. Thus, a smaller second distance threshold may be selected, for example 5 meters.
Specifically, the traveling direction of the vehicle at each sampling point position may also be determined, and specifically, the direction angle θ1 may be determined.
Further, a tangential direction of each sampling point may be determined according to the vehicle track curve, and a traveling direction of the vehicle may be determined according to the tangential direction.
In step 207, element points having a distance from the sampling point less than or equal to the third distance threshold are determined as surrounding element points of the sampling point.
In practice, the vehicle traveling direction may be considered as the road direction, but when the vehicle changes lanes, the vehicle traveling direction does not coincide with the road direction. Therefore, the road direction can also be determined in combination with the element points of the road route near the sampling point reported by the vehicle.
Further, a third distance threshold may be preset, and element points with a distance from the sampling point less than or equal to the third distance threshold may be obtained as the surrounding element points of the sampling point.
In practical application, the peripheral element points of each sampling point can be determined, and the road direction corresponding to each sampling point can be determined according to the peripheral element points.
Step 208, determining a point pair comprising two element points according to the surrounding element points, and determining a first connecting direction according to the element points comprised by the point pair.
Step 209, determining a first included angle according to the vehicle running direction and the first connecting direction, determining a target connecting direction with highest frequency in the first connecting directions corresponding to the first included angle smaller than or equal to the preset angle, and determining the target connecting direction as the road direction.
The peripheral element points of each sampling point can be grouped in pairs to form a plurality of point pairs, and each point pair comprises two element points. The first connection direction may be determined according to two element points included in the point pairs, and specifically, the first connection direction corresponding to each point pair may be determined, for example, an angle between a straight line connecting the two element points and a transverse axis of the map; and determining the road direction corresponding to the sampling point according to the vehicle running direction and the first connecting direction.
Further, there are element point pairs located on different road lines, and at this time, the first connecting direction corresponding to the point pairs is inconsistent with the road direction, so that a part of the first connecting direction can be removed.
In practical application, the vehicle running direction of the sampling point and the first connecting direction can be compared, and if the two directions differ greatly, the first connecting direction can be considered to be necessarily not the road direction. For example, it is possible that the two element points are wired in a direction perpendicular to the road direction. The vehicle running direction should be consistent or similar to the road direction, for example, the maximum possible included angle between the vehicle running direction and the road direction is 75 degrees, so that the included angle between the first connecting line direction and the road running direction can be determined, if the included angle is greater than 75 degrees, the first connecting line direction is considered to be impossible to be the road direction, and therefore, the first connecting line direction can be eliminated.
The first included angle can be determined according to the vehicle running direction and the first connecting line direction, and the first included angle larger than a preset angle is removed, for example, the first included angle larger than 75 degrees is removed. The road direction can also be determined in the first connecting direction corresponding to the first included angle smaller than or equal to the preset angle. If the first included angle is less than or equal to 75 degrees, the first link direction may be considered to be a road direction, and the target link direction with the highest occurrence frequency may be determined from the first link directions, and the target link direction may be determined as the road direction.
Optionally, the method provided in this embodiment may further include:
the number of possible lane lines is determined according to the element point positions.
Specifically, the element point positions can be fitted, and the number of lanes can be estimated. For example, 2 lane lines are obtained by fitting, and the estimated number of lanes is 1. For another example, the number of lanes may be determined according to the relative positions of the lane lines after the fitting.
Further, step 210 may also be provided prior to step 208.
Step 210, comparing the square value of the number m of the surrounding element points of the sampling points and the number n of the possible lane lines.
In practical application, if the number m of the peripheral element points of the sampling points is small, there is a possibility that the road direction is erroneously determined based on the line direction between the peripheral element points.
Fig. 2A is a schematic diagram of a peripheral element point according to an exemplary embodiment of the present invention.
As shown in fig. 2A, the number of possible lane lines n is 2 and n 2 is 4 as shown. For a sampling point, 6 corresponding peripheral element points can be obtained. As shown, each lane line includes 2 points of peripheral elements, the determined main direction of the lane being shown as 21, which is not coincident with the direction of the road.
Therefore, if the number of surrounding element points is smaller than the square of the number of possible lane lines, i.e. m < n 2, step 211 may be performed.
Step 211, determining the vehicle running direction corresponding to the sampling point as the road direction.
In this case, the vehicle traveling direction may be directly taken as the lane main direction, so that the direction perpendicular to the lane is not taken as the lane main direction. Even if the vehicle traveling direction does not completely coincide with the lane main direction, the deviation of the traveling direction of the vehicle from the lane main direction is small, and therefore, it can be regarded as the road direction.
If the number of surrounding element points is greater than or equal to the square of the number of possible lane lines, i.e., m+.n 2, then step 208 may be performed.
By the above steps, the direction of the road through which the vehicle passes, which is obtained from the vehicle trajectory curve, can be determined, and thus, the direction in which the road continues. After determining the road direction, step 212 may be performed.
Step 212, obtaining an element point, and determining whether a candidate road line matched with the element point exists in the candidate road line set according to the absolute position of the element point and the road direction corresponding to the element point.
Wherein a set of candidate road lines may be constructed for storing the determined candidate road lines.
Specifically, each element point may be traversed to determine a candidate track route that matches it. In one embodiment, the element point data may further include a time stamp, which may be added when the vehicle reports the data, for marking the time of generation of the element point data.
Further, the element point may be acquired from a time stamp in the element point data. The time sequence of generating the element points is consistent with the time sequence of each element point of the vehicle route, the element points are traversed one by one according to the time stamp, and the direction of the road line can be ensured to be correct and consistent with the road direction.
In practical application, the candidate road routes are composed of element points, each candidate road route comprises a plurality of element points, and the element points have a sequence relationship, for example, the candidate road route comprises (P 1、P2、P3、P4), and then the candidate road route is a road route passing through the four points of P 1、P2、P3、P4 in sequence.
The first point in the element point sequence of the candidate road route is the starting point, the starting point of the candidate road route is the last point of the element point sequence of the candidate road route is the tail point of the candidate road route.
Specifically, after an element point is acquired, a candidate road route matching it may be determined. Specifically, according to the absolute position of the element point, the distance between the element point and the tail point in the candidate road route is determined, and the second connecting line direction of the tail point and the element point in the candidate road route is determined.
Further, since the element points are acquired in time sequence, the element point currently acquired may be a subsequent point of the existing candidate road, that is, may be a next tail point of the candidate road, and may be specifically determined according to a distance between the element point and the current tail point of the existing candidate road and the second connecting direction.
In practical application, it is assumed that an element point is a new tail point of a candidate road route, and the element point should be closer to the current tail point of the candidate road, and the included angle between the second connecting line direction between the element point and the current tail point and the road direction should be within a certain range, so that the candidate road route matched with the element point can be determined according to the two conditions.
After obtaining an element point, each candidate road route can be traversed, tail points of the routes can be obtained, the distance between each tail point and the obtained element point can be determined according to the position of the element point and the position of the tail point, and if the distance is greater than a fourth distance threshold, the candidate road route corresponding to the tail point can be directly considered to be not matched with the element point.
Specifically, for the candidate road route with the tail point distance less than or equal to the fourth distance threshold, it may also be determined whether the deviation between the second connecting line direction of the tail point and the element point and the road direction is less than the first preset deviation, if so, the candidate road route may be considered as the road line matched with the element point.
Further, the corresponding road direction can be determined according to the element point position. In one embodiment, a sampling point near the element point may be acquired, and the road direction corresponding to the sampling point may be determined as the road direction of the element point. In another embodiment, a road direction curve may be drawn according to the determined road direction, the road direction is determined according to sampling points, the sampling points are points in a vehicle running track curve, and the curve is obtained based on the vehicle position, so that each sampling point has position information, and the road direction curve also has position information, and a corresponding position may be determined in the road direction curve according to the element point position, and the road direction at the corresponding position is taken as the road direction corresponding to the element point.
In practical application, the first preset deviation is used for indicating the maximum possible included angle between the road direction and the direction of the road route, for example, 30 degrees. The direction of the line connecting the candidate road route tail point and the element point may be regarded as the direction of the road route, and if the angle between the direction and the road direction is too large, the road line may be regarded as erroneous confirmation.
If the distances between the tail points and the element points of the candidate road routes are smaller than the fourth threshold value, and the second connecting line direction of the tail points and the element points also meets the requirement that the deviation between the tail points and the road direction is smaller than the first preset deviation, the candidate road routes matched with the element points can be determined. However, since one element point can only belong to one road line, the candidate road line with the smallest direction deviation can be used as the target matching candidate road line of the element point, so that the uniquely matching road line to which the element point belongs can be determined.
If a candidate track route matching the element point can be determined, step 213 is performed.
And step 213, adding the essential points into the candidate road routes matched with the essential points to form new candidate road routes.
If there is a candidate road route matching with the element point, the connection between the tail point in the candidate road route and the element point can be considered as the extension line of the candidate road route, and the tail point and the element point are continuous, so that the element point can be added into the candidate road route matching with the element point, specifically, the element point can be taken as a new tail point, and the candidate road route matching with the element point can be added into the element point to form a new candidate road route.
If there are no candidate itineraries matching the element points, then step 214 may be performed.
In step 214, independent candidate lane routes including the element points are determined.
If the existing candidate road routes are not matched with the acquired element points, a new candidate road route comprising the element points can be determined as an independent road route.
The other element points whose time is before or after the element point and whose distance from the element point is smaller than the fifth distance threshold may be acquired according to the time stamp included in the element point data. The time stamp can represent the generation time of the element point data, and the order of the element points of the route when the vehicle travels can be determined from the time stamp, for example, the element point P1 is passed before the element point P2. A link between a preceding element point and a following element point may be a road line.
Specifically, other element points that are closer to the element point before the element point can be obtained, and then the candidate road route is determined according to the element point and other element points. Each other element point may be combined with the element point as a road line. For example, for element point P i, a plurality of other element points P i1、Pi2…Pik generated before it may be acquired. A new candidate way can be generated for each other element point, which may be { P i1,Pi}、{Pi2,Pi}、…、{Pik,Pi }, for example.
Further, unqualified routes included in the new candidate road route can be removed. Specifically, the third connecting line direction can be determined according to the starting point and the tail point included in each candidate road line; and determining a second direction deviation between the third connecting line direction and the road direction corresponding to the element point. If the second direction deviation is greater than the second preset deviation, it may be considered that the determined new candidate road route is not qualified, for example, two element points may be on two different road lines, at this time, it may be determined that a road line perpendicular to the road direction is likely to be determined, the direction deviation between the second connection direction of the road route and the road direction may be 90 degrees, the deviation angle is too large, and the candidate road route may be deleted.
In actual use, for candidate road lines whose direction deviation is less than or equal to the second preset deviation, they can be considered as acceptable road lines, and therefore, they are added to the candidate road line set.
The second preset deviation may be set according to the requirement, which is not limited in this embodiment.
Each element point may be traversed, steps 212-213 or 212-214 may be performed, and step 215 may also be performed after traversing each element point.
Step 215, deleting the candidate road routes with the points less than the point threshold in the candidate road route set.
Among the candidate road routes determined according to the element points, there may be a scattered road route including fewer element points, for example, a candidate road route including only two points, which have no meaning in determining the complete target road route, and therefore, a point threshold may be set, and candidate road routes whose points in the candidate road route set are less than the point threshold may be deleted.
In step 216, a route combination including two routes is determined based on the candidate road route.
Specifically, a complete target road route may be determined according to a plurality of candidate road routes included in the candidate road set. If the vehicle runs along one road, the obtained element points should belong to several road lines, so that the scattered candidate road lines can be combined to obtain the several road lines.
Further, the determined plurality of candidate road routes may be grouped, with two candidate road routes included in each combination.
And 217, determining the relative position relation of the two candidate lane lines included in each combination, and carrying out merging processing on the candidate lane lines in the combination according to the relative position relation.
In practical application, the relative position relationship of two candidate road routes included in each combination can be determined, namely, the relative position relationship of any two candidate road routes can be determined.
Whether the two candidate lane lines belong to the same lane line or not can be determined according to the relative position relation, and if yes, the two candidate lane lines can be combined.
Specifically, the relative positional relationship includes: intersection information, homodromous information and spacing.
Further, the intersection information includes whether two candidate road routes intersect, and if the two candidate road routes have the same intersection along the road direction, the two candidate road routes are considered to intersect.
FIG. 2B is a schematic diagram of a candidate track route according to an exemplary embodiment of the invention.
As shown in fig. 2B, the route L1 intersects L2, L1 intersects L3, and L2 does not intersect L3.
In practical application, the element points at the positions of the two lines close to each other can be obtained according to the positions of the two candidate road routes, and then the angles of the positions of the two lines close to each other can be respectively determined according to the element points.
The co-directional information may include co-directional, different directions.
If two candidate road lines intersect, the distance between the two candidate road lines can be determined. Specifically, the average distance between the two road routes in the intersection area can be calculated and used as the distance between every two candidate road routes.
Specifically, if two candidate road routes do not intersect and are in the same direction, and there is a third candidate road route, and the distance difference between the third candidate road route and the two candidate road routes is within a specified range, it may be stated that the two candidate road routes belong to the same road route and are road routes parallel to the third candidate road route, so that the two candidate road routes may be combined.
Further, a connecting line may be provided between the two candidate road routes, the connecting line being parallel to the third candidate road route, thereby obtaining a complete target road route. As shown in fig. 2B, a connecting line may be disposed between L2 and L3, thereby forming a complete target track line.
In practical application, the merged candidate road route can be deleted, and only the complete target road route is reserved. For example, a road line L4 may be provided, which includes L2 and L3, at which time L2, L3 may be deleted, adding L4 to the candidate road set.
Fig. 3 is a block diagram of a road line determining apparatus according to an exemplary embodiment of the present invention.
As shown in fig. 3, the road line determining apparatus provided in the present embodiment includes:
a receiving module 31, configured to receive a plurality of road line element point data reported by a vehicle;
a first determining module 32, configured to determine an absolute position of each element point and a vehicle track curve according to the element point data;
A direction determining module 33, configured to determine a road direction according to the absolute position of the element point and the vehicle track curve;
The route determining module 34 is configured to determine a candidate road route according to the absolute position of the element point and the road direction, and determine a target road route according to the candidate road route.
The road line determining device provided by the embodiment comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a plurality of road line element point data reported by a vehicle; the first determining module is used for determining the absolute position of each element point and the vehicle track curve according to the element point data; the direction determining module is used for determining the road direction according to the absolute position of the element point and the vehicle track curve; and the route determining module is used for determining a candidate road route according to the absolute position of the element point and the road direction and determining a target road route according to the candidate road route. The device provided by the embodiment can determine the road direction according to the element point data reported by the vehicle, and then determine the candidate road route according to the road direction and the absolute position of the element point of the road route, so that the discrete element point data are linearized, and meanwhile, the candidate road route can be further processed to obtain the target road route, and the zero fragmentation of the road route is avoided.
The specific principle and implementation of the road line determining device provided in this embodiment are similar to those of the embodiment shown in fig. 1, and will not be described herein again.
Fig. 4 is a block diagram of a road line determining apparatus according to another exemplary embodiment of the present invention.
As shown in fig. 4, on the basis of the above embodiment, the road line determining device provided in this embodiment may optionally include a vehicle position, and a relative position of the element point with respect to the vehicle;
the first determining module 32 comprises a position determining unit 321 for determining the absolute position of each of the element points from the vehicle position, the relative position in the element points.
Optionally, the first determining module 32 includes a track determining unit 322 configured to:
grouping the vehicle positions according to the vehicle positions in the element points and a first distance threshold;
and determining a curve corresponding to each group of vehicle positions, and determining the vehicle track curve according to the curves.
Optionally, the direction determining module 33 includes:
The sampling unit 331 is configured to sample the vehicle track curve according to a second distance threshold value, so as to obtain a plurality of sampling points;
The direction determining unit 332 is configured to determine the element point having a distance from the sampling point less than or equal to the third distance threshold as a peripheral element point of the sampling point, and determine the road direction corresponding to the sampling point according to the peripheral element point.
Optionally, the direction determining module 33 is further configured to determine a vehicle driving direction corresponding to the sampling point according to the vehicle track curve;
the direction determining unit 332 is specifically configured to:
Determining a point pair comprising two element points according to the peripheral element points, and determining a first connecting direction according to the element points included by the point pair;
Determining a first included angle according to the vehicle running direction and the first connecting direction;
And determining a target connecting line direction with highest frequency in the first connecting line direction corresponding to the first included angle smaller than or equal to a preset angle, and determining the target connecting line direction as the road direction.
Optionally, the direction determining module 33 is further configured to determine the number of possible lane lines according to the location of the element point;
The direction determining module 33 further includes a comparing unit 333 configured to, before the direction determining unit 332 determines a point pair including two element points according to the peripheral element points:
Comparing the square value of the number of the peripheral element points of the sampling points with the number of the possible lane lines;
if the number of the peripheral element points is greater than or equal to the square value of the number of the possible lane lines, the direction determining unit 332 performs the step of determining a point pair including two element points from the peripheral element points;
If the number of the surrounding element points is smaller than the square value of the number of the possible lane lines, the direction determining unit 332 determines the vehicle traveling direction corresponding to the sampling point as the road direction.
Optionally, the route determining module 34 includes a candidate road line determining unit 341 configured to:
acquiring an element point, and determining whether a candidate road line matched with the element point exists in a candidate road line set according to the absolute position of the element point and the road direction corresponding to the element point;
if the element points do not exist, determining independent candidate road routes including the element points;
If so, adding the element points into the candidate road routes matched with the element points to form new candidate road routes;
And adding the element point serving as a tail point into the candidate road route to form a new candidate road route.
Optionally, the element point data further comprises a timestamp;
The candidate route determination unit 341 is specifically configured to:
And acquiring the element point according to the timestamp in the element point data.
Optionally, the candidate road route includes a point sequence;
The candidate route determination unit 341 is specifically configured to:
determining the distance between the element point and the tail point in the candidate road route according to the absolute position of the element point, and determining the second connecting line direction of the tail point and the element point in the candidate road route;
And if the distance is smaller than or equal to a fourth distance threshold value and the deviation of the second connecting line direction and the road direction corresponding to the element point is smaller than a first preset deviation, determining that the element point is matched with the candidate road line.
Optionally, the candidate route determining unit 341 is specifically configured to:
Acquiring other element points with time before the element point and distance from the element point smaller than a fifth distance threshold according to the time stamp included in the element point data;
and combining the other element points serving as starting points and the element points serving as tail points into a plurality of candidate road routes.
Optionally, the candidate road line determining unit 341 is further configured to:
determining a third connecting line direction according to the starting point and the tail point included in each candidate road line;
And if the deviation of the road direction corresponding to the element point and the third connecting line direction is smaller than or equal to a second preset deviation, adding the candidate road line corresponding to the third connecting line direction into the candidate road line set. Optionally, after traversing each element point, the candidate route determining unit 341 is further configured to:
and deleting the candidate road routes with the points less than the point threshold value in the candidate road route set.
Optionally, the route determining module 34 includes a target road line determining unit 342 for:
Determining a route combination comprising two routes according to the candidate road line;
And determining the relative position relation of two candidate lane lines included in each combination, and carrying out merging processing on the candidate lane lines in the combination according to the relative position relation.
Optionally, the relative positional relationship includes: intersection information, homodromous information and spacing;
The target road line determining unit 342 specifically is configured to:
And if the two candidate road routes do not intersect and are in the same direction, and a third candidate road route exists, and the distance difference between the third candidate road route and the two candidate road routes is within a specified range, merging the two candidate road routes.
Alternatively, if the candidate road line determining unit 341 determines a plurality of candidate road lines matching the element point, the candidate road line determining unit 341 is further configured to use the candidate road line with the smallest direction deviation as the target matching candidate road line of the element point.
The specific principle and implementation of the road line determining device provided in this embodiment are similar to those of the embodiment shown in fig. 2, and will not be described herein again.
Fig. 5 is a block diagram of a road line determining apparatus according to an exemplary embodiment of the present invention.
As shown in fig. 5, the road line determining apparatus provided by the present embodiment includes:
a memory 51;
a processor 52; and
A computer program;
Wherein the computer program is stored in the memory 51 and configured to be executed by the processor 52 to implement any of the road line determination methods as described above.
The present embodiment also provides a computer-readable storage medium, having stored thereon a computer program,
The computer program is executed by a processor to implement any of the road line determination methods described above.
The present embodiment also provides a map updating system, including:
crowd-sourced vehicles and cloud platforms;
The crowdsourcing vehicle comprises a sensor and is used for acquiring element point data;
the cloud platform comprises a storage module for storing the element point data uploaded by the crowdsourcing vehicle, and a processing module for executing any road line determining method as described above.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (12)
1. A road line determination method, characterized by comprising:
receiving a plurality of road line element point data reported by a vehicle;
Determining the absolute position of each element point and a vehicle track curve according to the element point data;
determining a road direction according to the absolute position of the element point and the vehicle track curve;
Determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route;
the determining the road direction according to the absolute position of the element point and the vehicle track curve comprises the following steps:
sampling the vehicle track curve according to a second distance threshold value to obtain a plurality of sampling points;
And determining the element points with the distance from the sampling point being smaller than or equal to a third distance threshold value as peripheral element points of the sampling point, and determining the road direction corresponding to the sampling point according to the peripheral element points.
2. The method of claim 1, wherein the element point data includes a vehicle location, a relative location of the element point with respect to the vehicle, a timestamp;
the determining the absolute position of each element point according to the element point data comprises the following steps:
the absolute position of each of the element points is determined from the vehicle position, the relative position in the element points.
3. The method of claim 2, wherein determining a vehicle trajectory profile from the element point data comprises:
grouping the vehicle positions according to the vehicle positions in the element points and a first distance threshold;
and determining a curve corresponding to each group of vehicle positions, and determining the vehicle track curve according to the curves.
4. The method as recited in claim 1, further comprising:
determining the vehicle running direction corresponding to the sampling point according to the vehicle track curve;
The determining the road direction corresponding to the sampling point according to the peripheral element point includes:
Determining a point pair comprising two element points according to the peripheral element points, and determining a first connecting direction according to the element points included by the point pair;
Determining a first included angle according to the vehicle running direction and the first connecting direction;
And determining a target connecting line direction with highest frequency in the first connecting line direction corresponding to the first included angle smaller than or equal to a preset angle, and determining the target connecting line direction as the road direction.
5. The method as recited in claim 4, further comprising: determining the number of possible road lines according to the element point positions;
Before the point pairs comprising two element points are determined according to the peripheral element points, the method comprises the following steps:
comparing the square value of the number of the peripheral element points of the sampling points with the number of the possible road lines;
if the number of the peripheral element points is greater than or equal to the square value of the number of the possible road lines, executing the step of determining a point pair comprising two element points according to the peripheral element points;
And if the number of the peripheral element points is smaller than the square value of the number of the possible road lines, determining the vehicle running direction corresponding to the sampling points as the road direction.
6. The method of claim 2, wherein the determining a candidate road route from the absolute position of the element point and the road direction comprises:
Acquiring the element point according to the timestamp in the element point data, and determining whether a candidate road line matched with the element point exists in a candidate road line set according to the absolute position of the element point and the road direction corresponding to the element point;
if the element points do not exist, determining independent candidate road routes including the element points;
If so, adding the element points into the candidate road routes matched with the element points to form new candidate road routes;
The element points are used as tail points to be added into the candidate road routes to form new candidate road routes;
and deleting the candidate road routes with the points less than the point threshold value in the candidate road route set.
7. The method of claim 6, wherein the candidate roadway includes a sequence of points therein;
The determining whether a candidate road line matched with the element point exists in a candidate road line set according to the absolute position of the element point and the road direction corresponding to the element point comprises the following steps:
determining the distance between the element point and the tail point in the candidate road route according to the absolute position of the element point, and determining the second connecting line direction of the tail point and the element point in the candidate road route;
And if the distance is smaller than or equal to a fourth distance threshold value and the deviation of the second connecting line direction and the road direction corresponding to the element point is smaller than a first preset deviation, determining that the element point is matched with the candidate road line.
8. The method of claim 6, wherein the determining the independent candidate lane route including the element point comprises:
Acquiring other element points with time before or after the element point and distance from the element point smaller than a fifth distance threshold according to the time stamp included in the element point data;
combining a plurality of candidate road routes by taking each other element point as a starting point and the element point as a tail point;
determining a third connecting line direction according to the starting point and the tail point included in each candidate road line;
and if the deviation of the road direction corresponding to the element point and the third connecting line direction is smaller than or equal to a second preset deviation, adding the candidate road line corresponding to the third connecting line direction into the candidate road line set.
9. The method of any of claims 1-8, wherein the determining a target course from the candidate course comprises:
Determining a route combination comprising two routes according to the candidate road line;
Determining the relative position relation of two candidate road lines included in each combination, and carrying out merging processing on the candidate road lines in the combination according to the relative position relation; wherein the relative positional relationship includes: intersection information, homodromous information and spacing;
The combining processing of the candidate road lines in the combination according to the relative position relation comprises the following steps:
And if the two candidate road routes do not intersect and are in the same direction, and a third candidate road route exists, and the distance difference between the third candidate road route and the two candidate road routes is within a specified range, merging the two candidate road routes.
10. A road line determining apparatus, characterized by comprising:
the receiving module is used for receiving a plurality of road line element point data reported by the vehicle;
the first determining module is used for determining the absolute position of each element point and the vehicle track curve according to the element point data;
the direction determining module is used for determining the road direction according to the absolute position of the element point and the vehicle track curve;
the route determining module is used for determining a candidate road route according to the absolute position of the element point and the road direction, and determining a target road route according to the candidate road route;
the direction determining module is specifically configured to sample the vehicle track curve according to a second distance threshold value to obtain a plurality of sampling points; and determining the element points with the distance from the sampling point being smaller than or equal to a third distance threshold value as peripheral element points of the sampling point, and determining the road direction corresponding to the sampling point according to the peripheral element points.
11. A computer-readable storage medium, having a computer program stored thereon,
The computer program being executable by a processor to implement the method of any one of claims 1-9.
12. A map updating system, comprising:
crowd-sourced vehicles and cloud platforms;
The crowdsourcing vehicle comprises a sensor and is used for acquiring element point data;
The cloud platform comprises a storage module for storing the element point data uploaded by the crowdsourcing vehicle, and a processing module for performing the method of any of claims 1-9.
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| CN113435427B (en) * | 2021-08-27 | 2021-11-09 | 湖北亿咖通科技有限公司 | Method and device for aggregating lane lines |
| CN114111814A (en) * | 2021-10-21 | 2022-03-01 | 北京百度网讯科技有限公司 | High-precision map data processing method and device, electronic equipment and storage medium |
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| CN112747755A (en) | 2021-05-04 |
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