CN112923935B

CN112923935B - Method, device and equipment for drawing roundabout route and storage medium

Info

Publication number: CN112923935B
Application number: CN202110116309.7A
Authority: CN
Inventors: 韩超; 祁冠杰
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-01-28
Filing date: 2021-01-28
Publication date: 2022-03-11
Anticipated expiration: 2041-01-28
Also published as: CN112923935A

Abstract

The embodiment of the application provides a method, a device, equipment and a storage medium for drawing a roundabout route, and relates to the field of map drawing. The method comprises the following steps: responding to a path planning request carrying a target starting point and a target end point to obtain a target planning path; when the fact that the distance from the vehicle to the rotary island is smaller than or equal to a distance threshold value according to the target planning path is detected, road information related to the rotary island is obtained; fitting and adjusting the roundabout image in the road information to obtain an adjusted roundabout image; carrying out up-and-down line merging on the hanging road image in the road information to obtain a merged hanging road image; and fusing the adjusted roundabout image and the merged hanging road image to form a roundabout enlarged image, and displaying the roundabout enlarged image. By the method and the device, the final fused ring island enlarged image can be closer to a real road shape, and the displayed ring island enlarged image is more accurate.

Description

Method, device and equipment for drawing roundabout route and storage medium

Technical Field

The embodiment of the application relates to the technical field of internet, and relates to but is not limited to a method, a device, equipment and a storage medium for drawing a roundabout route.

Background

With the continuous development of navigation technology, various navigation products gradually enter the lives of people at present, and convenience is provided for the traveling of people. In the driving process of a vehicle, a complex driving scene of a roundabout intersection is inevitably encountered, and when the vehicle drives to the roundabout intersection, a roundabout enlarged image is displayed to more accurately remind a driver.

The enlarged view of the rotary island in the related art includes two forms, one is to use a common enlarged view, or can also be directly used in an enlarged view scene; the other is to use several predefined pattern diagrams to form a ring island enlarged display of the fixed pattern.

However, in the enlarged view of the roundabout displayed in the first mode, due to the different sizes and shapes of the roundabout, for the roundabout, the roads in the roundabout are too thin, which is inconvenient for a driver to quickly interpret in the high-speed driving process; the enlarged view of the roundabout shown in the second mode is different from the real road shape, and it is difficult to completely cover the real roundabout road shapes. Therefore, the enlarged view of the rotary island in the related art has the problems that the displayed rotary island is inaccurate, and the driver is easily misled or inconvenient to quickly interpret by the driver.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a storage medium for drawing a roundabout route, and relates to the field of map and map drawing. The obtained roundabout image in the road information related to the roundabout is subjected to fitting adjustment, and the hitched road image is subjected to offline merging, so that the roundabout enlarged image formed by final fusion is closer to a real road shape, the displayed roundabout enlarged image is more accurate, a driver can read the roundabout image quickly, and the user experience is improved.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides a roundabout route drawing method, which comprises the following steps:

responding to a path planning request carrying a target starting point and a target end point to obtain a target planning path;

when the fact that the distance from the vehicle to the rotary island is smaller than or equal to a distance threshold value according to the target planning path is detected, road information related to the rotary island is obtained;

fitting and adjusting the roundabout image in the road information to obtain an adjusted roundabout image;

carrying out up-and-down line merging on the hanging road image in the road information to obtain a merged hanging road image;

and fusing the adjusted roundabout image and the merged hanging road image to form a roundabout enlarged image, and displaying the roundabout enlarged image.

The embodiment of the application provides a roundabout route draws device, the device includes:

the response module is used for responding to a path planning request carrying a target starting point and a target end point to obtain a target planning path;

the acquisition module is used for acquiring road information related to the rotary island when the fact that the distance from the vehicle to the rotary island is smaller than or equal to a distance threshold value is detected according to the target planning path;

the fitting adjustment module is used for fitting and adjusting the roundabout image in the road information to obtain an adjusted roundabout image;

the upper and lower line merging module is used for carrying out upper and lower line merging on the articulated road image in the road information to obtain a merged articulated road image;

and the fusion module is used for fusing the adjusted roundabout image and the merged hanging road image to form a roundabout enlarged image and displaying the roundabout enlarged image.

Embodiments of the present application provide a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium; the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor is configured to execute the computer instructions to implement the roundabout route drawing method.

The embodiment of the application provides a roundabout route drawing device, including: a memory for storing executable instructions; and the processor is used for realizing the roundabout route drawing method when executing the executable instructions stored in the memory.

The embodiment of the application provides a computer-readable storage medium, which stores executable instructions for causing a processor to implement the roundabout route drawing method when the processor executes the executable instructions.

The embodiment of the application has the following beneficial effects: when the fact that the distance between the vehicle and the rotary island is smaller than or equal to the distance threshold value is detected, road information related to the rotary island is obtained, the rotary island image in the obtained road information is adjusted in a fitting mode, the hanging road image in the road information is merged up and down, and finally, a rotary island enlarged image is formed and displayed according to the adjusted rotary island image and the merged hanging road image in a fusion mode. Therefore, the ring island enlarged image formed by final fusion is closer to a real road shape, the displayed ring island enlarged image is more accurate and can cover any real ring island road shape, the displayed ring island enlarged image can be convenient for a driver to quickly read, and the user experience is improved.

Drawings

FIG. 1 is an enlarged cross-sectional view of an embodiment of the present application;

fig. 2A is an enlarged view of a common roundabout in the related art;

fig. 2B is an enlarged view of another general rotary island in the related art;

fig. 3 is a schematic view of an application scenario of a roundabout route drawing method provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of a roundabout route drawing device provided in an embodiment of the present application;

fig. 5 is an alternative flow chart of a roundabout route drawing method according to an embodiment of the present disclosure;

fig. 6 is an alternative flow chart of a roundabout route drawing method according to an embodiment of the present disclosure;

FIG. 7 is an enlarged view of a ring island provided by an embodiment of the present application;

fig. 8 is an abstract view of an enlarged view of a roundabout provided in an embodiment of the present application;

fig. 9 is a flowchart of an implementation of a roundabout route drawing method according to an embodiment of the present disclosure;

fig. 10 is an overall schematic view of a rotary island to which a vehicle currently travels according to an embodiment of the present application;

fig. 11 is a schematic view of the extension of the hitched road according to an embodiment of the present application;

fig. 12 is a schematic diagram of a smooth modification of a ring island ring provided in an embodiment of the present application;

fig. 13A to 13C are schematic views illustrating an up-down line merging of hitched roads of different shapes according to an embodiment of the present application.

Detailed Description

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of the present application belong. The terminology used in the embodiments of the present application is for the purpose of describing the embodiments of the present application only and is not intended to be limiting of the present application.

Before explaining the embodiments of the present application, the terms and key terms referred to in the present application are explained first:

1) a ring island: the traffic node is a special road form in traffic nodes, belongs to plane road intersection, has annular intersection and consists of annular lanes and a central island. The road arrangement makes the traffic flow coming from any direction enter the rotary island, and then the rotary island rotates in a single direction around the center circle of the rotary island until the rotary island turns to the required driving direction and leaves.

2) Enlarged cross section: the intersection is an enlarged picture of a bifurcation, and a driving direction arrow is superposed on the enlarged picture of the intersection. In the driving navigation, the picture is used for assisting a driver to distinguish the driving direction at the intersection, so that the probability of the driver walking by mistake can be reduced, and the driving experience is improved. Fig. 1 shows an enlarged intersection 101 according to an embodiment of the present invention.

3) Mode diagram: the method is characterized by comprising the following steps of defining a plurality of intersection form graphs in advance, such as crossroads, three-way intersections, main and auxiliary road entrances and exits and the like. In the actual navigation process, each intersection can be matched to a predefined type, and the intersection enlargement effect is simulated.

4) Separating roads from upper line to lower line: when a physical isolation zone (such as a stone pier, a fence, a greenbelt and the like) is arranged between the front direction and the back direction of a road or the road with double yellow lines or double white lines marked on the ground is drawn, vehicles can only drive in a specified single direction on one side of the physical isolation zone, the double yellow lines or the double white lines marked.

A method of drawing a rotary island route in the related art will be explained below.

In the related art, when drawing a roundabout route, the roundabout enlargement displayed includes two forms, the first is to use a common enlargement, namely, directly enlarge the roundabout image, or use the enlargement in a magnified scene. However, the general enlargement has the following disadvantages: as shown in fig. 2A, the general enlarged view of the roundabout in the related art is provided, in this case, redundant road data is displayed in the enlarged view of the roundabout, such as the road 201 and the road 202, which are displayed in fig. 2, are redundant road data, there is no great relationship with the roundabout 203 and the hitching road 204 on the roundabout, and there is no relationship with the navigation path of the driver at this time, and the road is a road that the driver does not need to pay attention to when driving at this time, and the roundabout route in the enlarged view of the roundabout is not smooth due to the existence of the redundant road data. In addition, the common enlarged image has no exit number, a user does not know which exit the user should exit, and the rotary islands of different rotary islands have different sizes, and for the large-size rotary island, the road in the rotary island is too thin, so that the reading by the user is inconvenient. Fig. 2B is another general enlarged view of a roundabout in the related art, and as shown in fig. 2B, when the roundabout is large in size or when there are many exit roads hooked on the roundabout, for convenience of display, the roundabout is partially displayed to form an enlarged roundabout enlarged view, in the enlarged view of the roundabout, only a partial road shape 205 of the roundabout where the current vehicle is driving is displayed, and the entire view of the roundabout cannot be displayed, and at this time, a user needs to pay attention to a change of the enlarged view of the roundabout to avoid missing a correct exit, which is obviously very unsafe for a driver.

When drawing the route of the roundabout, the second form of the enlarged view of the roundabout displayed is to use pattern diagrams of several types defined in advance, that is, shapes and the number of exits of the roundabout of different types are defined in advance, for example, the shapes of the roundabout include an ellipse and a circle, the number of exits of the roundabout may be 4 or 5, and the like, and when it is detected that the currently driving roundabout is an ellipse and has 4 exits, the corresponding pattern diagram of the ellipse roundabout with 4 exits is selected as the enlarged view of the roundabout. Obviously, the enlarged view of the roundabout displayed in this way has differences and deformations with the real road shape, which is not easy for the user to identify, the user is easy to identify the road, and the predefined pattern diagram is difficult to completely cover the real roundabout road shape, and the scheme has no universality.

Based on at least one of the problems in the related art, the embodiment of the application provides a method for drawing a roundabout route, and the drawn roundabout enlarged image can improve user experience of a roundabout scene in a vehicle driving process. When a user encounters a rotary island in the driving process, navigation guidance broadcasting and actual road conditions are combined, the user can clearly know that the user needs to exit from a plurality of exits and the actual road conditions are consistent with the actual road conditions on site, and the user is prevented from deviating from a route.

The embodiment of the application provides a roundabout route drawing method, which can be applied to any navigation equipment or a client of navigation application, and firstly, a target planning route is obtained in response to a route planning request carrying a target starting point and a target end point; then, when the fact that the vehicle drives to a position where the distance between the vehicle and the rotary island is smaller than or equal to a distance threshold value according to the target planning path is detected, road information related to the rotary island is obtained; fitting and adjusting the roundabout image in the road information to obtain an adjusted roundabout image; carrying out up-and-down line merging on the hanging road image in the road information to obtain a merged hanging road image; and finally, fusing the adjusted roundabout image and the merged image of the hanging road to form a roundabout enlarged image and displaying the roundabout enlarged image. In the embodiment of the application, the ring island enlarged view formed by final fusion can be closer to a real road shape, the displayed ring island enlarged view is more accurate, the real any one ring island road shape can be covered, the displayed ring island enlarged view can be convenient for a driver to quickly read, and the user use experience is improved.

An exemplary application of the roundabout route drawing device according to the embodiment of the present application is described below, and in one implementation, the roundabout route drawing device according to the embodiment of the present application may be implemented as any terminal having an image display function and a real-time Position acquisition function (for example, a Global Positioning System (GPS) function), such as a notebook computer, a tablet computer, a mobile device (for example, a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, a portable game device), an intelligent robot, and a vehicle navigation device. Next, an exemplary application when the roundabout route drawing device is implemented as a server will be explained.

Referring to fig. 3, fig. 3 is a schematic view of an application scenario of the roundabout route drawing method provided in the embodiment of the present application. In order to realize navigation of the driving route of the user and the roundabout encountered in the driving route, the roundabout enlarged image can be obtained by drawing by using the roundabout route drawing method provided by the embodiment of the application. The application scene 10 corresponding to the roundabout route drawing method in the embodiment of the present application at least includes a terminal 11, a network 12, and a server 13. The terminal 11 is installed with a navigation application, and a user may input a target start point and a target end point through a client of the navigation application to request for path planning of the route, and the server 13 may be a client server of the navigation application. A user initiates a path planning request through a terminal 11, the terminal 11 sends the path planning request to a server 13 through a network 12, and the server 13 responds to the path planning request carrying a target starting point and a target end point to obtain a target planning path; when the fact that the distance from the vehicle to the rotary island is smaller than or equal to a distance threshold value according to the target planned path is detected, road information related to the rotary island is obtained; fitting and adjusting the roundabout image in the road information to obtain an adjusted roundabout image; carrying out up-and-down line merging on the hanging road image in the road information to obtain a merged hanging road image; and fusing the adjusted roundabout image and the merged hanging road image to form a roundabout enlarged image. After the server 13 generates the enlarged view of the roundabout, the server 13 sends the generated enlarged view of the roundabout to the terminal 11 through the network 12, and the terminal 11 displays the enlarged view of the roundabout on the current interface 11-1 to realize the driving navigation guidance for the user.

The roundabout route drawing method provided by the embodiment of the application can be further realized through a cloud technology based on a cloud platform, for example, the server can be a cloud server. Or the cloud storage can be further arranged, the path planning request, the target planning path, the generated roundabout enlarged image and the like are stored in the cloud storage, so that the corresponding roundabout enlarged image can be directly obtained from the cloud server to be directly displayed in the subsequent navigation process, frequent data processing of the server is avoided, and the operation cost of the server is reduced.

It should be noted that Cloud technology (Cloud technology) refers to a hosting technology for unifying series resources such as hardware, software, network, etc. in a wide area network or a local area network to implement data calculation, storage, processing and sharing. The cloud technology is based on the general names of network technology, information technology, integration technology, management platform technology, application technology and the like applied in the cloud computing business model, can form a resource pool, is used as required, and is flexible and convenient. Cloud computing technology will become an important support. Background services of the technical network system require a large amount of computing and storage resources, such as video websites, picture-like websites and more web portals. With the high development and application of the internet industry, each article may have its own identification mark and needs to be transmitted to a background system for logic processing, data in different levels are processed separately, and various industrial data need strong system background support and can only be realized through cloud computing.

The roundabout route drawing method provided by the embodiment of the application further relates to the technical field of artificial intelligence, and the roundabout enlarged graph is generated through the artificial intelligence technology, namely the roundabout image in the road information can be adjusted in a fitting mode through the artificial intelligence technology, or the articulated road image in the road information is combined in an up-and-down line mode through the artificial intelligence technology, or the adjusted roundabout image and the combined articulated road image are fused through the artificial intelligence technology, and the roundabout enlarged graph is formed. In some embodiments, a fitting adjustment model can be trained through an artificial intelligence technology, and the adjusted roundabout image is obtained by fitting adjustment of the roundabout image in the road information through the fitting adjustment model; or, an up-down line merging model can be trained through an artificial intelligence technology, and the up-down line merging model is used for carrying out up-down line merging on the hanging road image in the road information to obtain a merged hanging road image; or, an image fusion module can be trained through an artificial intelligence technology, and the adjusted roundabout image and the combined hanging road image are fused through the image fusion module to form a roundabout enlarged image.

In the embodiment of the application, the method can be realized at least by a computer vision technology, a voice technology and an automatic driving technology in an artificial intelligence technology. Computer Vision technology (CV) is a science for researching how to make a machine "see", and more specifically, it refers to that a camera and a Computer are used to replace human eyes to perform machine Vision such as identification, tracking and measurement on a target, and further perform graphic processing, so that the Computer processing becomes an image more suitable for human eyes to observe or transmitted to an instrument to detect. As a scientific discipline, computer vision research-related theories and techniques attempt to build artificial intelligence systems that can capture information from images or multidimensional data. The computer vision technology generally includes technologies such as image processing, image Recognition, image semantic understanding, image retrieval, Optical Character Recognition (OCR), video processing, video semantic understanding, video content/behavior Recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, synchronous positioning, map construction, and the like, and also includes common biometric technologies such as face Recognition, fingerprint Recognition, and the like. The key technologies of Speech Technology (Speech Technology) are Automatic Speech Recognition (ASR) and Speech synthesis (TTS) and voiceprint Recognition. The computer can listen, see, speak and feel, and the development direction of the future human-computer interaction is provided, wherein the voice becomes one of the best viewed human-computer interaction modes in the future. Natural Language Processing (NLP) is an important direction in the fields of computer science and artificial intelligence. It studies various theories and methods that enable efficient communication between humans and computers using natural language. The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and has wide application prospects.

Fig. 4 is a schematic structural diagram of a roundabout routing apparatus provided in an embodiment of the present application, where the roundabout routing apparatus shown in fig. 4 includes: at least one processor 310, memory 350, at least one network interface 320, and a user interface 330. The various components in the roundabout routing apparatus are coupled together by a bus system 340. It will be appreciated that the bus system 340 is used to enable communications among the components connected. The bus system 340 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 340 in fig. 4.

The Processor 310 may be an integrated circuit chip having Signal processing capabilities, such as a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like, wherein the general purpose Processor may be a microprocessor or any conventional Processor, or the like.

The user interface 330 includes one or more output devices 331, including one or more speakers and/or one or more visual display screens, that enable presentation of media content. The user interface 330 also includes one or more input devices 332, including user interface components to facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

The memory 350 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, and the like. Memory 350 optionally includes one or more storage devices physically located remote from processor 310. The memory 350 may include either volatile memory or nonvolatile memory, and may also include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a Random Access Memory (RAM). The memory 350 described in embodiments herein is intended to comprise any suitable type of memory. In some embodiments, memory 350 is capable of storing data, examples of which include programs, modules, and data structures, or subsets or supersets thereof, as exemplified below, to support various operations.

An operating system 351 including system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks;

a network communication module 352 for communicating to other computing devices via one or more (wired or wireless) network interfaces 320, exemplary network interfaces 320 including: bluetooth, wireless compatibility authentication (WiFi), and Universal Serial Bus (USB), etc.;

an input processing module 353 for detecting one or more user inputs or interactions from one of the one or more input devices 332 and translating the detected inputs or interactions.

In some embodiments, the apparatus provided in this embodiment of the present application may be implemented in software, and fig. 4 illustrates a roundabout route drawing apparatus 354 stored in the memory 350, where the roundabout route drawing apparatus 354 may be a roundabout route drawing apparatus in a roundabout route drawing device, and may be software in the form of programs and plug-ins, and includes the following software modules: the response module 3541, the acquisition module 3542, the fit adjustment module 3543, the upper and lower line merge module 3544, and the fusion module 3545 are logical and thus may be arbitrarily combined or further separated depending on the functionality implemented. The functions of the respective modules will be explained below.

In other embodiments, the apparatus provided in this embodiment may be implemented in hardware, and for example, the apparatus provided in this embodiment may be a processor in the form of a hardware decoding processor, which is programmed to execute the method for drawing the ring island route provided in this embodiment, for example, the processor in the form of the hardware decoding processor may be one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.

The roundabout route drawing method provided by the embodiment of the present application will be described below with reference to an exemplary application and an implementation of the roundabout route drawing device provided by the embodiment of the present application, where the roundabout route drawing device may be any terminal installed with a navigation application, or may also be a server, or may also be implemented by interacting between a terminal and a server. Referring to fig. 5, fig. 5 is an alternative flow chart of a method for drawing a roundabout route according to an embodiment of the present application, and will be described with reference to the steps shown in fig. 5.

Step S501, a target planning path is obtained in response to a path planning request carrying a target starting point and a target end point.

Here, when the roundabout route drawing method according to the embodiment of the present application is implemented by a server, the server receives a route planning request sent by a terminal, and determines a planned route according to a preset route planning manner according to a target starting point and a target end point input by a user, where the planned route may be multiple, and the server may send the multiple determined planned routes to the terminal to request the user to select a target planned route from the multiple planned routes, or the server may select, according to a specific rule, a planned route that is most suitable for a current user from the multiple planned routes as the target planned route, for example, the server may automatically select, as the target planned route, the planned route that is least in use and is not prone to causing traffic congestion. When the terminal is used for realizing the roundabout route drawing method in the embodiment of the application, a client of the terminal receives a target starting point and a target end point input by a user, the client determines at least one planned route according to the target starting point and the target end point and a preset route planning mode, and displays the determined planned route to the user so as to request the user to select the target planned route, or the client selects the target planned route according to a specific rule.

Step S502, when the vehicle is detected to travel to the rotary island according to the target planning path and the distance between the vehicle and the rotary island is smaller than or equal to the distance threshold value, road information related to the rotary island is obtained.

The current position of the vehicle and the position change of the vehicle are collected in real time, when the position change of the vehicle is matched with a target planning path, the surface vehicle runs according to the target planning path, and at the moment, if the distance between the current position of the vehicle and the rotary island is detected to be smaller than or equal to a distance threshold value, namely the vehicle is determined to be closer to the rotary island, road information related to the rotary island is obtained, so that the enlarged view of the rotary island is drawn.

In the embodiment of the application, the road information related to the roundabout includes, but is not limited to, a roundabout image and a hanging road image, wherein the roundabout image is an image corresponding to a roundabout body, and the hanging road image is an image corresponding to a road hung on the roundabout body.

And step S503, fitting and adjusting the roundabout image in the road information to obtain an adjusted roundabout image.

Here, the fitting adjustment of the roundabout image in the road information means that the roundabout body in the roundabout image is subjected to image fitting processing and image adjustment in sequence, so that the adjusted roundabout image is closer to the real situation of the roundabout, and the user can observe the roundabout conveniently.

And step S504, carrying out up-and-down line merging on the hanging road image in the road information to obtain a merged hanging road image.

Here, the merging of the upper line and the lower line refers to merging of the upper line and the lower line in the image of the hitched road, wherein the upper line and the lower line refer to a forward road and a reverse road in the hitched road. Because the articulated road has not only a forward road but also a reverse road, and the forward road and the reverse road have various coexistence forms, and meanwhile, because the condition of the actual road is more complex, the road form is changeable, if the enlarged view of the rotary island is drawn in the real form of the forward road and the reverse road, the user identification is not convenient. Therefore, the forward road and the reverse road can be merged according to the coexistence form of the forward road and the reverse road and the preset merging rule, and the forward road and the reverse road in the articulated road are merged into a road form which is convenient for a user to identify.

In this embodiment of the application, the merging rule of merging the upper line and the lower line may be determined according to the road width of the forward road and the reverse road and the distance between the forward road and the reverse road, or the merging rule of merging the upper line and the lower line may be determined according to the road shape of the forward road and the reverse road, or the merging rule of merging the upper line and the lower line may be determined according to the extending direction and the extending rule of the forward road and the reverse road.

In the embodiment of the application, the combined image of the articulated road is finally fused into the image of the articulated road in the enlarged view of the roundabout, and the combined image of the articulated road is concise and convenient for user identification.

And step S505, fusing the adjusted roundabout image and the merged hanging road image to form a roundabout enlarged image, and displaying the roundabout enlarged image.

The step of merging the adjusted roundabout image with the merged image of the hanging road means that the hanging road corresponding to the merged image of the hanging road is hung on the roundabout corresponding to the adjusted roundabout image, namely, the roundabout is hung on the roundabout body of the roundabout corresponding to the adjusted roundabout image, so that a roundabout enlarged image capable of completely representing the current roundabout is formed. The roundabout enlargements in the embodiment of the application can show the landform of the roundabout not only for the roundabout with larger size parameters, but also for the roundabout with smaller size parameters.

According to the roundabout route drawing method provided by the embodiment of the application, when the fact that the distance between a vehicle and a roundabout is smaller than or equal to the distance threshold value is detected, road information related to the roundabout is obtained, the roundabout image in the obtained road information is subjected to fitting adjustment, the articulated road image in the road information is subjected to up-and-down line combination, and finally, a roundabout enlarged image is formed and displayed according to the adjusted roundabout image and the combined articulated road image in a fusion mode. Therefore, the ring island enlarged image formed by final fusion is closer to a real road shape, the displayed ring island enlarged image is more accurate and can cover any real ring island road shape, the displayed ring island enlarged image can be convenient for a driver to quickly read, and the user experience is improved.

In some embodiments, the roundabout route drawing system comprises a terminal and a server, wherein a navigation application is installed on the terminal, when a user navigates by using the navigation application, the current position of the user and a next driving route are displayed on a current interface of the terminal in real time, and the terminal has a GPS function, can acquire the current position of the user in real time, and synchronously reports the real-time position of the user to the server. The server may be a client server of the navigation application, the server performing real-time calculations of the route to update the navigation path in real-time. A roundabout route drawing method provided in the embodiment of the present application will be described below with reference to a terminal and a server in a roundabout route drawing system, and fig. 6 is an optional flow diagram of the roundabout route drawing method provided in the embodiment of the present application, and as shown in fig. 6, the method includes the following steps:

in step S601, the terminal receives an input operation of a user, where the input operation is used to input a target start point and a target end point.

In some embodiments, the terminal may obtain the current location through the GPS function, and automatically determine the current location as the target starting point, so that the user only needs to input the target ending point.

Step S602, the terminal responds to the input operation of the user, and generates a path planning request carrying a target start point and a target end point.

Here, the target start point and the target end point may be encapsulated in the path planning request, and the server may be sent the path planning request to notify the target start point and the target end point of the current navigation.

Step S603, the terminal sends the path planning request to the server.

Step S604, the server responds to the path planning request carrying the target start point and the target end point to obtain a target planned path.

Step S605, the terminal collects real-time position information corresponding to the current position of the terminal in real time.

Because the position of the terminal is changed correspondingly along with the running of the vehicle, the real-time position information of the current position of the terminal can be collected in real time to determine the current position of the vehicle and determine whether the vehicle is yawing currently or not, and whether a new path needs to be planned again or not.

And step S606, the terminal sends the acquired real-time position information to a server.

And step S607, acquiring the road information related to the rotary island when the server detects that the distance between the vehicle and the rotary island is less than or equal to the distance threshold value according to the real-time position information. Here, the road information includes a roundabout image of the roundabout, a hitching road image corresponding to the roundabout, and other road images.

After acquiring the real-time position information of the vehicle, the server judges and plans a subsequent driving route after the current position, wherein the subsequent driving route is judged and planned, on one hand, in order to judge whether the subsequent driving route is an optimal route or not and whether other feasible routes exist or not, and the other feasible routes are better (for example, more time is saved, or the routes are shorter, or no traffic jam phenomenon exists) compared with the current target planning route; on the other hand, whether the enlarged view of the rotary island needs to be drawn by the method of the embodiment of the application in order to judge whether the rotary island is entered subsequently or not is judged, so that a user can be reminded more accurately and meticulously.

In step S608, the server extracts the roundabout image and the hanging road image from the road information.

And step S609, the server extracts the roundabout image and the road left after the road image is hung from the road information, and determines the roundabout image and the road left after the road image is hung as the road to be deleted.

Here, the road to be deleted is an irrelevant path having no relation with the target planned path at this time, that is, the road to be deleted is a path that the user does not pay attention to at this time.

In step S610, the server removes the road to be deleted.

In the embodiment of the application, due to the complexity of the real image corresponding to the position of the rotary island, in order to avoid the interference of the irrelevant path to the driving process of the user, the irrelevant path can be deleted, and the path relevant to the current trip is only displayed in the enlarged view of the rotary island.

Step S611, the server performs fitting adjustment on the roundabout image in the road information to obtain an adjusted roundabout image.

And step S612, the server carries out online and offline merging on the hanging road image in the road information to obtain a merged hanging road image.

In step S613, the server fuses the adjusted roundabout image and the merged image of the hitched road to form an enlarged roundabout image.

It should be noted that steps S611 to S613 are the same as steps S503 to S505, and the embodiment of the present application is not repeated.

And step S614, the server sends the enlarged view of the roundabout to the terminal.

And step S615, the terminal displays the enlarged view of the rotary island on the current interface.

The roundabout route drawing method provided by the embodiment of the application can be applied to any navigation application, the navigation application can be deployed on a terminal as a software module, real-time interaction is carried out between the terminal (which can be vehicle-mounted navigation equipment or a mobile phone) and a server, accurate navigation in the driving process of a user is realized, and when the user drives to the roundabout, the roundabout enlarged image which is more accurate and convenient for the user to observe and recognize can be determined by adopting the method of the embodiment of the application, and the use experience of the navigation application in the driving process of the user can be greatly improved.

In some embodiments, the fitting adjustment of the roundabout image in the road information in step S503 may be implemented by any one of the following manners:

the method comprises the following steps:

and step S11, according to a preset size proportion, carrying out size parameter adjustment on the roundabout area in the roundabout image, the roundabout lane corresponding to the roundabout area and the roundabout outside lane outside the roundabout area to obtain the roundabout area after size adjustment, the roundabout lane after size adjustment and the roundabout outside lane after size adjustment.

Here, the roundabout area can be scaled in equal proportion on each ring radius to obtain the roundabout area with the adjusted size; and respectively carrying out reduction processing or amplification processing on the lane width of the roundabout lane and the lane width of the roundabout outside lane so that the preset size ratio is formed among the size parameter of the roundabout area after size adjustment, the lane width of the roundabout lane after size adjustment and the lane width of the roundabout outside lane after size adjustment.

The ring radius here refers to the distance between each point on the annular edge in the annular island region and the center of the annular island region. Wherein, if the roundabout region is a circular region, the roundabout region has a fixed roundabout radius (i.e. the radius of the circular region); if the roundabout area is an elliptical area, each position of the roundabout area is provided with a roundabout radius; if the roundabout area is an irregular ring, the ring radius of each position point in the roundabout area can be calculated according to the distance between each position point on the ring edge of the irregular ring and the center position of the roundabout area.

In the embodiment of the present application, the performing of the equal-scale processing on each ring radius includes performing the equal-scale reduction processing and performing the equal-scale enlargement processing, and when the ring island region is large (for example, when the minimum radius of the ring island region is larger than the radius threshold), the ring radius may be performed with the equal-scale reduction processing; when the island area is small (e.g., when the maximum radius of the island area is less than a radius threshold), then the radius of the ring may be scaled up. The equal scaling processing means that each ring radius in the ring island region is reduced or enlarged in the same proportion. For example, when performing the equal scaling down process on the circular region, the original circle with the radius of 2X may be scaled down to a circle with the radius of X; for the irregular ring shape, when the equal-scale enlargement processing is performed, the ring radius at each position in the irregular ring shape may be enlarged by two times.

The roundabout lane is a lane on the inner side of the roundabout, namely a lane in which vehicles can circumferentially run around the roundabout body in the roundabout; the above-mentioned lane outside the roundabout is a lane outside the roundabout, that is, a lane on the outer side of the roundabout when the vehicle travels in the roundabout, and is a lane in which the vehicle can travel away from the roundabout when the vehicle travels in the lane outside the roundabout.

In the embodiment of the application, the lane width of the opposite roundabout lane and the lane width of the roundabout outer lane can be adjusted, so that the lane width of the roundabout lane after the size adjustment is the same as the lane width of the roundabout outer lane after the size adjustment. Meanwhile, the preset size ratio is formed between the size parameter (such as the radius) of the sized roundabout area, the lane width of the sized roundabout lane and the lane width of the lane outside the roundabout after the size adjustment. For example, the preset size ratio may be 1:1:1, so that the radius of the sized roundabout area, the lane width of the sized roundabout lane, and the lane width of the lane outside the roundabout are the same.

And step S12, drawing to obtain an adjusted roundabout image according to the roundabout area after size adjustment, the roundabout lane after size adjustment and the roundabout outer lane after size adjustment.

In the embodiment of the application, after the size-adjusted roundabout area, the size-adjusted roundabout lane and the size-adjusted roundabout outer lane are obtained, the roundabout image is drawn according to the new size after adjustment, and the fitted and adjusted roundabout image is obtained.

The method II comprises the following steps:

step S13, recognizing the shape of the roundabout in the roundabout image, and obtaining a recognition result.

Here, the shape of the roundabout in the roundabout image may be recognized using an artificial intelligence technique, wherein the recognition result is used to characterize the type of the recognized roundabout shape.

And step S14, matching the fitting ring island shape with the highest similarity to the ring island shape in the preset ring island shape library according to the recognition result.

In the embodiment of the present application, the preset roundabout shape library has at least one roundabout shape, where the roundabout shape includes but is not limited to: circular, elliptical, irregular polygonal and other roundabout shapes.

In the embodiment of the application, the similarity between the shape type corresponding to each roundabout shape in the preset roundabout shape library and the recognized roundabout shape type can be determined, and the roundabout shape with the highest similarity is determined as the fitted roundabout shape of the current roundabout.

And step S15, smoothing the ring island edge of the ring island by adopting the fitted ring island shape to obtain the adjusted ring island image.

Here, the smoothing processing means fitting the roundabout edge of the roundabout to the fitted roundabout shape so that the roundabout edge tends to fit the roundabout shape.

In some embodiments, the above-mentioned step S504 of merging the hitched road images in the road information up and down lines may be implemented by the following steps:

step S21, a length of the hitching road in the hitching road image is extended to obtain a hitching road image of a hitching road having a specific length.

Here, the hitching road that is displayed incompletely or partially in the road information related to the rotary island is extended in length so that the hitching road has a tendency to extend outward to be effectively distinguished from the rotary island image. For example, the length of the hitched road may be extended to the image edge of the image of the hitched road.

And step S22, carrying out up-and-down line merging on the images of the hanging roads with the specific length to obtain merged images of the hanging roads.

Here, the up-down merging process in step S22 may be implemented by:

in step S221, a forward road and a reverse road of a hitching road having a specific length are determined.

In step S222, a first junction of the forward road and the roundabout and a second junction of the reverse road and the roundabout are obtained.

Here, the first intersection point is a point corresponding to a position where the forward road is hooked to the rotary island, and the second intersection point is a point corresponding to a position where the reverse road is hooked to the rotary island.

In step S223, a junction distance between the first junction and the second junction is determined.

Here, the intersection point distance may be a straight line distance between the first intersection point and the second intersection point, or may be an arc length corresponding to an arc line between the first intersection point and the second intersection point.

In step S224, a first road width of the forward road and a second road width of the reverse road are determined.

And step S225, according to the distance of the junction point, the first road width and the second road width, carrying out up-and-down line combination on the forward road and the reverse road to obtain a combined hanging road image.

In the embodiment of the present application, when merging the upper and lower lines, at least the following scenarios are provided:

scene one: and when the distance of the junction point is less than or equal to the sum of the first road width and the second road width, combining the forward road and the reverse road into a bidirectional road, and obtaining a combined image of the articulated road according to the image corresponding to the bidirectional road.

Scene two: when the distance of the junction point is larger than the sum of the first road width and the second road width, and the extending direction of the forward road and the extending direction of the reverse road are approximately parallel, the forward road and the reverse road are combined into a Y-shaped road or a V-shaped road, and a combined hanging road image is obtained according to an image corresponding to the Y-shaped road or the V-shaped road.

Scene three: and when the distance of the junction point is greater than the sum of the first road width and the second road width, and the extending direction of the forward road is parallel to the extending direction of the reverse road, merging the forward road and the reverse road into a parallel road, and obtaining a merged hanging road image according to the image corresponding to the parallel road.

In some embodiments, only the road information useful or relevant for the navigation may be displayed in the enlarged view of the roundabout, that is, only the image of the roundabout and the image of the hitched road hitched to the roundabout are displayed, and other irrelevant routes in the current map may be hidden or displayed differently, for example, the irrelevant routes may be displayed in a lighter color than the image of the hitched road, or the irrelevant routes may be represented by a thinner line than the image of the hitched road, or the irrelevant routes in the enlarged view of the roundabout may be directly deleted.

In some embodiments, when there is another road at a position belonging to a different height from the rotary, for example, another road such as a viaduct above the rotary, the other road is not displayed, that is, an image corresponding to the other road is deleted from the rotary image.

In some embodiments, the terminal has an image capturing device (for example, a camera on a mobile phone), and when the navigation application is started and works normally, the image capturing device is also in a working state, and the image capturing device captures a live-action image in front of the vehicle in real time, or when it is detected that the vehicle is traveling to a position close to the roundabout (that is, when it is detected that the vehicle is traveling to a distance less than or equal to a distance threshold value from the roundabout according to a target planned path), the image capturing device is automatically started, and the live-action image of the roundabout is captured. After the live-action image is acquired, the enlarged view of the rotary island is corrected by adopting the live-action image, so that the condition that the rotary island image obtained after fitting adjustment has distortion is avoided. In the embodiment of the application, when the enlarged view of the roundabout is corrected, whether a currently displayed route of the enlarged view of the roundabout is consistent with a route in the collected live-action image or not can be judged firstly, if so, the live-action image at the next moment is collected continuously, if not, a corresponding route is drawn according to the live-action image, and the drawn route is adopted to replace the corresponding route in the enlarged view of the roundabout.

In some embodiments, the enlarged view of the roundabout not only displays the adjusted roundabout image and the merged image of the hitching road, but also displays an exit position identifier, a driving path and a driving direction, wherein the exit position identifier is a position identifier of an actual exit corresponding to the current planned path. Note that, in the enlarged view of the rotary island, the identification of each exit may be displayed as a number, and the actual exit corresponding to the current travel is displayed using an exit position identification different from the identifications of the other exits. For example, the outlet position indication of the actual outlet is displayed in a darker color relative to the indication of the other outlets, or the outlet position indication of the actual outlet is displayed in a larger font relative to the indication of the other outlets, or the outlet position indication of the actual outlet is displayed in a different font or a different shape of outline relative to the indication of the other outlets, etc. The driving path refers to a path which should be traveled next when the vehicle drives in the roundabout according to the target planning path, and may be represented by a line with a certain width, and the shape of the line is matched with the shape of the roundabout. For example, if the roundabout is an ellipse, the line corresponds to the ellipse and is a part of the ellipse, that is, the line is not a straight line; if the islands are circular, the lines are part circular. At one end of the travel path there is an arrow indicating the travel direction of the travel path. Fig. 7 is an enlarged view of a roundabout provided in an embodiment of the present application, and as shown in fig. 7, the enlarged view 700 of the roundabout includes an adjusted roundabout image 701, a merged hitching road image 702, an exit position identifier 703 (i.e., identifier 4 in the figure), an identifier 704 of each exit (i.e., identifiers 1, 2, and 3 in the figure), a driving route 705, and a driving direction 706.

In the embodiment of the application, an exit position identifier corresponding to a target planned path in the roundabout, a running path and a running direction of a vehicle in the roundabout can be determined; then, overlapping the exit position identification, the driving path and the driving direction into the enlarged roundabout image to form the enlarged roundabout image after the path is overlapped; and displaying the enlarged view of the rotary island after the path is overlapped on the navigation equipment.

Next, an exemplary application of the embodiment of the present application in a practical application scenario will be described.

The embodiment of the application provides a method for drawing a roundabout route, which can display a drawn roundabout enlarged image during roundabout route navigation so as to assist a driver in distinguishing the roundabout route. In the enlarged view of the roundabout, drivers pay more attention to the driving-in part and the driving-out part from the exit, and whether the enlarged view of the roundabout is consistent with the scene or not. The embodiment of the application constructs an abstract scheme of the enlarged view of the roundabout, and is used for realizing the roundabout route drawing method.

Fig. 8 is an abstract view of an enlarged view of a roundabout provided in an embodiment of the present application, and as shown in fig. 8, an enlarged view 800 of the roundabout includes a prompt message 801, a roundabout image 802, and a hanging road image 803, where the roundabout image 802 is a roundabout image subjected to fitting adjustment, and the hanging road image 803 is a hanging road image subjected to merging of an upper line and a lower line. In this enlarged view of the islands 800, Outlet 1 and Outlet 2 may be altered to pure numbers 1 and 2.

Fig. 9 is a flowchart of an implementation of a method for drawing a roundabout route according to an embodiment of the present application, where as shown in fig. 9, the method includes the following steps:

in step S901, a key road is extracted.

Here, the key roads may include a roundabout body and roads hung on the roundabout, that is, the roundabout and the hanging roads. When the roundabout body and the hanging road hung on the roundabout are extracted, other irrelevant roads (namely roads to be deleted) except the roundabout body and the hanging road are removed. As shown in fig. 10, the overall schematic view of the roundabout to which the vehicle currently travels according to the embodiment of the present invention includes not only the roundabout body 1001 and the hitching road 1002, but also a road 1003 which is not connected to the roundabout, a road 1004 which is located above the roundabout, and a road 1005 which is located above the roundabout and overlaps with the roundabout in position, so that the road 1003, the road 1004, and the road 1005 are all unrelated roads.

Step S902, the extracted hitching road is extended.

Fig. 11 is a schematic view illustrating the extension of a hitching road according to the embodiment of the present application, and as shown in fig. 11, a hitching road 1101 hitched to a rotary island body is extended by a certain length.

Step S903, performing a ring island zoom adjustment on the ring island body (i.e., performing a fitting adjustment on the ring island image), to obtain a zoom-adjusted ring island body.

Here, in order to avoid that the roundabout body is too large, which causes too small proportion of the roundabout width, and the user cannot see clearly, the roundabout body may be scaled proportionally, and the road width may be modified synchronously, generally 1/3 of the roundabout body with the whole radius of the roundabout width, and the width of the single lane of the road outside the roundabout (i.e. the roundabout lane) may be set to be the same as the width of the single lane of the roundabout (i.e. the roundabout lane).

Step S904, smooth modification is performed on the ring (i.e., the roundabout ring) corresponding to the roundabout body after the zoom adjustment, so as to obtain a smoothed roundabout ring.

Here, a circle or ellipse can be found to fit the roundabout ring, and then uniform sampling can be performed to obtain a smooth loop. In the embodiment of the application, the connected nodes (namely, the hanging roads) need to be adsorbed on the smoothed roundabout ring. Fig. 12 is a schematic diagram of smooth modification of a roundabout ring according to an embodiment of the present application, and as shown in fig. 12, an original roundabout ring 1201 is not a standard round ring, and after the roundabout ring 1201 is subjected to smooth modification, a smoothed roundabout ring 1202 is obtained.

And step S905, carrying out on-line and off-line merging on the hanging road to obtain the merged hanging road.

Here, special optimization can be made for the up and down lines by identifying the up and down lines (i.e., forward roads and reverse roads in the hitching roads). After the upper and lower lines are identified, the upper and lower lines are made into the following three forms according to the road width of the upper and lower lines:

the first form: as shown in fig. 13A, the left diagram is the top and bottom lines of the original hitched road (including the forward road 1301 and the reverse road 1302), and the right diagram is the top and bottom lines of the hitched road after merging the top and bottom lines. At this time, if the distance between the positions of the upper and lower lines on the ring 1304 is smaller than the sum of the road widths of the upper and lower lines, the upper and lower lines are merged into one bidirectional road 1303.

The second form: as shown in fig. 13B, the left diagram is the top and bottom lines of the original hitched road (including the forward road 1301 and the reverse road 1302), and the right diagram is the top and bottom lines of the hitched road after merging the top and bottom lines. At this time, if the distance between the upper and lower lines at the ring 1304 is greater than the sum of the road widths of the upper and lower lines, but the upper and lower lines are closer to each other to be parallel, the upper and lower lines may be merged into a Y-shape or a V-shape (i.e., a Y-shape road or a V-shape road), and the hollow area between the Y-shape road 1305 and the V-shape road may be filled with green space.

The shape is three: as shown in fig. 13C, the left diagram is the top and bottom lines of the original hitched road (including the forward road 1301 and the reverse road 1302), and the right diagram is the top and bottom lines of the hitched road after merging the top and bottom lines. In this case, the distance between the top and bottom lines at the position of the ring 1304 is greater than the sum of the road widths of the top and bottom lines, but the top and bottom lines are parallel (i.e., the extending direction of the forward road is parallel to the extending direction of the reverse road), and in this case, the top and bottom lines may be merged into a parallel state, i.e., a parallel road 1306.

Step S906, calculates an exit identification. Here, the exit identification position may be calculated from the guided path (i.e., the target planned path).

In step S907, the traveling direction is calculated. Here, an arrow corresponding to the traveling direction may be determined according to the guided route.

Step S908 is to generate a final enlarged view of the roundabout according to the smoothed roundabout ring, the merged hitching road, the exit sign, and the driving direction.

Here, reference may be made to fig. 7, which is an enlarged view of the final annular island formed in the embodiment of the present application.

According to the roundabout route drawing method provided by the embodiment of the application, the drawn roundabout enlarged image can improve the user experience of the roundabout scene in driving in the navigation process. If the user encounters the roundabout during driving, the guidance broadcast and the actual situation can be combined, the user can clearly know that the roundabout is driven out from the exit, the displayed roundabout enlarged image is consistent with the actual situation, and the user can be prevented from deviating from the route when driving.

Continuing with the exemplary structure of the present application in which the roundabout routing apparatus 354 is implemented as a software module, in some embodiments, as shown in fig. 4, the software module stored in the roundabout routing apparatus 354 of the memory 350 may be a roundabout routing apparatus in a roundabout routing device, and the apparatus includes:

a response module 3541, configured to respond to a path planning request carrying a target start point and a target end point to obtain a target planning path;

an obtaining module 3542, configured to obtain road information related to the roundabout when it is detected that the vehicle travels to a distance from the roundabout according to the target planned path, which is less than or equal to a distance threshold;

a fitting adjustment module 3543, configured to perform fitting adjustment on the roundabout image in the road information to obtain an adjusted roundabout image;

an up-down line merging module 3544, configured to perform up-down line merging on the hitched road images in the road information to obtain merged hitched road images;

a fusion module 3545, configured to fuse the adjusted roundabout image and the merged image of the hitched road to form a roundabout enlarged image, and display the roundabout enlarged image.

In some embodiments, the apparatus further comprises: the extraction module is used for extracting the roundabout image and the hanging road image from the road information; the first determining module is used for determining roads left after the roundabout image and the hanging road image are extracted from the road information as roads to be deleted; and the removing module is used for removing the road to be deleted.

In some embodiments, the fit adjustment module is further to: according to a preset size proportion, carrying out size parameter adjustment on a rotary island region, a rotary lane corresponding to the rotary island region and a rotary island outer lane positioned outside the rotary island region in the rotary island image to obtain a rotary island region with an adjusted size, a rotary lane with an adjusted size and a rotary island outer lane with an adjusted size; and drawing to obtain the adjusted roundabout image according to the roundabout area after the size adjustment, the roundabout lane after the size adjustment and the roundabout outside lane after the size adjustment.

In some embodiments, the fit adjustment module is further to: carrying out equal-proportion scaling processing on the ring island area on each ring radius to obtain a ring island area with the size adjusted; respectively carrying out reduction processing or amplification processing on the lane width of the roundabout lane and the lane width of the roundabout outside lane so as to enable the preset size ratio to be formed among the size parameter of the roundabout area after size adjustment, the lane width of the roundabout lane after size adjustment and the lane width of the roundabout outside lane after size adjustment.

In some embodiments, the fit adjustment module is further to: identifying the shape of the roundabout in the roundabout image to obtain an identification result; according to the recognition result, matching a fitting roundabout shape with the highest similarity to the roundabout shape in a preset roundabout shape library; and smoothing the ring island edge of the ring island by adopting the fitted ring island shape to obtain the adjusted ring island image.

In some embodiments, the upper and lower line merge module is further configured to: carrying out length extension on the hitching road in the hitching road image to obtain a hitching road image of the hitching road with a specific length; and carrying out the up-and-down line merging on the hanging road image of the hanging road with the specific length to obtain the merged hanging road image.

In some embodiments, the upper and lower line merge module is further configured to: determining a forward road and a reverse road in the hitched roads having the specific length; acquiring a first junction of the forward road and the rotary island and a second junction of the reverse road and the rotary island; determining a junction distance between the first junction and the second junction; determining a first road width of the forward road and a second road width of the reverse road; and according to the junction point distance, the first road width and the second road width, carrying out up-and-down line combination on the forward road and the reverse road to obtain the combined hanging road image.

In some embodiments, the upper and lower line merge module is further configured to: when the distance of the junction point is smaller than or equal to the sum of the first road width and the second road width, merging the forward road and the reverse road into a bidirectional road, and obtaining a merged hanging road image according to an image corresponding to the bidirectional road; when the distance of the junction point is greater than the sum of the first road width and the second road width, and the extending direction of the forward road and the extending direction of the reverse road are approximately parallel, combining the forward road and the reverse road into a Y-shaped road or a V-shaped road, and obtaining the combined image of the hanging road according to the image corresponding to the Y-shaped road or the V-shaped road; and when the distance of the junction point is greater than the sum of the first road width and the second road width, and the extending direction of the forward road is parallel to the extending direction of the reverse road, merging the forward road and the reverse road into a parallel road, and obtaining the merged image of the hitching road according to the image corresponding to the parallel road.

In some embodiments, the apparatus further comprises: and the deleting module is used for deleting the images corresponding to other roads from the roundabout image when detecting that the roundabout image has other roads with different heights from the roundabout.

In some embodiments, the apparatus further comprises: the receiving module is used for receiving a live-action image which is acquired by image acquisition equipment in real time and corresponds to the roundabout; and the correction module is used for correcting the enlarged view of the rotary island by adopting the live-action image.

In some embodiments, the apparatus further comprises: the second determination module is used for determining an exit position identifier corresponding to the target planned path in the roundabout, a driving path and a driving direction of a vehicle in the roundabout; the superposition module is used for superposing the exit position identifier, the driving path and the driving direction into the enlarged roundabout image to form the enlarged roundabout image after the path is superposed; and the display module is used for displaying the enlarged view of the rotary island after the path is superposed on the navigation equipment.

It should be noted that the description of the apparatus in the embodiment of the present application is similar to the description of the method embodiment, and has similar beneficial effects to the method embodiment, and therefore, the description is not repeated. For technical details not disclosed in the embodiments of the apparatus, reference is made to the description of the embodiments of the method of the present application for understanding.

Embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of the embodiment of the present application.

Embodiments of the present application provide a storage medium having stored therein executable instructions, which when executed by a processor, will cause the processor to perform a method provided by embodiments of the present application, for example, the method as illustrated in fig. 5.

In some embodiments, the storage medium may be a computer-readable storage medium, such as a Ferroelectric Random Access Memory (FRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), a charged Erasable Programmable Read Only Memory (EEPROM), a flash Memory, a magnetic surface Memory, an optical disc, or a Compact disc Read Only Memory (CD-ROM), among other memories; or may be various devices including one or any combination of the above memories.

In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code). By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.

The above description is only an example of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. A method for drawing a roundabout route, the method comprising:

carrying out length extension on the hitched road in the hitched road image in the road information to obtain a hitched road image of the hitched road with a specific length;

determining a forward road and a reverse road in the hitched roads with the specific length, and acquiring a first junction point of the forward road and the rotary island and a second junction point of the reverse road and the rotary island;

determining a junction distance between the first junction and the second junction, and determining a first road width of the forward road and a second road width of the reverse road;

according to the junction point distance, the first road width and the second road width, carrying out up-and-down line combination on the forward road and the reverse road to obtain a combined hanging road image;

2. The method of claim 1, wherein after obtaining the road information related to the rotary, the method further comprises:

extracting the rotary island image and the hanging road image from the road information;

determining roads left after the roundabout image and the hanging road image are extracted from the road information as roads to be deleted;

and removing the road to be deleted.

3. The method according to claim 1, wherein the fitting adjustment of the roundabout image in the road information to obtain an adjusted roundabout image comprises:

carrying out equal-proportion scaling processing on the ring island area on each ring radius to obtain a ring island area with the size adjusted;

respectively carrying out reduction processing or amplification processing on the lane width of the roundabout lane and the lane width of the roundabout external lane so as to enable a preset size ratio to be formed among the size parameter of the roundabout area after size adjustment, the lane width of the roundabout lane after size adjustment and the lane width of the roundabout external lane after size adjustment, and obtain the roundabout area after size adjustment, the roundabout lane after size adjustment and the roundabout external lane after size adjustment;

and drawing to obtain the adjusted roundabout image according to the roundabout area after the size adjustment, the roundabout lane after the size adjustment and the roundabout outside lane after the size adjustment.

4. The method according to claim 1, wherein the fitting adjustment of the roundabout image in the road information to obtain an adjusted roundabout image comprises:

identifying the shape of the roundabout in the roundabout image to obtain an identification result;

according to the recognition result, matching a fitting roundabout shape with the highest similarity to the roundabout shape in a preset roundabout shape library;

and smoothing the ring island edge of the ring island in the ring island image by adopting the fitted ring island shape to obtain the adjusted ring island image.

5. The method of claim 1, wherein said merging the forward road and the reverse road from the intersection point distance, the first road width, and the second road width to obtain a merged articulated road image comprises:

when the distance of the junction point is smaller than or equal to the sum of the first road width and the second road width, merging the forward road and the reverse road into a bidirectional road, and obtaining a merged hanging road image according to an image corresponding to the bidirectional road;

when the distance of the junction point is greater than the sum of the first road width and the second road width, and the extending direction of the forward road and the extending direction of the reverse road are approximately parallel, combining the forward road and the reverse road into a Y-shaped road or a V-shaped road, and obtaining the combined image of the hanging road according to the image corresponding to the Y-shaped road or the V-shaped road;

and when the distance of the junction point is greater than the sum of the first road width and the second road width, and the extending direction of the forward road is parallel to the extending direction of the reverse road, merging the forward road and the reverse road into a parallel road, and obtaining the merged image of the hitching road according to the image corresponding to the parallel road.

6. The method of claim 1, further comprising:

and when other roads with different heights from the rotary island are detected in the rotary island image, deleting the images corresponding to the other roads from the rotary island image.

7. The method of claim 1, further comprising:

receiving a live-action image which is acquired by image acquisition equipment in real time and corresponds to the roundabout;

and correcting the enlarged view of the rotary island by using the live-action image.

8. The method according to any one of claims 1 to 7, further comprising:

determining an exit position identification corresponding to the target planning path in the rotary island, a driving path and a driving direction of a vehicle in the rotary island;

superposing the exit position identification, the driving path and the driving direction to the enlarged roundabout image to form the enlarged roundabout image after the path is superposed;

and displaying the enlarged view of the rotary island after the superposition path on a navigation device.

9. An apparatus for roundabout route drawing, comprising:

the upper and lower line merging module is used for carrying out length extension on the articulated road in the articulated road image in the road information to obtain the articulated road image of the articulated road with specific length; determining a forward road and a reverse road in the hitched roads with the specific length, and acquiring a first junction point of the forward road and the rotary island and a second junction point of the reverse road and the rotary island; determining a junction distance between the first junction and the second junction, and determining a first road width of the forward road and a second road width of the reverse road; according to the junction point distance, the first road width and the second road width, carrying out up-and-down line combination on the forward road and the reverse road to obtain a combined hanging road image;

10. A roundabout route drawing apparatus, comprising:

a memory for storing executable instructions; a processor for implementing the roundabout route drawing method according to any one of claims 1 to 8 when executing the executable instructions stored in the memory.

11. A computer-readable storage medium having stored thereon executable instructions for causing a processor to implement the roundabout route drawing method according to any one of claims 1 to 8 when the executable instructions are executed.