CN113240775B - Correction method of guide arrow map mark and related device - Google Patents
Correction method of guide arrow map mark and related device Download PDFInfo
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Abstract
The application relates to a method and a related device for correcting a guide arrow map mark. The method comprises the following steps: acquiring two adjacent lane lines and a guide arrow positioned between the two lane lines; generating a rectangular surrounding frame surrounding the guide arrow according to the position of the guide arrow; selecting frame edges in two advancing directions in the surrounding frame as two pointing lines; according to the two directing lines, two judging lines are correspondingly generated on the two lane lines respectively; adjusting the position of the enclosure frame according to the two judgment lines and the pointing line; and correcting the guide arrow according to the adjusted position of the surrounding frame. The scheme that this application provided can adjust the orientation of direction arrow, guarantees the exactness of direction arrow orientation.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a method and a related apparatus for correcting a guide arrow map mark.
Background
The guide arrow map mark is generally located between two lane lines, and is used for conveying traffic management information and playing a role of indicating and guiding driving. The production of high-precision maps requires the generation of lane lines and guide arrows, thereby providing a basis for the automatic driving of vehicles.
However, in real life, there are often unreasonable problems with the orientation of the guide arrow map marks on the road, for example, the guide arrow map marks are tilted and offset, which affects the accuracy of creating a high-precision map.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method and a related device for correcting a map mark of a guide arrow, which can adjust the orientation of the guide arrow and ensure the correctness of the orientation of the guide arrow.
The first aspect of the present application provides a method for correcting a guide arrow map mark, including:
acquiring two adjacent lane lines and a guide arrow positioned between the two lane lines;
generating a rectangular surrounding frame surrounding the guide arrow according to the position of the guide arrow;
selecting frame edges in two advancing directions in the surrounding frame as two pointing lines;
according to the two directing lines, two judging lines are correspondingly generated on the two lane lines respectively;
adjusting the position of the enclosure frame according to the two judgment lines and the pointing line;
and correcting the guide arrow according to the adjusted position of the surrounding frame.
In one embodiment, the generating two judgment lines on two lane lines respectively according to two of the direction lines includes:
selecting two preset closest points on an adjacent lane line according to two end points of each pointing line;
and connecting the two preset closest points on each lane line to generate two judgment lines.
In one embodiment, the adjusting the position of the bounding box according to the two judgment lines and the pointing line includes:
when the two judgment lines are parallel, rotating the enclosure frame to enable the pointing line of the enclosure frame to be parallel to the judgment lines; or the like, or, alternatively,
when the two judgment lines are not parallel, the surrounding frame is rotated, so that the direction line of the surrounding frame is parallel to an angle bisector of an included angle formed by the two judgment lines.
In one embodiment, the rotating the enclosure frame comprises:
the surrounding frame rotates counterclockwise or clockwise by a preset angle by taking any one characteristic point in the area where the surrounding frame is located as a rotation point.
In one embodiment, the taking any one feature point in the area where the bounding box is located as a rotation point includes:
taking any end point of the surrounding frame as a rotation point; or the like, or, alternatively,
and taking the central point of the surrounding frame as a rotation point.
In one embodiment, the adjusting the position of the bounding box according to the two judgment lines and the pointing line further includes:
and moving the surrounding frame to enable the preset set points of the surrounding frame to be respectively equal in distance from the two judgment lines.
In one embodiment, the preset set point comprises a center point of the bounding box.
The second aspect of the present application provides a correction device for a guide arrow map mark, comprising:
the acquisition module is used for acquiring two adjacent lane lines and a guide arrow positioned between the two lane lines;
the first generation module is used for generating a rectangular surrounding frame surrounding the guide arrow according to the position of the guide arrow acquired by the acquisition module;
the selection module is used for selecting frame edges in two advancing directions in the bounding box generated by the first generation module as two pointing lines;
the second generation module is used for correspondingly generating two judgment lines on the two lane lines respectively according to the two direction lines selected by the selection module;
the adjusting module is used for adjusting the position of the surrounding frame according to the two judgment lines generated by the second generating module and the pointing line selected by the selecting module;
and the correcting module is used for correcting the guide arrow according to the position of the surrounding frame adjusted by the adjusting module.
A third aspect of the present application provides an electronic device comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the method, a rectangular surrounding frame surrounding a guide arrow is generated according to the position of the guide arrow, frame edges in two advancing directions in the surrounding frame are selected to serve as two directing lines, two judging lines are correspondingly generated on two lane lines respectively according to the two directing lines, and the position of the surrounding frame is adjusted according to the two judging lines and the directing lines, so that the guide arrow is corrected. Therefore, the direction of the guide arrow in the bounding box is corrected, and the accuracy of high-precision map making is further ensured.
Further, according to the method provided by the application, when the two judgment lines are parallel, the surrounding frame can be rotated, so that the pointing line of the surrounding frame is parallel to the judgment lines; or when the two judgment lines are not parallel, the enclosure frame can be rotated, so that the direction line of the enclosure frame is parallel to the angular bisector of the included angle formed by the two judgment lines, the position of the enclosure frame is further adjusted, the orientation of the guide arrow in the enclosure frame is corrected, and the correctness of high-precision map making is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flowchart illustrating a method for correcting a map mark with a guide arrow according to an embodiment of the present application;
fig. 2 is another flow chart of a method for correcting a map mark with a guide arrow according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a correction device for a guide arrow map mark according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, in real life, the orientation of the guide arrow map mark on the road often has unreasonable problems, for example, the guide arrow map mark tilts and deviates, and the accuracy of manufacturing a high-precision map is affected.
In view of the above problems, embodiments of the present invention provide a method and a related apparatus for correcting a map mark of a guide arrow, which can adjust the direction of the guide arrow and ensure the correctness of the direction of the guide arrow.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a method for correcting a guide arrow map mark according to an embodiment of the present application.
Referring to fig. 1, the method includes:
and S101, acquiring two adjacent lane lines and a guide arrow positioned between the two lane lines.
In this embodiment of the application, before this step, in the driving process of the vehicle, the camera device or the laser radar device installed on the vehicle may be used to collect road information in front of the vehicle, and the geographic coordinates of the map marks of the multiple lane lines and the multiple guide arrows in the road are obtained by using a laser point cloud technology or an image point cloud technology in combination with a positioning system of the vehicle, so as to generate the multiple lane lines and the multiple guide arrows, thereby realizing the production work of the multiple lane lines and the multiple guide arrows in the high-precision map. Specifically, for the specific process of how to generate the lane lines and the guiding arrows, reference may be made to the description in the related art, and details are not repeated here. In this step, adjacent two lane lines and a guide arrow located between the two lane lines may be acquired among the plurality of lane lines and the plurality of guide arrows that have been generated.
Step S102, generating a rectangular surrounding frame surrounding the guide arrow according to the position of the guide arrow.
Any frame edge of the surrounding frame can be parallel or vertical to the length direction of the guide arrow.
In this step, in the present embodiment, the guide arrow is located inside the enclosure frame, and the guide arrow does not overlap with or cross over the frame edge of the enclosure frame. The four frame edges of the surrounding frame can be in contact with the guide arrow or not in contact with the guide arrow. Preferably, each rim of the enclosure is in contact with a guide arrow located within the enclosure. It is understood that the direction of the guiding arrow in the real world includes one or more of forward movement, left turn, right turn, and turning around. It should be noted that, for a guide arrow pointing forward or turning around, the direction of the guide arrow is parallel to the direction of the guide arrow, and for a guide arrow pointing left or right, the direction of the guide arrow is perpendicular to the direction of the guide arrow. The length direction of the guide arrow, i.e. the orientation of the guide arrow, must be parallel or perpendicular to the orientation of the guide arrow. In this embodiment, any frame side of the enclosure frame is parallel or perpendicular to the length direction of the guide arrow, so that the orientation of the enclosure frame (i.e. the length direction of the frame side of the enclosure frame) can represent the orientation of the guide arrow. In this way, the orientation of the bounding box is correlated with the orientation of the guide arrow.
And S103, selecting frame edges in two advancing directions in the bounding box as two pointing lines.
In this step, the frame side in the forward direction, i.e., the longitudinal direction of the frame side, coincides with the orientation of the guide arrow. For example, if the direction of the guide arrow is forward, the frame edge in the forward direction is the frame edge facing parallel to the direction of the guide arrow in the surrounding frame; for example, if the direction of the guide arrow is left-turning, the frame side in the forward direction is a frame side of the surrounding frame that faces perpendicular to the direction of the guide arrow.
And step S104, respectively and correspondingly generating two judgment lines on the two lane lines according to the two direction lines.
In this step, according to the two direction lines, respectively and correspondingly generating two judgment lines on the two lane lines may include: selecting two preset closest points on an adjacent lane line according to two end points of each pointing line; and connecting the two preset closest points on each lane line to generate two judgment lines.
And S105, adjusting the position of the bounding box according to the two judgment lines and the pointing line.
In this step, adjusting the position of the bounding box according to the two judgment lines and the pointing line may include: when the two judgment lines are parallel, rotating the surrounding frame to enable the pointing line of the surrounding frame to be parallel to the judgment lines; or the like, or, alternatively,
when the two judgment lines are not parallel, the surrounding frame is rotated, so that the direction line of the surrounding frame is parallel to the angular bisector of the included angle formed by the two judgment lines.
And S106, correcting the guide arrow according to the adjusted position of the surrounding frame.
In this step, the guide arrow may be adjusted synchronously with the bounding box to effect a correction of the orientation of the guide arrow.
As can be seen from this embodiment, in the method provided by the present application, a rectangular bounding box surrounding a guide arrow is generated according to the position of the guide arrow, two frame edges in the bounding box in the advancing direction are selected as two direction lines, two judgment lines are correspondingly generated on two lane lines according to the two direction lines, respectively, and the position of the bounding box is adjusted according to the two judgment lines and the direction lines, so as to correct the guide arrow. Therefore, the direction of the guide arrow in the bounding box is corrected, and the accuracy of high-precision map making is further ensured.
Fig. 2 is another flow chart of a method for correcting a guide arrow map mark according to an embodiment of the present application. Fig. 2 depicts the solution of the present application in more detail with respect to fig. 1.
Referring to fig. 2, the method includes:
step S201, two adjacent lane lines and a guiding arrow located between the two lane lines are obtained.
In this embodiment of the application, before this step, in the driving process of the vehicle, the camera device or the laser radar device installed on the vehicle may be used to collect road information in front of the vehicle, and the geographic coordinates of the map marks of the multiple lane lines and the multiple guide arrows in the road are obtained by using a laser point cloud technology or an image point cloud technology in combination with a positioning system of the vehicle, so as to generate the multiple lane lines and the multiple guide arrows, thereby realizing the production work of the multiple lane lines and the multiple guide arrows in the high-precision map. Specifically, for the specific process of how to generate the lane lines and the guiding arrows, reference may be made to the description in the related art, and details are not repeated here. In this step, adjacent two lane lines and a guide arrow located between the two lane lines may be acquired among the plurality of lane lines and the plurality of guide arrows that have been generated.
Step S202, according to the position of the guide arrow, a rectangular surrounding frame surrounding the guide arrow is generated.
Any frame edge of the surrounding frame can be parallel or vertical to the length direction of the guide arrow.
In this step, in the present embodiment, the guide arrow is located inside the enclosure frame, and the guide arrow does not overlap with or cross over the frame edge of the enclosure frame. The four frame edges of the surrounding frame can be in contact with the guide arrow or not in contact with the guide arrow. Preferably, each rim of the enclosure is in contact with a guide arrow located within the enclosure. It is understood that the direction of the guiding arrow in the real world includes one or more of forward movement, left turn, right turn, and turning around. It should be noted that, for a guide arrow pointing forward or turning around, the direction of the guide arrow is parallel to the direction of the guide arrow, and for a guide arrow pointing left or right, the direction of the guide arrow is perpendicular to the direction of the guide arrow. The length direction of the guide arrow, i.e. the orientation of the guide arrow, must be parallel or perpendicular to the orientation of the guide arrow. In this embodiment, any frame side of the enclosure frame is parallel or perpendicular to the length direction of the guide arrow, so that the orientation of the enclosure frame (i.e. the length direction of the frame side of the enclosure frame) can represent the orientation of the guide arrow. In this way, the orientation of the bounding box is correlated with the orientation of the guide arrow.
Step S203, selecting frame edges in two advancing directions in the bounding box as two pointing lines.
In this step, the frame side in the forward direction, i.e., the longitudinal direction of the frame side, coincides with the orientation of the guide arrow. For example, if the direction of the guide arrow is forward, the frame edge in the forward direction is the frame edge facing parallel to the direction of the guide arrow in the surrounding frame; for example, if the direction of the guide arrow is left-turning, the frame side in the forward direction is a frame side of the surrounding frame that faces perpendicular to the direction of the guide arrow.
Step S204, two preset closest points are selected on the adjacent lane line according to the two end points of each direction line.
In this step, according to the two end points of each direction line, two feature points that are respectively closest to the two end points can be selected from the adjacent lane line as the preset closest points.
That is to say, the two preset closest points are two feature points on the lane line that are closest to two end points of an adjacent directional line. For example, two preset closest points on the lane line a are a1 and a2, one adjacent directional line of the lane line a is a B directional line, and two end points of the B directional line are B1 and B2, respectively, so that the feature point on the lane line a closest to B1 is a1, and the feature point on the lane line a closest to B2 is a 2. Alternatively, the shortest distance from B1 to the a lane line is the distance between B1 and a1, and the shortest distance from B2 to the a lane line is the distance between B2 and a 2.
And S205, connecting the two preset closest points on each lane line to generate two judgment lines.
In this step, two preset closest points on the lane line are connected into a line to generate a judgment line, and two end points of the judgment line are the two preset closest points on the lane line. One lane line corresponds to one judgment line, and two lane lines generate two judgment lines.
And S206, adjusting the position of the bounding box according to the two judgment lines and the pointing line.
In this step, adjusting the position of the bounding box according to the two judgment lines and the pointing line may include:
when the two judgment lines are parallel, the surrounding frame is rotated, so that the pointing line of the surrounding frame is parallel to the judgment lines. That is, in the process of rotating the bounding box, when one of the directional lines of the bounding box is parallel to the judgment line, the rotation of the bounding box is stopped.
When the two judgment lines are not parallel, the surrounding frame is rotated, so that the direction line of the surrounding frame is parallel to the angular bisector of the included angle formed by the two judgment lines. That is, in the process of rotating the enclosure frame, when one of the orientation lines of the enclosure frame is parallel to the bisector of the angle formed by the two judgment lines, the rotation of the enclosure frame is stopped.
Further, embodiments of the rotating enclosure frame may include:
the surrounding frame rotates counterclockwise or clockwise by a preset angle by taking any one characteristic point in the area where the surrounding frame is located as a rotation point.
The preset angle range may be 0 to 90 degrees, for example, the bounding box rotates 90 degrees counterclockwise or clockwise with any one feature point in the area where the bounding box is located as a rotation point, and stops rotating when the direction line of the bounding box is parallel to the judgment line or when the direction line of the bounding box is parallel to the bisector of the angle formed by the two judgment lines.
In one embodiment, the enclosure frame is rotated counterclockwise or clockwise by a preset angle with any one end point of the enclosure frame as a rotation point. In another embodiment, the bounding box rotates counterclockwise or clockwise by a preset angle with the central point of the bounding box as a rotation point, so as to rotate, thereby realizing the work of rotating the bounding box.
In this step, adjusting the position of the bounding box according to the two judgment lines and the pointing line may further include:
and moving the surrounding frame to enable the preset set points of the surrounding frame to be respectively equal in distance from the two judgment lines. Wherein the preset set point comprises a center point of the bounding box.
When the preset set point is the central point of the enclosure frame, the enclosure frame is moved so that the distances from the preset set point of the enclosure frame to the two judgment lines are equal, namely, the enclosure frame is moved so that the distances from the central point of the enclosure frame to the two judgment lines are equal. That is, in the process of moving the enclosure frame, when the distances from the center point of the enclosure frame to the two determination lines are equal, the movement of the enclosure frame is stopped. By moving the enclosure frame, the position of the enclosure frame between the two road routes can be adjusted. That is to say, the enclosure frame can be moved to the middle of two lane lines, so as to further ensure the correctness of high-precision map making.
It should be noted that, during the process of rotating and/or moving the enclosing frame, the lengths of the frame edges of the enclosing frame are not changed, and the relative angles between the frame edges are not changed.
And step S207, correcting the guide arrow according to the adjusted position of the surrounding frame.
In this step, the guiding arrow can rotate and move synchronously with the surrounding frame, so as to realize the correction of the orientation and the position of the guiding arrow.
It can be seen from this embodiment that, in the method provided in this embodiment of the present application, a rectangular bounding box surrounding a guide arrow is generated according to the position of the guide arrow, two frame edges in the bounding box in the advancing direction are selected as two direction lines, two judgment lines are correspondingly generated on two lane lines according to the two direction lines, respectively, and when the two judgment lines are parallel, the bounding box may be rotated so that the direction lines of the bounding box are parallel to the judgment lines; or when the two judgment lines are not parallel, the enclosure frame can be rotated, so that the direction line of the enclosure frame is parallel to the angular bisector of the included angle formed by the two judgment lines, the position of the enclosure frame is further adjusted, the orientation of the guide arrow in the enclosure frame is corrected, and the correctness of high-precision map making is ensured. Furthermore, the position of the guide arrow between the two lane lines can be adjusted by moving the surrounding frame so as to correct the generation position of the guide arrow, and the accuracy of high-precision map making is further ensured.
Corresponding to the embodiment of the application function implementation method, the application also provides a correction device of the guide arrow map mark and related equipment.
Fig. 3 is a schematic structural diagram of a correction device for a guide arrow map mark according to an embodiment of the present application.
Referring to fig. 3, an embodiment of the present application provides a correction apparatus for a guide arrow map mark, including: an acquisition module 301, a first generation module 302, a selection module 303, a second generation module 304, an adjustment module 305, and a correction module 306.
An obtaining module 301, configured to obtain two adjacent lane lines and a guiding arrow located between the two lane lines.
A first generating module 302, configured to generate a rectangular bounding box that bounds the guiding arrow according to the position of the guiding arrow acquired by the acquiring module 301. Any frame edge of the surrounding frame can be parallel or vertical to the length direction of the guide arrow.
A selecting module 303, configured to select two frame edges in the advancing direction in the bounding box generated by the first generating module 302 as two pointing lines. The frame side in the forward direction, i.e., the longitudinal direction of the frame side, coincides with the direction of the guide arrow.
The second generating module 304 is configured to generate two judgment lines on two lane lines according to the two direction lines selected by the selecting module 303.
An adjusting module 305, configured to adjust the position of the bounding box according to the two judgment lines generated by the second generating module 304 and the pointing line selected by the selecting module 303.
And a correcting module 306, configured to correct the guiding arrow according to the position of the bounding box adjusted by the adjusting module 305. The guide arrow can be synchronously adjusted along with the bounding box to realize the correction of the orientation of the guide arrow.
It can be seen from this embodiment that, according to the correction device for a guide arrow map mark provided in this embodiment of the present application, a rectangular bounding box surrounding a guide arrow is generated according to the position of the guide arrow, two frame edges in the two advancing directions in the bounding box are selected as two direction lines, two determination lines are correspondingly generated on the two lane lines according to the two direction lines, respectively, and the position of the bounding box is adjusted according to the two determination lines and the direction lines, so as to correct the guide arrow. Therefore, the direction of the guide arrow in the bounding box is corrected, and the accuracy of high-precision map making is further ensured.
Optionally, the manner that the second generating module 304 correspondingly generates two judgment lines on two lane lines according to the two direction lines selected by the selecting module 303 may include:
selecting two preset closest points on an adjacent lane line according to two end points of each pointing line;
and connecting the two preset closest points on each lane line to generate two judgment lines.
Optionally, the adjusting module 305 may adjust the position of the bounding box according to the two judgment lines generated by the second generating module 304 and the pointing line selected by the selecting module 303, where the adjusting module includes:
when the two judgment lines are parallel, rotating the surrounding frame to enable the pointing line of the surrounding frame to be parallel to the judgment lines; or the like, or, alternatively,
when the two judgment lines are not parallel, the surrounding frame is rotated to enable the direction line of the surrounding frame to be parallel to the angle bisector of the included angle formed by the two judgment lines; or the like, or, alternatively,
and moving the surrounding frame to enable the preset set points of the surrounding frame to be respectively equal in distance from the two judgment lines.
The device shown in fig. 3 can adjust the direction of the guide arrow and ensure the correctness of the direction of the guide arrow.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 4, an electronic device 400 includes a memory 401 and a processor 402.
The Processor 402 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 401 may include various types of storage units, such as a system memory, a Read Only Memory (ROM), and a permanent storage device. Wherein the ROM may store static data or instructions that are required by the processor 402 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 401 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 401 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 401 has stored thereon executable code which, when processed by the processor 402, may cause the processor 402 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the various steps of the above-described methods in accordance with the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (9)
1. A method for correcting a guide arrow map mark, comprising:
acquiring two adjacent lane lines and a guide arrow positioned between the two lane lines;
generating a rectangular surrounding frame surrounding the guide arrow according to the position of the guide arrow;
selecting frame edges in two advancing directions in the surrounding frame as two pointing lines;
according to the two directing lines, two judging lines are correspondingly generated on the two lane lines respectively;
adjusting the position of the enclosure frame according to the two judgment lines and the pointing line; which comprises the following steps: when the two judgment lines are parallel, rotating the enclosure frame to enable the pointing line of the enclosure frame to be parallel to the judgment lines; or when the two judgment lines are not parallel, rotating the surrounding frame to enable the direction line of the surrounding frame to be parallel to an angle bisector of an included angle formed by the two judgment lines;
and correcting the guide arrow according to the adjusted position of the surrounding frame.
2. The method according to claim 1, wherein the generating two judgment lines on two lane lines respectively according to the two direction lines comprises:
selecting two preset closest points on an adjacent lane line according to two end points of each pointing line;
and connecting the two preset closest points on each lane line to generate two judgment lines.
3. The method of claim 1, wherein the rotating the bounding box comprises:
the surrounding frame rotates counterclockwise or clockwise by a preset angle by taking any one characteristic point in the area where the surrounding frame is located as a rotation point.
4. The method according to claim 3, wherein the taking any one feature point in the area of the bounding box as a rotation point comprises:
taking any end point of the surrounding frame as a rotation point; or the like, or, alternatively,
and taking the central point of the surrounding frame as a rotation point.
5. The method of claim 1, wherein the adjusting the position of the bounding box according to the two judgment lines and the pointing line further comprises:
and moving the surrounding frame to enable the preset set points of the surrounding frame to be respectively equal in distance from the two judgment lines.
6. The method of claim 5, wherein the preset setpoint comprises a center point of the bounding box.
7. A correction device for a guide arrow map mark, comprising:
the acquisition module is used for acquiring two adjacent lane lines and a guide arrow positioned between the two lane lines;
the first generation module is used for generating a rectangular surrounding frame surrounding the guide arrow according to the position of the guide arrow acquired by the acquisition module;
the selection module is used for selecting frame edges in two advancing directions in the bounding box generated by the first generation module as two pointing lines;
the second generation module is used for correspondingly generating two judgment lines on the two lane lines respectively according to the two direction lines selected by the selection module;
the adjusting module is used for adjusting the position of the surrounding frame according to the two judgment lines generated by the second generating module and the pointing line selected by the selecting module; which comprises the following steps: when the two judgment lines are parallel, rotating the enclosure frame to enable the pointing line of the enclosure frame to be parallel to the judgment lines; or when the two judgment lines are not parallel, rotating the surrounding frame to enable the direction line of the surrounding frame to be parallel to an angle bisector of an included angle formed by the two judgment lines;
and the correcting module is used for correcting the guide arrow according to the position of the surrounding frame adjusted by the adjusting module.
8. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1-6.
9. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any one of claims 1-6.
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| US10670416B2 (en) * | 2016-12-30 | 2020-06-02 | DeepMap Inc. | Traffic sign feature creation for high definition maps used for navigating autonomous vehicles |
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| CN108845343A (en) * | 2018-07-03 | 2018-11-20 | 河北工业大学 | The vehicle positioning method that a kind of view-based access control model, GPS are merged with high-precision map |
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