CN113434614A - Map data association method and device and electronic equipment - Google Patents
Map data association method and device and electronic equipment Download PDFInfo
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- CN113434614A CN113434614A CN202010209888.5A CN202010209888A CN113434614A CN 113434614 A CN113434614 A CN 113434614A CN 202010209888 A CN202010209888 A CN 202010209888A CN 113434614 A CN113434614 A CN 113434614A
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The invention provides a map data association method, a map data association device and electronic equipment, wherein the data association method comprises the following steps: a first projection of a road object and a second projection of the road located within the same location area, and a number of second projections intersecting the first projection is determined. And then establishing an incidence relation between the road object and the road according to the number of the second projections. Compared with the existing manual method for determining the association between the road object and the road, the method and the device can realize automatic data association, and have high efficiency and low error rate.
Description
Technical Field
The invention relates to the technical field of geographic positioning, in particular to a map data association method, a map data association device and electronic equipment.
Background
The high-precision map is rich in road data, such as: data of road objects located on the road and data of road geometry.
Road objects are objects and printed blocks on roads, for example: crosswalk, curbs, etc. Road geometry is used to denote roads and on-road lanes, for example: a reference line of the road, a center line of the lane, and a boundary line of the road. When a high-precision map is produced, it is necessary to determine the association between a road object and a road based on the relationship between the data of the road object and the data of the road geometry in order to perform positioning using the road object and the road. In the prior art, after obtaining the data of the road object and the road geometry, the data of the road object and the road geometry are manually analyzed to determine the association between the road object and the road.
However, the existing association method associates the road object and the road manually, which is inefficient and prone to errors.
Disclosure of Invention
The invention provides a map data association method, a map data association device and electronic equipment, and aims to solve the technical problem of low association efficiency caused by the fact that an existing association method is used for manually associating a road object and road geometry.
In a first aspect, the present invention provides a data association method, including:
acquiring a first projection of a road object on a reference surface and a second projection of at least one road in a position area of the road object on the reference surface;
determining a first number of second projections intersecting the first projection;
and establishing an incidence relation between the road object and the road according to the first quantity.
Optionally, establishing an association relationship between the road object and the road according to the first number specifically includes:
if the first number is equal to a first threshold, associating the road object with the closest road;
associating the road intersected by the first projection with the road object if the first number is equal to a second threshold;
if the first number is greater than the second threshold, a road associated with the road object is selected from a plurality of roads that intersect the first projection.
Optionally, if the first number is greater than the second threshold, selecting a road associated with the road object from a plurality of roads intersected with the first projection specifically includes:
judging whether a plurality of alternative roads are intersected or not, wherein the alternative roads are the roads intersected with the first projection;
if the judgment result is negative, associating the multiple alternative roads with the road object;
and if so, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object.
Optionally, the road object is used to represent lane attributes;
if the judgment result is yes, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object, specifically comprising:
judging whether the distance between the road object and the lane center line of the alternative road is within a preset range or not;
and if so, associating the road object with the lane center line.
Optionally, the road object is used for representing road attributes, and the road object is represented by dot-shaped or planar vectorized data;
if the judgment result is yes, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object, specifically comprising:
judging whether the distance between the road object and the reference line of each alternative road is within a preset range or not;
and if so, associating the road object with the reference line of the alternative road.
Optionally, the road object is used for representing road attributes, and the road object is represented by linear vectorized data;
if the judgment result is yes, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object, specifically comprising:
judging whether the height difference of the road object exceeds a preset value or not;
and if the judgment result is negative, selecting a reference line which is not intersected with the projection of the road object from the reference lines of the multiple candidate roads and associating the reference line with the road object.
Optionally, if the height difference of the road object exceeds a preset value, selecting a reference line satisfying a preset condition from the multiple candidate road reference lines and associating with the road object, where the preset condition includes:
the alternative road reference line does not intersect with the projection of the road object; and
the distance between the road object and the reference line of the alternative road is within a preset range.
Optionally, if the road object is self-intersected, the road object is segmented at the intersection;
and selecting a reference line which is not intersected with the projection of the road object after each segment from the reference lines of the alternative roads and associating the reference line with the road object.
Optionally, the obtaining a first projection of the road object on the reference surface specifically includes:
projecting the outline of the road object to a reference surface to obtain a first middle projection;
judging whether the first middle projection is intersected with a second projection of the road;
if the judgment result is yes, the first projection is a first middle projection;
if the judgment result is negative, the middle projection is expanded outwards to a first preset area to generate a first projection.
Optionally, the obtaining a second projection of at least one road in the position area of the road object on the reference surface specifically includes:
if the road object is used for representing the road attribute, projecting the boundary line of the road object to a reference surface to generate a second middle projection, and expanding a second preset area outwards from the second middle projection to generate a second projection, wherein the second preset area is determined according to the road object and a mapping table;
and if the road object is used for representing the lane attribute, projecting the center line of each lane of the road object to a reference surface to generate a second projection.
In a second aspect, the present application provides a data association apparatus, comprising:
the acquisition module is used for acquiring a first projection of a road object on a reference surface and a second projection of at least one road in a position area where the road object is located on the reference surface;
a determination module to determine a first number of second projections intersecting the first projection;
and the building module is used for building the incidence relation between the road object and the road according to the first quantity.
In a third aspect, the present application provides an electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored in the memory, the processor being configured to execute the map data associating method according to the first aspect when the program is executed.
The application provides a map data association method, a map data association device and electronic equipment, wherein the map data association method determines an intersection relationship between projections of road objects and projections of roads in the same area, and the intersection relationship comprises the following steps: and determining whether the road objects intersect and the number of the intersected roads according to the intersection relationship. Compared with the existing manual method for determining the association between the road object and the road, the method and the device can realize automatic data association, and have high efficiency and low error rate.
Drawings
Fig. 1 is a schematic flowchart of a map data association method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a road object and a road reference line according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a road object and a road reference line according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a map data association apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the process of manufacturing the high-precision map, the three-dimensional data of the road object and the three-dimensional data of the road are obtained firstly, and the incidence relation between the road object and the road is determined manually according to the three-dimensional data of the road object and the three-dimensional data of the road. The road object and the road are associated in a manual mode, so that the efficiency is low, and errors are easy to make.
The invention has the following inventive concept: judging whether the projection of the road object is intersected with the projection of the road, determining the number of second projections of the road intersected with the first projection of the road object, and determining the incidence relation between the road object and the road according to the number. When determining that the projection of the same road object is intersected with the projections of a plurality of roads, considering whether the plurality of roads meet the interchange road, and determining the association relationship between the road object and the roads according to the relative position relationship between the interchange road and the road object. Compared with the existing manual mode, the efficiency is higher, the association standards are unified, and the consistency of the association result is good. In addition, the condition of the interchange road is considered, so that the occurrence of wrong association is avoided, and the accuracy of the association result is improved.
Method embodiment
Fig. 1 is a flowchart illustrating a data association method according to an exemplary embodiment of the present invention. As shown in fig. 1, the data association method provided by the present invention includes the following steps:
s101, acquiring a first projection of a road object on a reference surface and a second projection of at least one road in a position area of the road object on the reference surface.
More specifically, the representation elements of the roads in the high-precision map include: the road shape is indicated by a reference line indicating a road shape, and a road boundary line indicating a road boundary. The road is subdivided into a plurality of lanes, typically with reference lines to the left boundary of the second lane from left to right, and the representation elements of the lanes include: lane center line, lane left boundary, lane right boundary. The attributes of a lane are divided into: lane line type, lane direction, lane length, and lane width.
Road objects broadly refer to objects located on a road, and in general, road objects are classified into those for describing road attributes and those for describing lane attributes. Among them, there are 15 common road objects for describing road attributes, and there are 3 common road objects for describing lane attributes, as shown in table 1.
TABLE 1 road object List
In the process of making a high-precision map, a road object needs to be associated with a road, and the road object used for describing road attributes is usually associated with a representation element of the road, such as: associated with a reference line. Road objects used to describe lane attributes are typically associated with a representation element of a lane, such as: a lane centerline.
Wherein, the reference plane is a horizontal plane parallel to the ground, for example: and Z is 0 horizontal plane under the geodetic coordinate system. For each road object, a position region centered on the position of each road object is determined, and the area of the position region is determined according to the actual situation. And then determining the road in the position area, and acquiring a second projection of the road in the position area of the road object on the reference surface.
The first projection of the road object is determined according to the intersection condition of the first projection and the second projection of the road, and the method specifically comprises the following steps:
the contour of the road object is projected onto a reference surface, obtaining a first intermediate projection. And judging whether the first middle projection is intersected with the second projection of the road. If the judgment result is yes, the first projection is a first middle projection; if the judgment result is negative, the middle projection is expanded outwards to a first preset area to generate a first projection.
The first preset area is determined according to actual conditions, and the first middle projection is obtained in different modes aiming at different road objects. And if the road objects are road objects close to the ground, such as a diversion area, a warning area, a deceleration strip, a bicycle lane, a pedestrian crossing and the like in the intersection, public transportation stops, guardrails, curbs and the like, and the road objects are represented by linear vectorized data, projecting the complete geometric boundary line of the road objects to obtain a first intermediate projection. If the road object is a rod, a delineator or the like, a first intermediate projection is obtained by projecting with a part of the geometric borderline located at the bottom, for example: the shaft is projected with the bottom projection wall and vertical wall of the shaft etc. with the full geometrical boundary line of the road object to obtain a first intermediate projection. The non-mentioned road object is projected by a connecting line of two boundary points with the maximum geometric distance to obtain a first intermediate projection.
When the second projection is obtained, the manner of obtaining the second projection is also different according to different types of road objects, specifically:
and if the road object is used for representing the lane attribute, projecting the center line of each lane of the road object to a reference surface to generate a second projection.
And if the road object is used for representing the road attribute, projecting the boundary line of the road object to the reference surface to generate a second middle projection, and expanding the second middle projection outwards to a second preset area to generate a second projection. Wherein the second preset area is determined according to the road object and the mapping table.
The second intermediate projection is obtained by projecting a plurality of boundaries of the same road, and the second projection may be referred to as a road surface. If the road object is an object closer to the ground or an obstacle above, a smaller second preset area may be selected, for example: warning areas, speed bumps, bicycle lanes in intersections, pedestrian crossings, or public transport stops. If the road object is an object far from the ground, a larger second preset area can be selected. For example: curbs, guardrails, walls, vertical walls, and the like. If the road object is a diversion area, the second preset area is located between the second preset areas determined by the two conditions.
S102, determining a first number of second projections intersected with the first projections.
And judging whether the first projection of the road object and the second projection of the road coincide, if so, indicating that the road object and the road intersect. If the road object and the road do not coincide with each other, the road object and the road do not intersect with each other. And counts the number of second projections that intersect the first projection. In this embodiment, the road object and the road are hooked in a manner that is not taken as an intersection, that is, the boundary or the end point of the first projection intersects with the second projection, or the boundary or the end point of the second projection intersects with the first projection.
S103, establishing an incidence relation between the road object and the road according to the first quantity.
Wherein, different threshold value ranges correspond to different association modes, and the association mode is determined by judging the threshold value range where the first quantity is located, specifically: if the first number is equal to the first threshold, the road object is associated with the closest road. If the first number is equal to the second threshold, then the road and the road object that intersect the first projection are associated. If the first number is greater than the second threshold, a road associated with the road object is selected from a plurality of roads that intersect the first projection. Wherein the first threshold value is 0 and the second threshold value is 1.
And considering the situation of the overpass road, when judging that the second projection of the plurality of roads is intersected with the first projection, entering the overpass judgment, if the plurality of roads are intersected, determining the overpass road, and selecting the road associated with the road object according to the position relation between the plurality of candidate roads and the road object. If the roads do not intersect with each other, the roads are not overpasses, and the roads are associated with the road objects.
In the map data association method provided in this embodiment, the intersection condition of the two projections is determined by projecting the road object and the road onto the same reference, and the association relationship between the road and the road object is determined according to the intersection condition, so that the road object and the road are automatically associated. Compared with the existing scheme, the method is higher in efficiency and less in error association. In addition, the association accuracy can be improved by considering the situation of the interchange road.
In the following, a map data association method shown in the second embodiment of the present invention is described with emphasis, where the second embodiment takes a road object for describing road attributes as an example, and the map data association method provided in this embodiment includes the following steps:
s201, acquiring a first projection of the road object on the reference surface and a second projection of at least one road in the position area of the road object on the reference surface.
And when the road object is used for describing road attributes, projecting the boundary line of the same road to obtain the road surface. The road object projection is the same as in the first embodiment, and is not described herein again.
S202, determining a first number of second projections intersected with the first projections.
Wherein after determining the road surface, determining a number of road surfaces intersecting the projection of the road object.
S203, establishing the association relation between the road object and the road according to the first quantity.
When the first number is equal to the first threshold or the second threshold, the manner of establishing the association between the road object and the road is the same as that in the first embodiment, and it is determined how to establish the association between the road object and the road when the first number is greater than the second threshold and the road is an interchange road condition.
The method can be further divided into the following steps according to the way of representing the road object for representing the road attribute in the high-precision map: dot-shaped vectorized data, linear vectorized data, or planar vectorized data.
For linear vectorized data, an intersection situation is easy to occur, for example: the crossing condition is easy to occur on the guard bar on the overpass road. Therefore, for the linear vectorized data, the specific way of establishing the association relationship between the road object and the road is as follows:
and judging whether the height difference of the road object exceeds a preset value, if not, selecting a reference line which is not intersected with the projection of the road object from the reference lines of the multiple alternative roads to be associated with the road object.
If the height difference of the road object exceeds a preset value, selecting a reference line meeting a preset condition from the multiple candidate road reference lines and associating the reference line with the road object, wherein the preset condition comprises the following steps: the alternative road reference line and the road object projection are not intersected; and the distance between the road object and the reference line of the alternative road is within a preset range.
Whether the reference line of the alternative road intersects with the road object or not is judged, and the method can be divided into self-intersection or non-self-intersection of the road object. And if the road object does not have self-intersection, the road object is not subjected to segmentation processing, and whether the reference line intersects with the whole road object or not is directly judged. If the road objects are self-intersected, the road objects are segmented at the intersection, and a reference line which is not intersected with the road object after each segment of segmentation is selected from the reference lines of the alternative roads to be associated with the road object.
The distance between the road object and the reference line of the alternative road is within a preset range, and the method specifically comprises the following steps: after excluding part of the alternative roads by judging the intersection condition of the projection of the road object and the road reference line. And then screening the remaining alternative roads: in a geodetic coordinate system, taking a highest shape point Zmax of a road object as a starting point, making a ray in a direction of reducing a Z coordinate of the highest shape point, obtaining a reference line of a first candidate road intersected with the ray, selecting a shape point closest to the highest shape point of the road object on the reference line as a first comparative shape point, wherein the Z value of the first comparative shape point is Z1, taking any shape point of the road object as a starting point, making a vertical line to the reference line of the candidate road respectively, and if the height difference between the vertical point and the first comparative shape point reaches a preset value, excluding the candidate road. Wherein the preset value is determined according to the type of the road object.
The following examples illustrate: fig. 2 is a schematic diagram of a road object and a road reference line provided in the second embodiment, and as shown in fig. 2, a projection from a road L1 to a road L5 intersects with a projection of a guardrail H1, and then a road L1 to a road L5 form an alternative road of a guardrail H1. The alternative road L5 and the alternative road L1-the alternative road L4 are intersected, and the alternative road L1-the alternative road L5 form an interchange road. Guard rails H1 are represented in the high-precision map by linear vectorized data. The height difference of the guardrail does not exceed a preset value, and only the judgment of whether the guardrail projection is intersected with the road reference line is needed. Guardrail H1 does not self-intersect and no segmentation process is required for guardrail H1. By performing intersection determination on the projection of guardrail H1 and the reference line from alternative road L1 to alternative road L5, it can be seen that the projection of guardrail H1 intersects the reference line from alternative road L1 to alternative road L4, and therefore, alternative road L1 to alternative road L4 are excluded, and guardrail H1 is associated with alternative road L5.
Fig. 3 is a schematic diagram of the road object and the road reference line provided in the second embodiment, and as shown in fig. 3, the projection from the road L21 to the road L28 intersects with the projection of the guardrail H2, and then the road L21 to the road L28 are alternative roads. And the alternative road L21 and the alternative road L28 are intersected with each other, so that the interchange road is met. Guard rails H2 are represented in the high-precision map by linear vectorized data. The height difference of the guardrail does not exceed a preset value, and only the judgment of whether the guardrail projection is intersected with the road reference line is needed. It can be seen that the guard rail H2 is self-intersecting, and it is necessary to break the guard rail H2 at the self-intersection, and the guard rail H2 is divided into a sub-guard rail H21, a sub-guard rail H22, and a sub-guard rail H23.
The sub-guardrail H21 intersects with the alternative road L21 to the alternative road L24, the alternative road L21 to the alternative road L24 is excluded, the sub-guardrail H23 intersects with the alternative road L26 to the alternative road L28, and the alternative roads L26 to L28 are excluded. Alternative road L25 is associated with guardrail H2.
The specific way of establishing the association relationship between the road object and the road for the dot vectorized data or the planar vectorized data is as follows: and judging whether the distance between the road object and the reference line of each alternative road is within a preset range, if so, associating the road object with the reference line of the alternative road, and if not, not associating the road object with the reference line of the road.
The following examples illustrate: taking the highest shape point Zmax of the road object as a starting point, making a ray in the direction of reducing the Z coordinate of the shape point, acquiring a reference line of a first candidate road intersected with the ray, and selecting the shape point closest to the highest shape point of the road object on the reference line as a second comparative shape point, wherein the Z value of the second comparative shape point is Z2. And selecting a compared shape point closest to the second comparison shape point from the road reference line according to each remaining alternative road, and if the difference value between the second comparison shape point and the compared shape point is smaller than a preset value, excluding the alternative road. Wherein the preset value is determined according to the type of the road object.
In this embodiment, taking a road object for describing road attributes as an example, when an interchange road occurs, determining a manner of constructing an association relationship between the road object and the road according to a data type describing the road object, so as to improve association accuracy.
In the following, a flow diagram of a map data association method shown in the third embodiment of the present invention is mainly described, in this embodiment, taking a road object for describing lane attributes as an example, the map data association method provided in this embodiment includes the following steps:
s301, a first projection of the road object on the reference surface and a second projection of at least one road in the position area of the road object on the reference surface are obtained.
When the road object is used for describing lane attributes, the center line of each lane of each road is projected for the road in the position area. The road object projection is the same as in the first embodiment, and is not described herein again.
S302, determining a first number of second projections intersected with the first projections.
Here, this step has already been described in detail in S101, and is not described here again.
S303, establishing the association relation between the road object and the road according to the first quantity.
In the same manner as in the first embodiment, when the first number is equal to the first threshold or the second threshold, the association between the road object and the road is established, and it is determined how to establish the association between the road object and the road when the first number is greater than the second threshold.
When the second quantity is larger than the second threshold value, namely the road object intersects with the multiple roads, judging whether the multiple roads are overpasses, and if the multiple roads are overpasses, judging whether the distance between the road object and the lane center line of the alternative road is within a preset range; and if so, associating the road object with the lane center line.
The following examples illustrate: two lane center lines are associated with the road object, rays are made from the highest shape point of the road object, the distance between the road object and the two lane center lines is determined, whether the distance is within a preset range or not is judged, and the lane center line with the distance within the preset range is selected to be associated.
In the embodiment, taking a road object for describing lane attributes as an example, when an interchange road appears, the association relationship between the road object and the lane center line is determined according to the distance between the road object and the lane center line, so as to improve the association accuracy.
Product examples
Fig. 4 is a schematic structural diagram of a map data association apparatus according to a fourth embodiment of the present invention. As shown in fig. 4, the map data association apparatus 400 according to the present invention includes:
an obtaining module 401, configured to obtain a first projection of a road object on a reference surface, and a second projection of at least one road located in a location area where the road object is located on the reference surface;
a determining module 402 for determining a first number of second projections intersecting the first projection;
a building module 403, configured to build an association relationship between the road object and the road according to the first quantity.
Optionally, the building module 403 is specifically configured to:
if the first number is equal to a first threshold, associating the road object with the closest road;
associating the road intersected by the first projection with the road object if the first number is equal to a second threshold;
if the first number is greater than the second threshold, a road associated with the road object is selected from a plurality of roads that intersect the first projection.
Optionally, the building module 403 is specifically configured to:
judging whether a plurality of alternative roads are intersected or not, wherein the alternative roads are the roads intersected with the first projection;
if the judgment result is negative, associating the multiple alternative roads with the road object;
and if so, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object.
Optionally, the road object is used to represent lane attributes; the building module 403 is specifically configured to: judging whether the distance between the road object and the lane center line of the alternative road is within a preset range or not;
and if so, associating the road object with the lane center line.
Optionally, the road object is used to represent a road attribute, and the road object is represented by dot-like or planar vectorized data, and the constructing module 403 is specifically configured to: judging whether the distance between the road object and the reference line of each alternative road is within a preset range or not;
and if so, associating the road object with the reference line of the alternative road.
Optionally, the road object is used for representing road attributes, and the road object is represented by linear vectorized data; the building module 403 is specifically configured to:
judging whether the height difference of the road object exceeds a preset value or not;
and if the judgment result is negative, selecting a reference line which is not intersected with the projection of the road object from the reference lines of the multiple candidate roads and associating the reference line with the road object.
Optionally, the building module 403 is specifically configured to: if the height difference of the road object exceeds a preset value, selecting a reference line meeting a preset condition from the multiple candidate road reference lines and associating the reference line with the road object, wherein the preset condition comprises the following steps:
the alternative road reference line does not intersect with the projection of the road object; and
the distance between the road object and the reference line of the alternative road is within a preset range.
Optionally, the building module 403 is specifically configured to: if the road object is self-intersected, the road object is subjected to segmentation processing at the intersection;
and selecting a reference line which is not intersected with the projection of the road object after each segment from the reference lines of the alternative roads and associating the reference line with the road object.
Optionally, the obtaining module 401 is specifically configured to: projecting the outline of the road object to a reference surface to obtain a first middle projection;
judging whether the first middle projection is intersected with a second projection of the road;
if the judgment result is yes, the first projection is a first middle projection;
if the judgment result is negative, the middle projection is expanded outwards to a first preset area to generate a first projection.
Optionally, the obtaining module 401 is specifically configured to: if the road object is used for representing the road attribute, projecting the boundary line of the road object to a reference surface to generate a second middle projection, and expanding a second preset area outwards from the second middle projection to generate a second projection, wherein the second preset area is determined according to the road object and a mapping table;
and if the road object is used for representing the lane attribute, projecting the center line of each lane of the road object to a reference surface to generate a second projection.
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. As shown in fig. 5, the present embodiment provides a detection apparatus 500 including: a transmitter 501, a receiver 502, a memory 503, a processor 504, and a camera 505.
A transmitter 501 for transmitting instructions and data;
a receiver 502 for receiving instructions and data;
a memory 503 for storing computer-executable instructions;
a processor 504 for executing the computer-executable instructions stored in the memory to implement the steps performed by the map data association method in the above-described embodiments. Specifically, reference may be made to the related description in the foregoing map data association method embodiment.
Alternatively, the memory 503 may be separate or integrated with the processor 504.
When the memory 503 is provided separately, the detection apparatus further includes a bus for connecting the memory 503 and the processor 504.
The embodiment of the application also provides a computer-readable storage medium, wherein a computer executing instruction is stored in the computer-readable storage medium, and when the processor executes the computer executing instruction, the map data association method executed by the above detection device is realized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A map data association method, characterized in that the method comprises:
acquiring a first projection of a road object on a reference surface and a second projection of at least one road in a position area where the road object is located on the reference surface;
determining a first number of the second projections that intersect the first projection;
and establishing an incidence relation between the road object and the road according to the first quantity.
2. The method according to claim 1, wherein establishing, according to the first number, an association between the road object and the road specifically includes:
if the first number is equal to a first threshold, associating the road object with a road closest in distance;
associating a road intersecting the first projection with the road object if the first number is equal to a second threshold;
selecting a road associated with the road object from a plurality of roads that intersect the first projection if the first number is greater than a second threshold.
3. The method of claim 2, wherein if the first number is greater than a second threshold, selecting the road associated with the road object from a plurality of roads intersected by the first projection comprises:
judging whether a plurality of alternative roads are intersected or not, wherein the alternative roads are the roads intersected with the first projection;
if the judgment result is negative, the multiple alternative roads are associated with the road object;
and if so, selecting the road associated with the road object according to the position relationship between the multiple alternative roads and the road object.
4. The method of claim 3, wherein the road object is used to represent lane attributes;
if the judgment result is yes, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object, specifically comprising:
judging whether the distance between the road object and the lane center line of the alternative road is within a preset range or not;
and if so, associating the road object with the lane center line.
5. A method according to claim 3, characterized in that the road object is used to represent road attributes and the road object is represented by point-like or planar vectorized data;
if the judgment result is yes, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object, specifically comprising:
judging whether the distance between the road object and the reference line of each alternative road is within a preset range or not;
and if so, associating the road object with the reference line of the alternative road.
6. The method according to claim 3, wherein the road object is used to represent road attributes, and the road object is represented by linear vectorized data;
if the judgment result is yes, selecting the road associated with the road object according to the position relationship between the multiple candidate roads and the road object, specifically comprising:
judging whether the height difference of the road object exceeds a preset value or not;
and if the judgment result is negative, selecting a reference line which is not intersected with the projection of the road object from the reference lines of the multiple candidate roads and associating the reference line with the road object.
7. The method of claim 6,
if the height difference of the road object exceeds a preset value, selecting a reference line meeting a preset condition from the multiple candidate road reference lines and associating the reference line with the road object, wherein the preset condition comprises that:
the alternative road reference line does not intersect with the projection of the road object; and
the distance between the road object and the reference line of the alternative road is within a preset range.
8. The method according to claim 6 or 7,
if the road object is self-intersected, the road object is segmented at the intersection;
and selecting a reference line which is not intersected with the projection of the road object after each segment from the reference lines of the alternative roads and associating the reference line with the road object.
9. The method according to any one of claims 1 to 7, wherein the obtaining of the first projection of the road object on the reference surface specifically comprises:
projecting the contour of the road object to a reference surface to obtain a first intermediate projection;
judging whether the first middle projection is intersected with a second projection of the road;
if the judgment result is yes, the first projection is the first middle projection;
and if the judgment result is negative, expanding the middle projection outwards to a first preset area to generate the first projection.
10. The method according to any one of claims 1 to 7, wherein the obtaining a second projection of the reference plane of at least one road located in the location area of the road object specifically includes:
if the road object is used for representing road attributes, projecting a boundary line of the road object to the reference surface to generate a second middle projection, and expanding a second preset area outwards from the second middle projection to generate a second projection, wherein the second preset area is determined according to the road object and a mapping table;
and if the road object is used for representing the lane attribute, projecting the center line of each lane of the road object to the reference surface to generate the second projection.
11. An apparatus for associating data, the apparatus comprising:
the acquisition module is used for acquiring a first projection of a road object on a reference surface and a second projection of at least one road in a position area where the road object is located on the reference surface;
a determination module to determine a first number of the second projections that intersect the first projection;
and the building module is used for building the incidence relation between the road object and the road according to the first quantity.
12. An electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored in the memory, the processor being configured to perform the map data association method as claimed in any one of claims 1 to 10 when the program is executed.
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