CN113237486B - Road transverse topological relation construction method, device, distribution vehicle and storage medium - Google Patents
Road transverse topological relation construction method, device, distribution vehicle and storage medium Download PDFInfo
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Abstract
The application discloses a road transverse topological relation construction method, a device, a distribution vehicle and a storage medium, wherein the method comprises the following steps: constructing a road foundation transverse topological relation diagram according to the acquired road network data; traversing a road foundation transverse topological relation diagram, and determining the homodromous lane binary groups of each lane; determining whether a lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any lane in the same-direction lane binary group is projected to another lane; and if the lanes in the homodromous lane binary group are invariable lane lanes, deleting the transverse relation of the lanes in the homodromous lane binary group from the lane basic transverse topological relation diagram to obtain an actual running transverse topological relation diagram. By the method, the road surface actual condition can be considered, and a more reasonable lane transverse relation topological graph is obtained, so that the unmanned delivery vehicle can change lanes more safely and reasonably in the running process.
Description
Technical Field
The embodiment of the application relates to the field of data processing, in particular to a road transverse topological relation construction method, a device, a delivery vehicle and a storage medium.
Background
In the prior art, the transverse topological relation between roads of a map is simply based on the position and the orientation, the roads which are parallel to each other in the same direction are regarded as adjacent roads, the transverse topological relation exists between the adjacent roads, and a vehicle can select a proper position or a proper time to change the roads according to the transverse topological relation between the roads. However, the unmanned delivery vehicle mainly travels on a non-motor vehicle lane, and also travels on a motor vehicle lane when the non-motor vehicle lane does not satisfy the traveling condition. However, the existing transverse topological relation between lanes cannot accurately express the actual road conditions faced by unmanned delivery vehicles, and the lane changing requirements of the delivery vehicles cannot be met.
Disclosure of Invention
The embodiment of the application provides a road transverse topological relation construction method, a road transverse topological relation construction device, a distribution vehicle and a storage medium, which can obtain a more reasonable lane transverse topological relation chart in consideration of the actual condition of a road surface, so that the unmanned distribution vehicle can safely and reasonably change lanes in the running process.
In a first aspect, an embodiment of the present application further provides a method for constructing a road transverse topological relation, where the method includes:
constructing a road foundation transverse topological relation diagram according to the acquired road network data;
traversing a road foundation transverse topological relation diagram, and determining the homodromous lane binary groups of each lane;
determining whether the lane in the homodromous lane binary group is an invariable lane or not in a mode that a point on any lane in the homodromous lane binary group is projected to another lane;
and if the lanes in the homodromous lane binary group are invariable lane lanes, deleting the transverse relation of the lanes in the homodromous lane binary group from the road base transverse topological relation graph to obtain an actual running transverse topological relation graph.
In a second aspect, an embodiment of the present application further provides a road transverse topological relation construction apparatus, where the apparatus includes:
the construction module is used for constructing a road foundation transverse topological relation diagram according to the acquired road network data;
the traversing module is used for traversing the road foundation transverse topological relation diagram and determining the homodromous lane binary groups of each lane;
the determining module is used for determining whether the lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any one lane in the same-direction lane binary group is projected to the other lane;
and the deleting module is used for deleting the transverse relation of the lanes in the homodromous lane binary group from the road base transverse topological relation graph to obtain an actual running transverse topological relation graph if the lanes in the homodromous lane binary group are invariable lane lanes.
In a third aspect, an embodiment of the present application further provides an unmanned delivery vehicle, including: the road transverse topological relation construction method provided by any embodiment of the application is realized when the processor executes the computer program.
In a fourth aspect, embodiments of the present application further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a road lateral topology construction method as provided by any embodiment of the present application.
The embodiment of the application provides a road transverse topological relation construction method, a device, a distribution vehicle and a storage medium, wherein the method comprises the following steps: constructing a road foundation transverse topological relation diagram according to the acquired road network data; traversing a road foundation transverse topological relation diagram, and determining the homodromous lane binary groups of each lane; determining whether a lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any lane in the same-direction lane binary group is projected to another lane; and if the lanes in the homodromous lane binary group are invariable lane lanes, deleting the transverse relation of the lanes in the homodromous lane binary group from the lane basic transverse topological relation diagram to obtain an actual running transverse topological relation diagram. By the method, the road surface actual condition can be considered, and a more reasonable lane transverse relation topological graph is obtained, so that the unmanned delivery vehicle can change lanes more safely and reasonably in the running process.
Drawings
Fig. 1 is a flowchart of a road transverse topological relation construction method in an embodiment of the present application;
FIG. 2 is a schematic diagram of a reference point and a projected point on a lane in an embodiment of the present application;
FIG. 3 is a graph of the actual driving lateral topology obtained after deleting the immutable tracks in the embodiment of the present application;
FIG. 4 is a schematic diagram of a lane change start point and a lane change end point according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of the distance between the reference point and the corresponding projection point and the road parameters of the projection point according to the embodiment of the present application;
fig. 6 is a schematic structural diagram of a road lateral topological relation construction device in the embodiment of the present application;
fig. 7 is a schematic structural diagram of an unmanned delivery vehicle in an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
In addition, in the embodiments of the present application, words such as "optionally" or "exemplary" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "optional" or "exemplary" is not to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of the words "optionally" or "illustratively" and the like is intended to present the relevant concepts in a concrete manner.
Fig. 1 is a flowchart of a method for constructing a road transverse topological relation, which is provided by the embodiment of the application, and the method can be applied to unmanned delivery vehicles, and can consider areas in a map, such as a road seal, a flower bed, and the like, which are not allowed to pass through, so that the unmanned delivery vehicles can run better. As shown in fig. 1, the method may include, but is not limited to, the steps of:
s101, constructing a road foundation transverse topological relation diagram according to the acquired road network data.
In the embodiment of the application, the unmanned delivery vehicle can acquire the road network data stored in the server through interaction with the server, and the road network data can be stored in the server in a form of coordinates. Further, the road network data may include coordinates of road surface related objects such as lanes, flower beds, stone piles, and the like. Road network data may provide relative relationships between individual lanes and objects such as flower beds, stone piles, etc., e.g., lane 1 on the left side of lane 2, 3 stone piles on the right side of lane 1, etc. And the unmanned distribution vehicle constructs a relation network between roads and surrounding objects of the roads such as stone piles, flower beds and the like according to the road network data acquired from the server, and forms a road foundation transverse topological relation diagram.
S102, traversing a road foundation transverse topological relation diagram, and determining the homodromous lane binary groups of each lane.
A co-directional lane doublet is understood to be a doublet consisting of two adjacent lanes, e.g. [ lane 1, lane 2]. In the embodiment of the application, the same-direction lane of each lane can be determined in a left-hand traversing manner or a right-hand traversing manner, for example, if the left-hand traversing is needed, the left-hand same-direction lane of each lane is determined, and if the right-hand traversing is needed, the right-hand same-direction lane of each lane is determined.
S103, determining whether the lane in the homodromous lane binary group is an invariable lane or not in a mode that a point on any one lane in the homodromous lane binary group is projected to the other lane.
And marking a datum point on any one of two lanes included in the homodromous lane binary group by a preset length (for example, 0.4 m) at intervals, and determining one or more datum points on any one lane, wherein the interval distance between the datum point and the datum point is the preset length, or the interval distance between the datum point and the starting point of any one lane is the preset length when the datum point is the first mark point. After marking at least one reference point, a corresponding projection point of each reference point on another lane except any one lane in the homodromous lane binary group can be determined. As shown in fig. 2, a solid line is provided to represent a road boundary, a broken line represents an adjacent lane, and a closed area represents an impenetrable obstacle such as a flower bed between the two lanes. Taking the left traversing way as an example, each point in fig. 2 is a projection point of a right dot, that is, a dot on the rightmost lane is a reference point, and a projection point of a second dot on the left is a reference point, which is denoted as a point 1. In the same-direction lane binary group (denoted as [ lane 2, lane 3 ]) composed of the second lane and the third lane in the left direction, the point1 on the lane 2 is the reference point, the third dot in the left direction (i.e., the dot on the lane 3) is the projection point of the point1, … … and so on, the dot-dash line indicates that the two points have a lateral relationship through projection. The projection point is understood to mean that, starting from the reference point, a perpendicular is made to any one of the lanes, and the intersection of this perpendicular with the other lane, i.e. the point on the other lane which is the same as the ordinate of the reference point. And determining whether the lane in the homodromous lane binary group is an invariable lane or not according to the distance between the datum point and the corresponding projection point and the road parameter of the projection point.
The road parameters of the projection points can be obtained from road network data, and the parameters comprise the shortest distance of the projection points in the direction of vertically pointing to the corresponding datum points. If an obstacle such as a flower bed, a stone pile and the like exists between the lane where the projection point is located and the lane where the reference point is located, the shortest distance is the distance between the lane where the projection point is located and the obstacle such as the flower bed and the like. If no obstacle exists between the lane where the projection point is located and the lane where the reference point is located, the shortest distance is the distance between the lane where the projection point is located and the adjacent lane in the traveling direction, or the distance between the lane where the projection point is located and the road boundary in the traveling direction.
And S104, deleting the transverse relation of the lanes in the homodromous lane binary group from the road base transverse topological relation graph if the lanes in the homodromous lane binary group are invariable lane lanes, and obtaining an actual running transverse topological relation graph.
If the lanes in the same-direction lane binary group are determined to be invariable lanes in the above manner, then the lanes in the same-direction lane binary group are deleted from the road base transverse topological relation diagram, as shown in fig. 3, the closed area in the diagram is a flower bed between the lanes, and if the section of lanes are determined to be invariable lanes based on the above manner, then the transverse relation between the two adjacent lanes is deleted, so that an actual running transverse topological relation diagram is obtained, and therefore, when the unmanned distribution vehicle is distributed, safer and more reasonable lane change can be carried out according to the actual running transverse topological relation diagram.
The embodiment of the application provides a road transverse topological relation construction method, which comprises the following steps: constructing a road foundation transverse topological relation diagram according to the acquired road network data; traversing a road foundation transverse topological relation diagram, and determining the homodromous lane binary groups of each lane; determining whether a lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any lane in the same-direction lane binary group is projected to another lane; and if the lanes in the homodromous lane binary group are invariable lane lanes, deleting the transverse relation of the lanes in the homodromous lane binary group from the lane basic transverse topological relation diagram to obtain an actual running transverse topological relation diagram. By the method, the road surface actual condition can be considered, and a more reasonable lane transverse relation topological graph is obtained, so that the unmanned delivery vehicle can change lanes more safely and reasonably in the running process.
In one example, in the step S102, the implementation manner of determining whether the lane in the co-directional lane binary group is the non-variable lane according to the distance between the reference point and the corresponding projection point and the road parameter of the corresponding projection point includes, but is not limited to, the following steps:
and determining a lane change starting point and a lane change end point according to the distance between the datum point and the corresponding projection point and the road parameter (namely the shortest distance) of the corresponding projection point. If the distance between the lane change starting point and the lane change ending point is smaller than the lane change length of the vehicle, the lanes in the same-direction lane binary set are determined to be invariable lanes, as shown in fig. 4, the lane change starting point is set to be a start point, the lane change ending point is set to be an end point, and if the distance between the two points is smaller than the lane change length of the vehicle, the vehicle cannot change lanes through the distance, so that the two lanes in the same-direction lane binary set can be determined to be invariable lanes, namely the two lanes are marked as invariable lanes. In contrast, if the distance between the start point and the end point is greater than or equal to the lane change length of the vehicle, that is, the vehicle is allowed to make a lane change, then the lane in the same-direction lane-double is determined to be a variable-lane.
In one example, the manner of determining the lane change starting point may include: and if the distance between the datum point and the corresponding projection point is greater than the shortest distance, selecting the next datum point of the datum point, and repeating the process until the distance between the selected datum point and the corresponding projection point is less than the shortest distance, and determining the selected datum point as a lane change starting point.
As shown in fig. 5, let the reference point be the point, the corresponding projection point be the point1, the distance between the two points be L, the shortest distance, i.e. the distance L1 between the point1 and the left flower bed, if L is greater than L1, which indicates that there is an obstacle between the lanes where the two points are located, then the next reference point and the corresponding projection point on the lane are selected continuously, and the above-mentioned process of determining the distance is repeated, if the distance between the next reference point and the corresponding projection point is selected to be less than or equal to the shortest distance (e.g. the shortest distance is the distance between the lane where the projection point is located and the adjacent lane in the traversing direction, or the distance between the lane where the projection point is located and the road boundary in the traversing direction), then there is no obstacle between the two lanes, and at this time, the selected reference point may be determined as the lane change starting point, i.e. the start point in fig. 4.
Likewise, the manner of determining the lane change endpoint may include: if the distance between the reference point and the corresponding projection point is smaller than the shortest distance, which indicates that no obstacle exists between the lanes where the two points are located, then the next reference point of the current reference point can be selected continuously, and at least the above-mentioned judging process is repeated until the distance between the selected reference point and the corresponding projection point is larger than or equal to the shortest distance, which indicates that an obstacle exists between the lanes where the two points are located, then the last reference point of the current selected reference point is determined as a lane change end point, that is, an end point in fig. 4.
Fig. 6 is a schematic structural diagram of a road transverse topological relation construction device according to an embodiment of the present application, as shown in fig. 6, where the device includes: a construction module 601, a traversing module 602, a determining module 603 and a deleting module 604;
the construction module is used for constructing a road foundation transverse topological relation diagram according to the acquired road network data;
the traversing module is used for traversing the road foundation transverse topological relation diagram and determining the homodromous lane binary groups of each lane;
the determining module is used for determining whether the lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any one lane in the same-direction lane binary group is projected to the other lane;
and the deleting module is used for deleting the transverse relation of the lanes in the homodromous lane binary group from the road base transverse topological relation graph to obtain an actual running transverse topological relation graph if the lanes in the homodromous lane binary group are invariable lane lanes.
In one example, the determining module is configured to determine at least one reference point on any one lane of the co-directional lane doublet at a preset length; determining a corresponding projection point of the datum point on the other lane in the homodromous lane binary group;
the distance between the datum point and the datum point is a preset length, or the distance between the datum point and the starting point of any lane is a preset length;
the determining module is further configured to determine whether the lane in the homodromous lane binary set is an immutable lane according to the distance between the reference point and the corresponding projection point and the road parameter of the corresponding projection point.
Illustratively, the road parameter of the proxel includes the shortest distance of the proxel in a direction pointing perpendicularly to the corresponding datum point.
In one example, the determining module is configured to determine a lane change start point and a lane change end point according to a distance between the reference point and the corresponding projection point and the shortest distance;
if the distance between the lane change starting point and the lane change ending point is smaller than the lane change length of the vehicle, the determining module is further used for determining that the lane in the same-direction lane binary group is an invariable lane;
or if the distance between the lane change starting point and the lane change ending point is greater than or equal to the lane change length of the vehicle, the determining module is used for determining that the lane in the homodromous lane binary group is a lane change lane.
In one example, the determination module is to perform the following:
step one: if the distance between the datum point and the corresponding projection point is greater than the shortest distance, selecting the next datum point of the datum points;
and repeatedly executing the first step until the distance between the selected reference point and the corresponding projection point is smaller than or equal to the shortest distance, and determining the selected reference point as a lane change starting point.
In one example, the determination module may also be used to perform the following:
step one: if the distance between the datum point and the corresponding projection point is smaller than the shortest distance, selecting the next datum point of the datum points;
and repeatedly executing the first step until the distance between the selected reference point and the corresponding projection point is greater than or equal to the shortest distance, and determining the last reference point of the selected reference point as a lane change end point.
The road transverse topological relation construction device can execute the road transverse topological relation construction method provided by the figure 1, and has the corresponding devices and beneficial effects in the method.
Fig. 7 is a schematic structural diagram of an unmanned delivery vehicle provided in embodiment 7 of the present invention, as shown in fig. 7, the unmanned delivery vehicle includes a controller 701, a memory 702, an input device 703, an output device 704 and a communication device 705; the number of controllers 701 in the unmanned delivery vehicle may be one or more, one controller 701 being taken as an example in fig. 7; the controller 701, memory 702, input device 703 and output device 704 in the unmanned delivery vehicle may be connected by a bus or other means, for example by a bus connection in fig. 7.
The memory 702 is used as a computer readable storage medium for storing a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the road lateral topology building method in the embodiment of fig. 1 (e.g., the building module 601, the traversing module 602, the determining module 603, the deleting module 604 in the road lateral topology building apparatus). The controller 701 executes various functions and data processing of the unmanned delivery vehicle by running software programs, instructions and modules stored in the memory 702, that is, implements the road lateral topology construction method described above.
The memory 702 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the terminal, etc. In addition, the memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 702 may further include memory remotely located with respect to the controller 701, which may be connected to a terminal/server through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 703 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the unmanned vehicle. The output device 704 may include a display device such as a display screen. The communication device 705 is configured to communicate with a server and acquire road network data.
The present embodiments also provide a storage medium containing computer executable instructions for performing a road lateral topology construction method when executed by a computer controller, the method comprising the steps shown in fig. 1.
From the above description of embodiments, it will be clear to a person skilled in the art that the present application may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, where the instructions include a number of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the embodiments of the present application.
It should be noted that the modules included in the road transverse topological relation construction device are only divided according to the functional logic, but are not limited to the above-mentioned dividing mode, so long as the corresponding functions can be realized, and the protection scope of the application is not limited.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, the scope of which is defined by the scope of the appended claims.
Claims (8)
1. The method for constructing the road transverse topological relation is characterized by comprising the following steps of:
constructing a road foundation transverse topological relation diagram according to the acquired road network data;
traversing the road foundation transverse topological relation diagram, and determining the homodromous lane binary groups of each lane;
determining whether the lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any one lane in the same-direction lane binary group is projected to another lane;
if the lanes in the homodromous lane binary group are invariable lane lanes, deleting the transverse relation of the lanes in the homodromous lane binary group from the road base transverse topological relation diagram to obtain an actual running transverse topological relation diagram;
determining whether the lane in the same-direction lane binary group is an invariable lane in a mode that a point on any one lane in the same-direction lane binary group is projected to another lane comprises the following steps:
determining at least one datum point on any one lane in the homodromous lane binary group according to a preset length;
the distance between the datum point and the datum point is a preset length, or the distance between the datum point and the starting point of any one lane is a preset length;
determining a corresponding projection point of the datum point on the other lane in the same-direction lane binary group, wherein the projection point is a point on the other lane, which is the same as the ordinate of the datum point;
and determining whether the lane in the homodromous lane binary group is an invariable lane or not according to the distance between the reference point and the corresponding projection point and the road parameter of the corresponding projection point.
2. The method of claim 1, wherein the road parameter of the proxel comprises a shortest distance of the proxel in a direction perpendicular to the direction of the corresponding datum point.
3. The method of claim 2, wherein determining whether the lane in the co-directional lane doublet is an immutable lane based on the distance between the reference point and the corresponding projected point and the road parameter of the corresponding projected point comprises:
determining a lane change starting point and a lane change end point according to the distance between the datum point and the corresponding projection point and the shortest distance;
if the distance between the lane change starting point and the lane change ending point is smaller than the vehicle lane change length, determining that the lane in the homodromous lane binary group is an unchangeable lane;
or if the distance between the lane change starting point and the lane change ending point is greater than or equal to the vehicle lane change length, determining that the lane in the homodromous lane binary group is a lane change lane.
4. A method according to claim 3, wherein determining a lane change starting point based on the distance between the reference point and the corresponding projection point and the shortest distance comprises:
step one: if the distance between the datum point and the corresponding projection point is larger than the shortest distance, selecting the next datum point of the datum point;
and repeatedly executing the first step until the distance between the selected reference point and the corresponding projection point is smaller than or equal to the shortest distance, and determining the selected reference point as a lane change starting point.
5. A method according to claim 3, wherein determining a lane change endpoint based on the distance between the reference point and the corresponding projection point and the shortest distance comprises:
step one: if the distance between the datum point and the corresponding projection point is smaller than the shortest distance, selecting the next datum point of the datum point;
and repeatedly executing the first step until the distance between the selected reference point and the corresponding projection point is greater than or equal to the shortest distance, and determining the last reference point of the selected reference point as a lane change end point.
6. The device for constructing the road transverse topological relation is characterized by comprising the following components:
the construction module is used for constructing a road foundation transverse topological relation diagram according to the acquired road network data;
the traversing module is used for traversing the road foundation transverse topological relation diagram and determining the homodromous lane binary groups of each lane;
the determining module is used for determining whether the lane in the same-direction lane binary group is an invariable lane or not in a mode that a point on any one lane in the same-direction lane binary group is projected to another lane;
the deleting module is used for deleting the transverse relation of the lanes in the homodromous lane binary group from the road base transverse topological relation graph to obtain an actual running transverse topological relation graph if the lanes in the homodromous lane binary group are invariable lanes;
the determining module is used for determining at least one datum point on any one lane in the homodromous lane binary group according to a preset length; determining a projection point corresponding to the datum point on the other lane in the homodromous lane binary group, wherein the projection point is a point on the other lane, which is the same as the ordinate of the datum point;
the distance between the datum point and the datum point is a preset length, or the distance between the datum point and the starting point of any one lane is a preset length;
the determining module is further configured to determine whether the lane in the homodromous lane binary set is an invariable lane according to a distance between the reference point and the corresponding projection point and a road parameter of the corresponding projection point.
7. An unmanned delivery vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the road lateral topology construction method according to any one of claims 1-5 when the computer program is executed.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the road lateral topology construction method according to any one of claims 1-5.
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Citations (5)
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