CN113094275A - Data processing method and device, electronic equipment and medium - Google Patents
Data processing method and device, electronic equipment and medium Download PDFInfo
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Abstract
The invention discloses a data processing method, a data processing device, an electronic device and a medium, wherein the method comprises the following steps: acquiring vehicle-road cooperative networking interactive data, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages; determining a type of each node in the map message; performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node; and generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message. The embodiment of the invention realizes the generation of the static description file of the simulation test by using the vehicle-road cooperative networking interactive data, and the construction of the simulation test driving scene data, realizes the construction of the simulation test driving scene data according to the vehicle-road cooperative data, and improves the generation efficiency, the data reduction degree and the test value of the simulation test road network.
Description
Technical Field
Embodiments of the present invention relate to computer technologies, and in particular, to a data processing method and apparatus, an electronic device, and a medium.
Background
In recent years, with the increasingly wide application of the Vehicle-road cooperation technology in the fields of Intelligent transportation systems (ITS for short) and Intelligent networked vehicles (ICV), the importance of the Vehicle wireless communication (Vehicle to X, V2X) scene simulation test technology is more and more prominent, but because of the data acquisition mode defined by the V2X national standard data set protocol, the types and structures of the data are greatly different from those of the scene simulation data in the traditional automatic driving field, the traditional simulation scene data construction method does not aim at a standard processing method based on V2X networking interactive data, and the existing simulation tool does not have a standard import interface aiming at real Vehicle networking interactive V2X data, and the simulation test requirement of the Vehicle-road cooperation application cannot be met. Therefore, a simulation scene data construction method based on real vehicle test vehicle road cooperative data is needed.
Disclosure of Invention
The invention provides a data processing method, a data processing device, electronic equipment and a medium, which are used for generating simulation test driving scene data according to vehicle-road cooperative networking interactive data and improving the generation efficiency, the data reduction degree and the test value of a simulation test road network.
In a first aspect, an embodiment of the present invention provides a data processing method, where the method includes:
acquiring vehicle-road cooperative networking interactive data, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages;
determining a type of each node in the map message;
performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
Further, determining a type of each node in the map message comprises:
determining a number of road connections for each node in the map message;
if the road connection number is less than or equal to 2, determining that the type of the corresponding node is a non-intersection;
and if the road connection number is more than 2, determining that the type of the corresponding node is the intersection.
Further, performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node, including:
for a node with the type of a non-intersection, segmenting lanes associated with the node according to a lane center position point set in the map message;
determining a fitting curve of each section of lane according to the central position point of each section of lane and the lane attribute information in the map message;
and generating a road associated with the corresponding node according to the lane attribute information in the map message and the fitted curve of each lane.
Further, determining a fitted curve of each lane according to the center position point of each lane and the lane attribute information in the map message includes:
calculating tangent vectors corresponding to each central position point according to the central position point on each section of lane and the lane attribute information in the map message;
and determining a fitting curve of each section of lane according to the tangent vector corresponding to each central position point and the central position point on each section of lane.
Further, according to the type of each node, fitting interpolation processing is carried out on the center position point set of the lane associated with the corresponding node, and a road associated with the corresponding node is generated, wherein the road comprises
Fitting every two nodes with the type of the intersection according to the nearest central position point of each lane and the intersection to obtain corresponding fitting curves between every two nodes;
and generating the road associated with the corresponding node according to the corresponding fitting curve and the driving rule of the node.
Further, generating the road associated with the node according to the corresponding fitted curve and the driving rule of the node includes:
screening out a fitting curve which accords with the driving rule of the node from the corresponding fitting curves;
and generating a road associated with the corresponding node according to the screened fitting curve.
Further, generating a static description file for a simulation test according to the road associated with the corresponding node, the roadside traffic event message and the position information in the signal lamp message, includes:
obtaining road topology by associating the road section with the corresponding node according to the identification information of each node in the map message;
and generating the static description file according to the roadside traffic event message, the position information in the signal lamp message and the road topology.
Further, the vehicle-road coordination data further includes a basic safety message and a road side unit message, and the method further includes:
generating a dynamic description file for simulation test according to the basic safety message, the road side unit message and the dynamic message in the signal lamp message;
and constructing simulation test driving scene data according to the dynamic description file and the static description file.
In a second aspect, an embodiment of the present invention further provides a data processing apparatus, where the apparatus includes:
the data acquisition module is used for acquiring vehicle-road cooperative data, and the vehicle-road cooperative data comprises map messages, roadside traffic event messages and signal lamp messages;
a type determination module for determining a type of each node in the map message;
the road restoration module is used for performing fitting interpolation processing on a central position point set of a lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and the file generation module is used for generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
Further, the file generation module further includes:
the dynamic file generating unit is used for generating a dynamic description file for simulation test according to the basic safety message, the road side unit message and the dynamic message in the signal lamp message;
and the scene data construction unit is used for constructing simulation test driving scene data according to the dynamic description file and the static description file.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a data processing method as described.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the data processing method as described above.
According to the invention, vehicle-road cooperative networking interactive data is obtained, wherein the vehicle-road cooperative networking interactive data comprises a map message, a roadside traffic event message and a signal lamp message; determining a type of each node in the map message; performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node; according to the road, the roadside traffic event message and the position information in the signal lamp message which are associated with each node, a static description file for simulation test is generated, the problems that a standard processing method for vehicle-road cooperative networking interactive data does not exist in a simulation scene data construction method, a simulation tool does not have a standard import interface for vehicle-road cooperative networking interactive data, and simulation test requirements of vehicle-road cooperative application cannot be met are solved, the simulation test driving scene data is constructed according to the vehicle-road cooperative data, and the technical effects of improving the generation efficiency, the data reduction degree and the test value of a simulation test road network are improved.
Drawings
FIG. 1 is a flow chart of a data processing method according to a first embodiment of the present invention;
fig. 1A is a schematic diagram of a data processing method according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a data processing method according to a second embodiment of the present invention;
FIG. 2A is a diagram illustrating a data processing method according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a data processing apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device in a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a data processing method according to an embodiment of the present invention, where the method is applicable to a case where simulation test scenario data is constructed by using vehicle-road collaborative networking interactive data, and the method may be executed by a data processing apparatus, and the apparatus may be implemented by software and/or hardware, and may be specifically integrated in an electronic device with storage and computing capabilities for data processing.
As shown in fig. 1, a data processing method is provided, which specifically includes the following steps:
step 110, acquiring vehicle-road cooperative networking interactive data, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages;
in the embodiment of the invention, the vehicle-road cooperative networking interactive data can be understood as interactive data of the vehicle and the external driving environment, which are acquired by integrating a global positioning system navigation technology, a vehicle-to-vehicle networking technology, wireless communication and the like in the vehicle networking. The map message can be understood as attribute information related to each node, connection, lane and the like on the driving road. Roadside traffic event messages can be understood as traffic event signs on roads, violation early warning, road construction and other messages. The signal light message can be understood as traffic light position, light color and time sequence message set on the road. Wherein, the signal lamp message includes: signal light position information and signal light dynamic information.
In the embodiment of the invention, the vehicle-road cooperative networking interactive data in the real scene is acquired by using the vehicle-road cooperative technology, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages.
Step 120, determining the type of each node in the map message;
in the embodiment of the invention, the type of each node can be understood as the connection type of each node on a road in the map message, wherein the type of each node can be a non-intersection, and the non-intersection comprises a road intersection and road nodes, and can also be an intersection. The road intersection can be understood as a traffic light intersection or a zebra crossing arranged in a single road. The road node can be understood as a node that a traffic light intersection and a zebra crossing are not arranged on a single road, but connection steering and connection tangent lines are uncertain.
In the embodiment of the invention, all nodes in the map message in the vehicle-road cooperative network connection interactive data are determined according to the map message in the vehicle-road cooperative network connection interactive data. And determining the type of each node in the map message according to the road connection condition of each node in the map message in the vehicle-road cooperative networking interactive data.
Step 130, performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
in the embodiment of the present invention, the set of central position points of the lanes associated with the corresponding nodes may be understood as a set of central position points of each lane on the road associated with each node, where the central position points are from road side unit devices. The fitting interpolation processing may be understood as a fitting processing manner of restoring or generating a road associated with a corresponding node according to the central position point set of the lane associated with the corresponding node. The road associated with the corresponding node can be understood as a road restored by fitting interpolation processing for the position point set according to the center of the lane associated with the corresponding node.
For example, fig. 1A is a schematic diagram of a data processing method according to a first embodiment of the invention, as shown in fig. 1A, there are two lanes on a road, a black dot in a first lane on the left side is a center position point on the lane, and a center position point set on the lane is a data set containing position coordinates of all center positions on the lane, for example, P1(x1,y1)，P2(x2,y2)，…，Pn(xn,yn). The right lane on the road also has the same set of center position points, which are not shown for comparison in fig. 1A. In fig. 1A, "" # denotes the identification symbol of each node.
In the embodiment of the invention, according to the specific type of each node on the road in the map message, the central position point set corresponding to the associated lane of each node is selected to be corresponding to the central position point set. And the map message comprises a plurality of map information sets, wherein the map information sets comprise a plurality of central position points corresponding to the lanes, and the central position points of the associated lanes are different. And performing fitting interpolation processing according to the central position point set corresponding points of each node corresponding to the relevant lane, and reducing or generating each lane in the road associated with the corresponding node in a fitting interpolation processing mode to obtain the lane associated with the corresponding node.
And step 140, generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
In the embodiment of the invention, the position information in the signal lamp message can be understood as the position information of the traffic signal lamp arranged on the road associated with each node. The static description file of the simulation test may be understood as a description file of static road traffic required in the simulation test driving scenario data. The static description file of the simulation test also conforms to a standard data exchange format, mainly describes the road and objects on the road, and is specifically used for explaining the content information of the road, the lane, the intersection and the like.
In the embodiment of the invention, the connection condition of the road associated with each node is obtained according to the generated or restored road associated with each node, the position information of the traffic signal lamp arranged on the road is determined according to the event mark, the violation early warning, the road construction condition and the position information in the signal lamp message on the road, and the static road traffic information required in the simulation test driving scene data is determined. Further, a static description file of the simulation test is generated according to the static road traffic information required in the simulation test driving scene data, and the static description file is used for constructing the simulation test driving scene data.
Further, determining a type of each node in the map message comprises:
determining a number of road connections for each node in the map message;
if the road connection number is less than or equal to 2, determining that the type of the corresponding node is a non-intersection;
and if the road connection number is more than 2, determining that the type of the corresponding node is the intersection.
In the embodiment of the present invention, the number of links of each node may be understood as the number of links of each node in the same coordinate system. An intersection can be understood as a node position where more than two roads intersect in the same coordinate system on the same plane.
In the embodiment of the invention, the road connection number of each node in the map message in the vehicle-road cooperative networking interactive data is determined. Judging the relation between the road connection number of each node in the map message and the preset road number 2, if the road connection number is less than or equal to the preset road number 2, indicating that the road connection number of the corresponding node is less than or equal to 2, and two roads connect two road ports into one road or one road port of the corresponding node through the corresponding node, and determining that the type of the corresponding node is a non-intersection. And if the road connection number is greater than the preset road number of 2, indicating that the road connection number of the corresponding node is greater than 2, determining that the type of the corresponding node is the intersection.
Further, performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node, including:
for a node with the type of a non-intersection, segmenting lanes associated with the node according to a lane center position point set in the map message;
determining a fitting curve of each section of lane according to the central position point of each section of lane and the lane attribute information in the map message;
and generating a road associated with the corresponding node according to the lane attribute information in the map message and the fitted curve of each lane.
In the embodiment of the present invention, the lane attribute information in the map message may be understood as lane attribute information such as a driving direction, a lane width, and a lane line type of a lane in the map message. The fitted curve of each lane may be understood as a connection curve of adjacent central position points calculated according to the corresponding adjacent central position points on each lane.
In the embodiment of the invention, the driving direction of each lane is determined according to the driving direction in the lane attribute information in the map message for the node with the type of the non-intersection. Each section of lane is a lane between adjacent central position points on the lane, and a connecting curve of the adjacent central position points, namely a fitting curve of each section of lane, is calculated according to the adjacent central position points corresponding to each lane. And obtaining a fitted curve of each lane according to the driving direction, the fitted curve of each lane and the central position point on each lane in the lane attribute information in the map message. And generating the road associated with each node according to the fitted curve of each section of lane on the road associated with each node.
Further, determining a fitted curve of each lane according to the center position point of each lane and the lane attribute information in the map message includes:
calculating tangent vectors corresponding to each central position point according to the central position point on each section of lane and the lane attribute information in the map message;
and determining a fitting curve of each section of lane according to the tangent vector corresponding to each central position point and the central position point on each section of lane.
In the embodiment of the present invention, the tangent vector corresponding to each central position point may be understood as a straight line vector passing through one central position point, where the straight line vector is determined according to an adjacent central position point on the lane where the central position point is located, and the direction of the tangent vector is the same as the direction of the point on the fitting curve.
In the embodiment of the invention, the tangent vector corresponding to each central position in the adjacent central position points on each section of lane is determined according to the central position point on each section of lane and the driving direction in the lane attribute information in the map message. And obtaining a fitting curve of each section of lane through a cubic curve interpolation algorithm according to the tangent vector corresponding to each central position point and the central position point on each section of lane. Wherein, as shown in FIG. 1A, P1For the end point in the center point set of the leftmost lane of an associated lane at the Z2 node, P is calculated1Tangent vector of point is P2Point coordinate correspondence minus P1Point coordinates, P1The tangent vector of the point is (x)2-x1,y2-y1)。P11For the end point in the center point set of the leftmost lane of an associated lane at the Z1 node, P is calculated11Tangent vector of point is P11Point coordinate correspondence minus P10And (4) coordinates. Wherein, the tangent vector of the end point concentrated in the central position point of each section of lane is calculated to be PnPosition of point, subtracting P from coordinate of pointn-1Coordinates of point positions, i.e. PnThe tangent vector of the point is (x)n-xn-1,yn-yn-1)。P2Point is a non-end point in the center position point set of the leftmost lane, and P is calculated2Tangent vector of point is P3Point position coordinate correspondence minus P1Point position coordinates, P2The tangent vector of the point is (x)3-x1,y3-y1). Wherein, the non-end point P in the central position point set of each lane is calculatednVector of point tangent line of Pn+1Point position coordinate correspondence minus Pn-1Position coordinates of points, i.e. PnThe tangent vector of the point is (x)n+1-xn-1,yn+1-yn-1). In the embodiment of the invention, for the nodes of which the types are non-intersection junctions, a fitting curve of each lane is obtained through a cubic curve interpolation algorithm according to tangent vectors corresponding to adjacent central position points on each lane and central position points on each lane, and the fitting curve of each lane can be obtained by translating to the current lane according to fitting curves on other lanes of the current segment. Furthermore, according to the number, width and arrangement mode of the lanes in the map message, lane lines are constructed towards two sides along the fitting curve according to the lane line attributes, and road shoulders are added according to the positions of the lanes to generate roads relevant to the corresponding nodes.
Further, generating a static description file for a simulation test according to the road associated with the corresponding node, the roadside traffic event message and the position information in the signal lamp message, includes:
obtaining road topology according to the identification information of each node in the map message and the road associated with the corresponding node;
and generating the static description file according to the roadside traffic event message, the position information in the signal lamp message and the road topology.
In the embodiment of the invention, the identification information of each node in the map message can be understood as the identification added at the corresponding position on the road where each node is located in the map message, and is used for determining the position where each node is located in the map message. The road topology can be understood as the entire road topology structure in the map message formed by the road associated with the corresponding node and the identification information of each node in the map message.
In the embodiment of the invention, the topological structure information of the whole road in the map message is obtained according to the identification information of each node in the map message and the road associated with the corresponding node. And generating a simulation test static description file for explaining static road information required in the whole simulation test driving scene data according to the position information and road topology in the road side traffic event message and the signal lamp message.
Further, the vehicle-road coordination data further includes a basic safety message and a road side unit message, and the method further includes:
generating a dynamic description file for simulation test according to the basic safety message, the road side unit message and the dynamic message in the signal lamp message;
and constructing simulation test driving scene data according to the dynamic description file and the static description file.
In the embodiment of the invention, the basic safety message can be understood as information such as speed, steering, braking, double flashing, position information and the like of the vehicle in the driving process. The rsu message may be understood as information of the rsu device used for broadcasting the device itself and information of the traffic participant acquired by the rsu sensing device. The dynamic message in the signal lamp message can be understood as a dynamic message formed by the signal lamp according to the signal lamp dynamic change rule and the time sequence. The dynamic description file of the simulation test can be understood as a description file of dynamic traffic data required in the simulation test driving scenario data. The dynamic description file of the simulation test conforms to a standard data exchange format, is mainly used for describing the dynamic changes of the motion information of the objects on the road and the traffic signals, and is particularly used for describing the dynamic changes of the motion information of the objects on the road, the lanes and the intersections and the traffic signals.
In the embodiment of the invention, the dynamic description file of the simulation test is generated according to the basic safety message, the road side unit message and the dynamic message in the signal lamp in the vehicle-road cooperative networking data. The dynamic description file of the simulation test is formed by extracting the information of the vehicle and the information of other traffic participants in the basic safety message according to the time sequence and generating the position, the speed and the appearance information of the road side unit message broadcasted by the vehicle and road cooperative system one by one. And constructing simulation test driving scene data according to the dynamic description file of the simulation test and the static description file of the simulation test. The simulation test driving scene data is constructed by utilizing the real internet interactive data in the vehicle-road cooperative system, and a unified simulation data structure is constructed by utilizing the formats of the simulation test dynamic description file and the simulation test static description file, so that the simulation test driving scene data is restored more efficiently and truly, and the test value is higher.
According to the invention, vehicle-road cooperative networking interactive data is obtained, wherein the vehicle-road cooperative networking interactive data comprises a map message, a roadside traffic event message and a signal lamp message; determining a type of each node in the map message; performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node; according to the road, the roadside traffic event message and the position information in the signal lamp message which are associated with each node, a static description file for simulation test is generated, the problems that a standard processing method of vehicle-road cooperative networking interactive data does not exist in a simulation scene data construction method, a simulation tool does not have a standard vehicle-road cooperative networking interactive data import interface, and simulation test requirements of vehicle-road cooperative application cannot be met are solved, the simulation test driving scene data is constructed according to the vehicle-road cooperative data, and the technical effects of the generation efficiency, the data reduction degree and the test value of a simulation test road network are improved.
Example two
Fig. 2 is a flowchart of a data processing method according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, and specifically mainly comprises the following steps:
step 210, obtaining vehicle-road cooperative network interaction data, wherein the vehicle-road cooperative network interaction data comprises a map message, a roadside traffic event message and a signal lamp message;
step 220, determining the type of each node in the map message;
step 230, fitting every two nodes with the type of the intersection according to the nearest central position point of each lane and the intersection to obtain corresponding fitting curves between every two nodes;
in the embodiment of the present invention, the central position point closest to the intersection may be understood as a central position point closest to the corresponding node on each lane on the associated road of each node, that is, an endpoint of the intersection direction on the central position point on each lane.
In the embodiment of the invention, for the nodes of which the types are the intersections, the central position point nearest to the intersection node and the adjacent central position point of the central position point nearest to the intersection node on each lane are determined according to the positions of the intersection nodes and the lanes associated with the intersection nodes. And calculating a tangent vector of the central position point nearest to the intersection node according to the central position point nearest to the intersection node on each lane and the adjacent central position point of the central position point nearest to the intersection node. And performing curve fitting on every two lanes by a cubic curve interpolation algorithm according to the tangent vector of the central position point closest to the intersection node on each lane and the central position point closest to the intersection on each lane to obtain corresponding fitting curves between every two lanes.
For example, fig. 2A is a schematic diagram of a data processing method according to a second embodiment of the present invention, as shown in fig. 2A, 3 roads associated with nodes are greater than 2 preset roads, the nodes are nodes of an intersection, and P is a central position point closest to the intersection node and an adjacent central position point of the central position point closest to the intersection node on each lane, where P is a distance between the central position point and the adjacent central position point02And P03，P08And P07，P18And P17，P13And P12，P28And P27，P22And P21Respectively calculate P02，P07，P17，P12，P27，P21The corresponding tangent vector, for example: p03Point coordinates minus P02Point coordinates. And substituting the tangent vector of the central position point closest to the intersection node on each lane and the central position point closest to the intersection on each lane into a formula of a cubic curve interpolation algorithm to obtain a formula of a corresponding fitting curve between every two lanes. Generating or restoring intersection associated with corresponding nodes according to formula of corresponding fitting curve between every two nodesThe fork is connected with the road, namely the road associated with the corresponding node.
And 240, generating a road associated with the corresponding node according to the corresponding fitted curve and the driving rule of the node.
In the embodiment of the invention, the driving rule of the node can be understood as a traffic driving rule corresponding to each lane at the position of each node.
In the embodiment of the invention, the corresponding fitting curve is the corresponding fitting curve between every two. And generating roads associated with the corresponding nodes according to the corresponding fitting curves and the driving rules of the nodes.
Further, generating the road associated with the corresponding node according to the corresponding fitted curve and the driving rule of the node includes:
screening out a fitting curve which accords with the driving rule of the node from the corresponding fitting curves;
and generating a road associated with the corresponding node according to the screened fitting curve.
In the embodiment of the invention, curve fitting is carried out by a cubic curve interpolation algorithm according to the tangent vector of the central position point nearest to the intersection node on each lane and the central position point nearest to the intersection on each lane, so as to obtain corresponding fitting curves between every two. And screening the corresponding fitted curves between every two roads through the driving rule on each lane, filtering the fitted curves which do not accord with the driving rule of the lanes, reserving the fitted curves which accord with the driving rule on the lanes, and generating the roads associated with the corresponding nodes. For the road with the type of the node being the intersection, the road associated with the corresponding node is generated, and in a practical sense, the road is a drivable route, and it is possible that not all roads are actually present, for example: the traffic control console is arranged in the central zone of the intersection or the central zone of the intersection, and the vehicles cannot run at the central zone of the intersection when passing.
And step 250, generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
According to the invention, vehicle-road cooperative networking interactive data is obtained, wherein the vehicle-road cooperative networking interactive data comprises a map message, a roadside traffic event message and a signal lamp message; determining a type of each node in the map message; fitting every two nodes with the type of the intersection according to the nearest central position point of each lane and the intersection to obtain corresponding fitting curves between every two nodes; generating a road associated with the corresponding node according to the corresponding fitting curve and the driving rule of the node; and generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message. The problem that a standard processing method of vehicle-road cooperative networking interactive data is not available in a simulation scene data construction method, and a simulation tool does not have a standard vehicle-road cooperative networking interactive data import interface, so that the simulation test requirements of vehicle-road cooperative application cannot be met is solved, the simulation test scene data is constructed according to the vehicle-road cooperative data, and the technical effects of improving the generation efficiency, the data reduction degree and the test value of a simulation test road network are improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a data processing apparatus according to a third embodiment of the present invention, where the apparatus includes: the device comprises a data acquisition module, a type determination module, a road restoration module and a file generation module;
the data acquisition module is used for acquiring vehicle-road cooperative data, and the vehicle-road cooperative data comprises map messages, roadside traffic event messages and signal lamp messages;
a type determination module for determining a type of each node in the map message;
the road restoration module is used for performing fitting interpolation processing on a central position point set of a lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and the file generation module is used for generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
Further, the file generation module further includes:
the dynamic file generating unit is used for generating a dynamic description file for simulation test according to the basic safety message, the road side unit message and the dynamic message in the signal lamp message;
and the scene data construction unit is used for constructing simulation test driving scene data according to the dynamic description file and the static description file.
Further, the type determining module is specifically configured to:
determining a number of road connections for each node in the map message;
if the road connection number is less than or equal to 2, determining that the type of the corresponding node is a non-intersection;
and if the road connection number is more than 2, determining that the type of the corresponding node is the intersection.
Further, the road restoration module is specifically configured to:
for a node with the type of a non-intersection, segmenting lanes associated with the node according to a lane center position point set in the map message;
determining a fitting curve of each section of lane according to the central position point of each section of lane and the lane attribute information in the map message;
and generating a road associated with the corresponding node according to the lane attribute information in the map message and the fitted curve of each lane.
Further, the road restoration module is specifically configured to:
calculating tangent vectors corresponding to each central position point according to the central position point on each section of lane and the lane attribute information in the map message;
and determining a fitting curve of each section of lane according to the tangent vector corresponding to each central position point and the central position point on each section of lane.
Further, the road restoration module is specifically configured to:
fitting every two nodes with the type of the intersection according to the nearest central position point of each lane and the intersection to obtain corresponding fitting curves between every two nodes;
and generating the road associated with the corresponding node according to the corresponding fitting curve and the driving rule of the node.
Further, the road restoration module is specifically configured to:
screening out a fitting curve which accords with the driving rule of the node from the corresponding fitting curves;
and generating a road associated with the corresponding node according to the screened fitting curve.
Further, the file generation module is specifically configured to:
obtaining road topology by associating the road section with the corresponding node according to the identification information of each node in the map message;
and generating the static description file according to the roadside traffic event message, the position information in the signal lamp message and the road topology.
The data processing device provided by the embodiment of the invention can execute the data processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to embodiment 4 of the present invention. FIG. 4 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 4 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in FIG. 4, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement a data processing method provided by an embodiment of the present invention, the method including:
acquiring vehicle-road cooperative networking interactive data, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages;
determining a type of each node in the map message;
performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the data processing method, and the method includes:
acquiring vehicle-road cooperative networking interactive data, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages;
determining a type of each node in the map message;
performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A data processing method, comprising:
acquiring vehicle-road cooperative networking interactive data, wherein the vehicle-road cooperative networking interactive data comprises map messages, roadside traffic event messages and signal lamp messages;
determining a type of each node in the map message;
performing fitting interpolation processing on the center position point set of the lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
2. The method of claim 1, wherein determining the type of each node in the map message comprises:
determining a number of road connections for each node in the map message;
if the road connection number is less than or equal to 2, determining that the type of the corresponding node is a non-intersection;
and if the road connection number is more than 2, determining that the type of the corresponding node is the intersection.
3. The method of claim 2, wherein performing fitting interpolation processing on a set of central position points of the lanes associated with the corresponding nodes according to the type of each node to generate roads associated with the corresponding nodes, comprises:
for a node with the type of a non-intersection, segmenting lanes associated with the node according to a lane center position point set in the map message;
determining a fitting curve of each section of lane according to the central position point of each section of lane and the lane attribute information in the map message;
and generating a road associated with the corresponding node according to the lane attribute information in the map message and the fitted curve of each lane.
4. The method of claim 3, wherein determining a fitted curve for each lane based on the center location point of each lane and the lane attribute information in the map message comprises:
calculating tangent vectors corresponding to each central position point according to the central position point on each section of lane and the lane attribute information in the map message;
and determining a fitting curve of each section of lane according to the tangent vector corresponding to each central position point and the central position point on each section of lane.
5. The method of claim 2, wherein performing fitting interpolation processing on a set of central position points of the lanes associated with the corresponding nodes according to the type of each node to generate roads associated with the corresponding nodes, comprises:
fitting every two nodes with the type of the intersection according to the nearest central position point of each lane and the intersection to obtain corresponding fitting curves between every two nodes;
and generating the road associated with the corresponding node according to the corresponding fitting curve and the driving rule of the node.
6. The method of claim 5, wherein generating the road associated with the corresponding node according to the corresponding fitted curve and the driving rule of the node comprises:
screening out a fitting curve which accords with the driving rule of the node from the corresponding fitting curves;
and generating a road associated with the corresponding node according to the screened fitting curve.
7. The method of claim 6, wherein generating a static description file for simulation testing according to the road associated with the corresponding node, the roadside traffic event message, and the location information in the signal light message comprises:
obtaining road topology by associating the road section with the corresponding node according to the identification information of each node in the map message;
and generating the static description file according to the roadside traffic event message, the position information in the signal lamp message and the road topology.
8. The method of claim 1, wherein the vehicle-to-road coordination data further comprises basic safety messages and roadside unit messages, the method further comprising:
generating a dynamic description file for simulation test according to the basic safety message, the road side unit message and the dynamic message in the signal lamp message;
and constructing simulation test driving scene data according to the dynamic description file and the static description file.
9. A data processing apparatus, comprising:
the data acquisition module is used for acquiring vehicle-road cooperative data, and the vehicle-road cooperative data comprises map messages, roadside traffic event messages and signal lamp messages;
a type determination module for determining a type of each node in the map message;
the road restoration module is used for performing fitting interpolation processing on a central position point set of a lane associated with the corresponding node according to the type of each node to generate a road associated with the corresponding node;
and the file generation module is used for generating a static description file for simulation test according to the road associated with each node, the roadside traffic event message and the position information in the signal lamp message.
10. The apparatus of claim 9, wherein the file generation module further comprises:
the dynamic file generating unit is used for generating a dynamic description file for simulation test according to the basic safety message, the road side unit message and the dynamic message in the signal lamp message;
and the scene data construction unit is used for constructing simulation test driving scene data according to the dynamic description file and the static description file.
11. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a data processing method as claimed in any one of claims 1-8.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the data processing method of any one of claims 1 to 8.
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