CN113358133B - Overpass generation method and device for high-precision map and electronic equipment - Google Patents
Overpass generation method and device for high-precision map and electronic equipment Download PDFInfo
- Publication number
- CN113358133B CN113358133B CN202110771086.8A CN202110771086A CN113358133B CN 113358133 B CN113358133 B CN 113358133B CN 202110771086 A CN202110771086 A CN 202110771086A CN 113358133 B CN113358133 B CN 113358133B
- Authority
- CN
- China
- Prior art keywords
- overpass
- displayed
- bridge deck
- road
- generating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 4
- 230000002085 persistent effect Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 241000219793 Trifolium Species 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002355 dual-layer Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3819—Road shape data, e.g. outline of a route
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Processing Or Creating Images (AREA)
Abstract
The application relates to a method and a device for generating an overpass of a high-precision map and electronic equipment. The method comprises the following steps: respectively generating a bridge deck of the overpass to be displayed and a ground road in a projection area of the overpass to be displayed; selecting a reference surface in a ground road; and acquiring the height difference information of the bridge deck of the overpass to be displayed and the reference surface, and displaying the overpass to be displayed. According to the scheme, after the ground road in the projection area of the overpass to be displayed and the bridge deck of the overpass to be displayed are respectively generated, the height difference information between the reference surface and the bridge deck is acquired according to the reference surface in the ground road, so that the specific position of the bridge deck of the overpass to be displayed in the three-dimensional high-precision map is determined, and then the bridge deck is displayed at the corresponding position. The design is simple, the 3D model is not required to be used for building the overpass model, the manufacturing cost is greatly reduced, the occupation of the memory is reduced, and meanwhile, the display efficiency of the overpass is improved.
Description
Technical Field
The application relates to the technical field of navigation, in particular to a method and a device for generating an overpass of a high-precision map and electronic equipment.
Background
Compared with a two-dimensional electronic map, the high-precision map can provide lane-level navigation by collecting information of lanes, guardrails, street lamps, overpasses, traffic signs, traffic marks and the like and establishing a three-dimensional model so as to be displayed in the map more accurately.
In the related art, an overpass is generally displayed in the form of a 3D model (three-dimensional model) in a high-precision map. However, the fabrication of the 3D model is very complex, resulting in high fabrication costs, and the model generated by the 3D model occupies a large amount of memory.
Disclosure of Invention
In order to solve or partially solve the problems existing in the related art, the application provides a method, a device and electronic equipment for generating an overpass of a high-precision map, wherein the method, the device and the electronic equipment for generating the overpass of the high-precision map can quickly generate and display the overpass in the high-precision map, have low manufacturing cost and occupy less memory.
The first aspect of the application provides a overpass generating method of a high-precision map, which comprises the following steps:
respectively generating a bridge deck of an overpass to be displayed and a ground road in a projection area of the overpass to be displayed;
selecting a reference surface in the ground road;
and acquiring the height difference information of the bridge deck of the overpass to be displayed and the reference surface, and displaying the overpass to be displayed.
In one embodiment, the generating the ground road in the projection area of the overpass to be displayed includes:
acquiring road geometry data and road gradient corresponding to a ground road in a projection area of the overpass to be displayed;
and generating the corresponding ground road according to the road geometry data and the road surface gradient.
In one embodiment, a plurality of bridge deck shape points are obtained according to the bridge deck geometry data of the overpass to be displayed;
and carrying out triangulation treatment according to the bridge deck shape points to generate the bridge deck.
In one embodiment, the obtaining the information of the height difference between the bridge deck of the overpass to be displayed and the reference surface, displaying the overpass to be displayed, includes:
acquiring height difference information corresponding to different positions of the bridge deck and the reference surface;
and displaying the overpass to be displayed according to the bridge deck and the height difference information.
In one embodiment, the method further comprises:
acquiring edge lines on two sides of the bridge deck;
and generating a guardrail surface perpendicular to the reference surface according to the edge line.
In one embodiment, a preset texture picture is attached to the guardrail surface to form the guardrail of the overpass to be displayed.
The second aspect of the present application provides an overpass generating device for a high-precision map, which includes:
the bridge deck generation module is used for generating the bridge deck of the overpass to be displayed;
the ground road generation module is used for generating a ground road in a projection area of the overpass to be displayed;
the reference plane selecting module is used for selecting a reference plane in the ground road;
and the overpass display module is used for acquiring the height difference information of the bridge deck of the overpass to be displayed and the reference surface and displaying the overpass to be displayed.
In one embodiment, the device further comprises a guardrail surface generating module for acquiring edge lines on two sides of the bridge deck; and generating a guardrail surface perpendicular to the ground according to the edge line.
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 the method as described above.
The technical scheme that this application provided can include following beneficial effect:
according to the overpass generation method of the high-precision map, after the ground road in the projection area of the overpass to be displayed and the bridge deck of the overpass to be displayed are respectively generated, the height difference information between the reference surface and the bridge deck is acquired according to the reference surface in the ground road, so that the specific position of the bridge deck of the overpass to be displayed in the three-dimensional high-precision map is determined, and then the bridge deck is displayed at the corresponding position. The design is simple, the 3D model is not required to be used for building the overpass model, the manufacturing cost is greatly reduced, the occupation of the memory is reduced, and meanwhile, the display efficiency of the overpass is improved.
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 schematic flow chart of an overpass generating method of a high-precision map according to an embodiment of the present application;
fig. 2 is another flow chart of an overpass generating method of a high-precision map according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an overpass generating device of a high-precision map according to an embodiment of the present application;
fig. 4 is another schematic structural diagram of an overpass generating device of a high-precision map according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to 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 shown in the 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 in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present 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 or 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 by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the related art, an overpass is generally displayed in the form of a 3D model (three-dimensional model) in a high-precision map. However, the fabrication of the 3D model is very complex, resulting in high fabrication costs, and the model generated by the 3D model occupies a large amount of memory.
Aiming at the problems, the embodiment of the application provides the overpass generating method of the high-precision map, which can quickly generate and display the overpass in the high-precision map, has low manufacturing cost and occupies small memory.
The following describes the technical scheme of the embodiments of the present application in detail with reference to the accompanying drawings.
Example 1
Fig. 1 is a schematic flow chart of an overpass generating method of a high-precision map according to an embodiment of the present application.
Referring to fig. 1, in an embodiment of the present application, an overpass generating method for a high-precision map is provided, which includes:
step S110, respectively generating a bridge deck of the overpass to be displayed and generating a ground road in a projection area of the overpass to be displayed.
It will be appreciated that the ground road above which the overpass to be displayed is typically located is the road on the ground, to distinguish it from the road on which the deck of the overpass is located in the air. In order to obtain the reference plane, in this embodiment, a ground road in a projection area of the overpass to be displayed is first generated. In the projection area corresponding to the whole overpass to be displayed, the ground road may not be limited to one. In addition, the bridge deck of the overpass to be displayed is generated, so that the height position of the bridge deck is adjusted according to the height difference information in the subsequent step. It is to be understood that the order of generation of the ground road in the projection area and the deck of the overpass to be displayed is not sequential.
Step S120, selecting a reference surface in the ground road.
In at least one ground road, different ground roads may have corresponding slopes according to actual geographic information. I.e. the road surface of each ground road is not on the same horizontal plane. In order to facilitate the calculation of the height difference in the subsequent step, the plane of one of the ground roads is selected as a reference plane. In one embodiment, the level of the road surface at the lowest level in each ground road may be selected as the reference surface. In other embodiments, the level of the road surface at the next highest elevation, the highest elevation, or the preset elevation may be selected as the reference plane.
And step S130, acquiring the height difference information of the bridge deck and the reference surface of the overpass to be displayed, and displaying the overpass to be displayed.
And after the datum plane is determined, displaying the overpass to be displayed according to the height difference information of the bridge deck and the datum plane at different positions of the overpass to be displayed in practice. That is, the height difference between the bridge deck at different positions of the overpass to be displayed and the same reference plane may be different, and the height difference between the bridge deck at different positions and the reference plane is specifically determined to adjust the spatial display position of the bridge deck at different positions in the three-dimensional high-precision map, so that the overpass to be displayed is truly and accurately displayed in the space of the three-dimensional high-precision map.
In the above embodiment, according to the overpass generating method of the high-precision map, after the ground road in the projection area of the overpass to be displayed and the bridge deck of the overpass to be displayed are respectively generated, the height difference information between the reference surface and the bridge deck is obtained according to the reference surface in the ground road, so that the specific position of the bridge deck of the overpass to be displayed in the three-dimensional high-precision map is determined, and then the bridge deck is displayed in the corresponding position. The design is simple, the 3D model is not required to be used for building the overpass model, the manufacturing cost is greatly reduced, the occupation of the memory is reduced, and meanwhile, the display efficiency of the overpass is improved.
Example two
In order to further describe the overpass generation method of the high-precision map of the present application, referring to fig. 2, the overpass generation method of the high-precision map includes:
step S210, obtaining a plurality of bridge deck shape points according to bridge deck geometric shape data of the overpass to be displayed; and carrying out triangulation treatment according to the bridge floor shape points to generate the bridge floor.
In the related art, the overpass can be divided into a rotary island type, a clover leaf type, a non-interweaving type, a horn type, a staggered type and other structures according to different structures of the overpass. In one embodiment, the deck geometry of the overpass varies from one structure to another. In this embodiment, a plurality of deck shape points are acquired from pre-acquired deck geometry data. In this step, no height difference information has been acquired yet, and the bridge floor generated at this time is a two-dimensional plane, and the shape points of the bridge floors are on the same plane. A surface can be formed based on three points, and in the related technology, the triangular treatment is carried out on the bridge surface shape points according to the related technology, so that the bridge surface of the overpass to be displayed is generated.
Step S220, road geometry data and road surface gradient corresponding to a ground road in a projection area of the overpass to be displayed are obtained; and generating a corresponding ground road according to the road geometry data and the road surface gradient.
In an embodiment, the projection area is an area of the overpass to be displayed, which is orthographically projected on the ground. In order to facilitate rapid determination of the projection area, in an embodiment, the maximum length and the maximum width of the overpass to be displayed may be taken as the length and the width of the rectangle, respectively, so as to form a rectangular projection area, and then the road located in the projection area is the ground road required to be acquired in this embodiment. In other embodiments, other shapes may be used as the projection area, but it is required to ensure that the reference plane selected in the subsequent step may correspond to the entire overpass to be displayed, so as to ensure that the height difference between each position of the bridge deck and the reference plane is obtained comprehensively, thereby generating the overpass to be displayed that is more fit with the actual shape.
In one embodiment, the projection area has at least one ground road therein. When the number of ground roads is greater than 1, all ground roads in the projection area are acquired. And acquiring the pre-acquired geometric shape data and road surface gradient corresponding to the ground roads according to the positioning information of each ground road, and generating the corresponding ground road. Further, for different ground roads, in an embodiment, a plurality of road shape points are obtained according to geometric shape data of the corresponding road ground road geometric road; performing triangulation processing according to the road shape points to generate a road surface of a corresponding road; and generating a three-dimensional ground road according to the road surface and the road surface gradient of the road.
It will be appreciated that in the same three-dimensional coordinate system, in one embodiment, each ground road has its own corresponding geometric data and road slope, i.e. the extending direction of different ground roads may be different, the curved shape of the road centerline may be different, and thus the geometric data of each ground road is different; in addition, the road surface gradient may be the same or different for different or the same ground road. Accordingly, the ground road of the three-dimensional structure in the high-definition map is correspondingly generated according to the respective geometry data and the road surface gradient.
It should be understood that the step S210 and the step S220 may be performed in no sequence. The position information of the overpass to be displayed and the position information of the ground road can be respectively obtained. In the high-precision map, map data of pre-acquired corresponding position information may be acquired according to the position information, for example, the pre-acquired map data may include bridge floor geometry data and road geometry data corresponding to the overpass to be displayed, and the like. That is, according to the bridge deck geometry data of the overpass to be displayed acquired in advance, the corresponding projection area may be acquired in advance, so that the step S220 may be performed to generate the ground road in the corresponding projection area, and the step S210 may also be performed to generate the corresponding bridge deck.
Step S230, selecting a horizontal plane where the lowest point of the road surface in the ground road is located as a reference plane.
When the ground road in the projection area is one, the horizontal plane where the lowest road surface point of the ground road is located is used as a reference plane. When more than one ground road is in the projection area, the horizontal plane where the lowest point of the road surface in all the ground roads is located is used as a reference plane. It is understood that the gradient refers to the degree of fluctuation in the longitudinal direction of the road, and the larger the degree of fluctuation of the road, the larger the gradient value. The road surface gradient may be different for different locations on the same ground road and may be different for different ground roads. In order to facilitate the subsequent simplified calculation, in this embodiment, the road surface with the smallest gradient is selected, and the point on which the road surface is located is the lowest point in the road surfaces of all roads, and the horizontal plane on which the lowest point is located is used as the reference plane, so that the bridge deck height difference above the lowest point is conveniently obtained, the calculation of the subsequent steps is conveniently simplified, and the processing efficiency is improved.
And step S240, acquiring height difference information between different positions of the bridge deck of the overpass to be displayed and the reference surface, and displaying the overpass to be displayed.
It will be appreciated that the deck of the overpass to be shown is located directly above the datum level. The bridge deck has different positions, and the difference in height information of different positions and reference surface is different. According to the correlation algorithm, the height difference information between different positions of the bridge deck and the reference surface can be determined. And (2) according to the height difference information, carrying out height adjustment on the parts of the bridge deck at the corresponding positions obtained in the step (S210), so that each part of the bridge deck is displayed in a three-dimensional high-precision map according to the positions in the real scene.
In one embodiment, the overpass to be displayed comprises a bridge deck and guardrail faces, wherein the guardrail faces are respectively and vertically connected to two sides of the bridge deck along the extending direction of the bridge deck. In order to enable the display of the overpass to be displayed in the high-precision map to be more real, obtaining edge lines on two sides of the bridge deck; and generating a guardrail surface perpendicular to the reference surface according to the edge line. Further, in one embodiment, a preset texture picture is attached to the guardrail surface to form a guardrail of the overpass to be displayed. In one embodiment, the predetermined texture picture may comprise a picture of the texture of the guard rail and/or the curbstone. It will be appreciated that based on the deck having a certain length, the guardrail faces on both sides extend as the deck extends and also bend as the deck bends. The preset texture pictures are pictures with preset width pixels and preset height pixels, and a plurality of preset texture pictures can be spliced on the guardrail surface in a head-tail repeated mode according to a related algorithm. Because the guardrail face has two, two guardrail faces set up in the corresponding one side of bridge floor respectively symmetry, in an embodiment, the presupposition texture picture symmetry on two guardrail faces is attached to avoid the condition that the uneven texture appears in both sides guardrail face. By the design, the guardrail with preset textures is formed on the guardrail surface by attaching the picture on the guardrail surface. The bridge deck is combined with the guardrails, so that the overpass to be displayed is more real, and the guardrails are displayed, so that the vehicle can be conveniently positioned in an auxiliary mode during automatic driving, and the obstacle avoidance safety coefficient of the automatic driving is improved.
In summary, according to the overpass generating method of the high-precision map, the three-dimensional ground road with the corresponding gradient is generated in the determined projection area range, and the horizontal plane where the lowest point of the road surface is located is selected as the reference plane, so that the height difference information between different positions of the bridge deck and the reference plane can be conveniently obtained; finally, correspondingly adjusting the positions of different positions of the bridge deck according to the height difference information, and enabling the displayed overpass to be displayed to be close to the structure of the real overpass; in addition, the guardrail surface perpendicular to the reference surface is generated by acquiring the edge line of the bridge deck, and the guardrail is generated by attaching the preset texture on the guardrail surface, so that the overpass to be displayed is more real and more vivid, the guardrail surface is also used as reference obstacle avoidance information during automatic driving, and the safety coefficient of automatic driving is improved. The overpass generating method is easy to generate and display, reduces the occupation of memory and saves system resources.
Corresponding to the embodiment of the application function implementation method, the application also provides a overpass generating device of the high-precision map, electronic equipment and corresponding embodiments.
Example III
Fig. 3 is a schematic structural diagram of an overpass generating device of a high-precision map according to an embodiment of the present application.
Referring to fig. 3, the overpass generating device of the high-precision map according to an embodiment of the present application includes a bridge deck generating module 310, a ground road generating module 320, a reference plane selecting module 330, and an overpass display module 340.
The deck generation module 310 is used to generate a deck of an overpass to be displayed.
The ground road generation module 320 is configured to generate a ground road in a projection area of the overpass to be displayed.
The reference plane selecting module 330 is used for selecting a reference plane in a ground road.
The overpass display module 340 is configured to obtain information of a height difference between a bridge deck of the overpass to be displayed and a reference plane, and display the overpass to be displayed.
Further, in one embodiment, the bridge deck generating module 310 obtains a plurality of bridge deck shape points according to bridge deck geometry data of the overpass to be displayed; and carrying out triangulation treatment according to the bridge floor shape points to generate the bridge floor. The ground road generation module 320 acquires road geometry data and road surface gradient corresponding to a ground road in a projection area of an overpass to be displayed; and generating a corresponding ground road according to the road geometry data and the road surface gradient. The reference plane selection module 330 selects a horizontal plane where the lowest point of the road surface in the ground road is located as a reference plane. The overpass display module 340 obtains height difference information between different positions of the bridge deck of the overpass to be displayed and the reference surface, and displays the overpass to be displayed.
Referring to fig. 4, the device of the present application further includes a guardrail surface generating module 350, where the guardrail surface generating module 350 is configured to obtain edge lines on two sides of a bridge deck; and generating a guardrail surface perpendicular to the ground according to the edge line. In one embodiment, the guardrail surface generating module 350 may further attach a preset texture picture on the guardrail surface to form a guardrail of the overpass to be displayed. That is, after the overpass display module 340 adjusts the bridge deck of the overpass to be displayed according to the height difference information, the guardrail surface generation module 350 generates the guardrail surface according to the bridge deck with the adjusted spatial height and performs mapping of the preset texture picture, so that the overpass to be displayed includes the bridge deck and the guardrail when displayed,
in summary, in the overpass generating device of the high-precision map, the ground road generating module 320 generates a three-dimensional ground road with a corresponding gradient in the determined projection area range, and the horizontal plane where the lowest point of the road surface is located is selected as the reference plane, so that the height difference information between different positions of the bridge deck generated by the bridge deck generating module 310 and the reference plane selected by the reference plane selecting module 330 is conveniently obtained; finally, the overpass display module 340 correspondingly adjusts the positions of different positions of the bridge deck according to the height difference information, and then enables the displayed overpass to be displayed to be close to the structure of the real overpass; in addition, the edge line of the bridge deck is obtained through the guardrail surface generating module 350 to generate the guardrail surface perpendicular to the reference surface, and the guardrail surface is covered with the preset texture to generate the guardrail, so that the overpass to be displayed is more real and more vivid, the guardrail surface is also used as the reference obstacle avoidance information during automatic driving, and the safety factor of automatic driving is improved. The overpass generating method is easy to generate and display, reduces the occupation of memory and saves system resources.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
Referring to fig. 5, the electronic device 400 includes a memory 410 and a processor 420.
The processor 420 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 410 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 420 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. 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 persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 410 may include any combination of computer-readable storage media including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some embodiments, memory 410 may include readable and/or writable removable storage devices such as Compact Discs (CDs), digital versatile discs (e.g., DVD-ROMs, dual layer DVD-ROMs), blu-ray discs read only, super-density discs, flash memory cards (e.g., SD cards, min SD cards, micro-SD cards, etc.), magnetic floppy disks, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 410 has stored thereon executable code that, when processed by the processor 420, can cause the processor 420 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 part 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) that, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the steps of the above-described methods according to the present application.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (6)
1. A overpass generation method of a high-precision map is characterized by comprising the following steps of:
respectively generating a bridge deck of an overpass to be displayed and a ground road in a projection area of the overpass to be displayed;
selecting a reference surface in the ground road;
acquiring the height difference information of the bridge deck of the overpass to be displayed and the reference surface, and displaying the overpass to be displayed;
the generating the ground road in the projection area of the overpass to be displayed comprises the following steps:
acquiring road geometry data and road gradient corresponding to a ground road in a projection area of the overpass to be displayed;
generating the corresponding ground road according to the road geometry data and the road surface gradient;
the generation of the bridge deck of the overpass to be displayed comprises the following steps:
acquiring bridge deck geometric shape data in advance, and acquiring a plurality of bridge deck shape points according to the bridge deck geometric shape data of the overpass to be displayed;
performing triangulation treatment according to the bridge deck shape points to generate the bridge deck;
acquiring edge lines on two sides of the bridge deck;
and generating a guardrail surface perpendicular to the reference surface according to the edge line.
2. The method according to claim 1, wherein the obtaining the information of the height difference between the bridge deck of the overpass to be displayed and the reference surface, displaying the overpass to be displayed, comprises:
acquiring height difference information corresponding to different positions of the bridge deck and the reference surface;
and displaying the overpass to be displayed according to the bridge deck and the height difference information.
3. The method of claim 1, wherein a pre-set texture picture is attached to the guardrail surface to form the guardrail of the overpass to be displayed.
4. An overpass generating device for a high-precision map, characterized in that the overpass generating method for the high-precision map according to claim 1 is used for generating the overpass for the high-precision map, comprising:
the bridge deck generation module is used for generating the bridge deck of the overpass to be displayed;
the ground road generation module is used for generating a ground road in a projection area of the overpass to be displayed;
the reference plane selecting module is used for selecting a reference plane in the ground road;
the overpass display module is used for acquiring the height difference information of the bridge deck of the overpass to be displayed and the reference surface and displaying the overpass to be displayed;
the guardrail surface generating module is used for acquiring edge lines on two sides of the bridge deck; and generating a guardrail surface perpendicular to the ground according to the edge line.
5. 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 of claims 1-3.
6. 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 of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110771086.8A CN113358133B (en) | 2021-07-08 | 2021-07-08 | Overpass generation method and device for high-precision map and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110771086.8A CN113358133B (en) | 2021-07-08 | 2021-07-08 | Overpass generation method and device for high-precision map and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113358133A CN113358133A (en) | 2021-09-07 |
| CN113358133B true CN113358133B (en) | 2024-01-23 |
Family
ID=77538898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110771086.8A Active CN113358133B (en) | 2021-07-08 | 2021-07-08 | Overpass generation method and device for high-precision map and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113358133B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106920278A (en) * | 2017-03-03 | 2017-07-04 | 合肥工业大学 | A kind of viaduct three-dimensional modeling method based on Reeb figures |
| CN110415347A (en) * | 2019-07-22 | 2019-11-05 | 高新兴科技集团股份有限公司 | Three-dimensional live map and two-dimensional surface map amalgamation method, device and electronic equipment |
| CN110689598A (en) * | 2019-04-08 | 2020-01-14 | 北京嘀嘀无限科技发展有限公司 | Three-dimensional modeling method and system for multilayer road |
| CN111721308A (en) * | 2020-06-10 | 2020-09-29 | 百度在线网络技术（北京）有限公司 | Three-dimensional road network map drawing method, device, equipment and medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9830509B2 (en) * | 2015-06-29 | 2017-11-28 | Nokia Technologies Oy | Method and apparatus for constructing a digital elevation model utilizing ground points captured by ground-based LiDAR |
-
2021
- 2021-07-08 CN CN202110771086.8A patent/CN113358133B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106920278A (en) * | 2017-03-03 | 2017-07-04 | 合肥工业大学 | A kind of viaduct three-dimensional modeling method based on Reeb figures |
| CN110689598A (en) * | 2019-04-08 | 2020-01-14 | 北京嘀嘀无限科技发展有限公司 | Three-dimensional modeling method and system for multilayer road |
| CN110415347A (en) * | 2019-07-22 | 2019-11-05 | 高新兴科技集团股份有限公司 | Three-dimensional live map and two-dimensional surface map amalgamation method, device and electronic equipment |
| CN111721308A (en) * | 2020-06-10 | 2020-09-29 | 百度在线网络技术（北京）有限公司 | Three-dimensional road network map drawing method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113358133A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2530433B1 (en) | Method of generating a database for a navigation device | |
| JP6227318B2 (en) | Detection device for detecting obstacles and steep slopes, and vehicle equipped with the same | |
| US9013479B2 (en) | Apparatus and method for tile-based rendering | |
| US8803874B2 (en) | System and method for displaying three-dimensional map based on road information | |
| CN108961146A (en) | The method and apparatus of rendering perception map | |
| US9250093B2 (en) | Navigation device, method of predicting a visibility of a triangular face in an electronic map view, and method for generating a database | |
| CN111238498B (en) | Road map generation method, device and related system for lane-level display | |
| CN111930877B (en) | Map guideboard generation method and electronic equipment | |
| WO2024056064A1 (en) | Turning path planning method, device, vehicle, and storage medium | |
| CN114187579A (en) | Target detection method, apparatus and computer-readable storage medium for automatic driving | |
| CN114463984B (en) | Vehicle track display method and related equipment | |
| CN113284193B (en) | Calibration method, device and equipment of RS equipment | |
| CN113358133B (en) | Overpass generation method and device for high-precision map and electronic equipment | |
| EP3605459A1 (en) | Three-dimensional data generation device, three-dimensional data generation method, three-dimensional data generation program, and computer-readable recording medium having three-dimensional data generation program recorded thereon | |
| CN113139031A (en) | Method for generating traffic sign for automatic driving and related device | |
| US8989480B2 (en) | Method, computer-readable medium and apparatus estimating disparity of three view images | |
| CN113284215B (en) | High-precision map dotted line processing method and device and electronic equipment | |
| CN114119963A (en) | Method and device for generating high-precision map guideboard | |
| CN114820784A (en) | Guideboard generation method and device and electronic equipment | |
| CN113888671A (en) | Map road rendering method, map road rendering device, map road rendering equipment and storage medium | |
| CN116758184A (en) | Zebra crossing generating method and device, electronic equipment and storage medium | |
| CN113408509B (en) | Signboard recognition method and device for automatic driving | |
| CN112183378A (en) | Road slope estimation method and device based on color and depth image | |
| CN112991434B (en) | Method for generating automatic driving traffic identification information and related device | |
| CN117853644A (en) | Map model rendering method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |