CN113590734A - Map description file generation method and device - Google Patents
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Abstract
The application provides a method and a device for generating a map description file, wherein description information is acquired according to a source map description file; determining a non-connection road and a connection road corresponding to the non-connection road according to the description information; receiving preset information corresponding to road parameters of each non-connected road input by a user on a non-connected road configuration interface, and generating first description information according to the preset information; determining second description information of a corresponding connection road according to the first description information of the non-connection road; and generating a target description file according to the first description information and the second description information, thereby realizing the rapid generalization of the road map, shortening the time for drawing a large amount of road maps and reducing the workload of staff.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a method and a device for generating a map description file.
Background
The conventional general description scheme of the automatic driving simulation scene is an OpenX series standard, which comprises the following steps: OpenDRIVE, OpenSCENARIO and OpenCRG. Static parts of the simulation test scene (such as road topology, traffic sign lines and the like) are described by OpenDRIVE files, surface details of roads (such as potholes, pebbles and the like) are described by OpenCRG files, and dynamic parts of the simulation test scene (such as behaviors of traffic vehicles) are described by OpenSCENARIO files.
In order to ensure the safety of automatic driving, a large number of simulation scenes are needed to test an automatic driving algorithm, but the current simulation scenes are drawn manually, especially the drawing of a static part, wherein a large number of roads and parameters are included, and if the simulation scenes are set manually, a large amount of time and labor are consumed.
Disclosure of Invention
In view of the above, an object of the present application is to provide a method, an apparatus, an electronic device and a storage medium for generating a map description file, which can generalize and automatically generate a plurality of map description files according to a source map file and preset information configured by a user, shorten a mapping time of an autopilot simulation scene, and reduce a workload of a worker.
In a first aspect, an embodiment of the present application provides a method for generating a map description file, including: acquiring description information according to the source map description file; determining a non-connection road and a connection road corresponding to the non-connection road according to the description information; receiving preset information corresponding to road parameters of each non-connected road input by a user on a non-connected road configuration interface, and generating first description information according to the preset information; determining second description information of a corresponding connection road according to the first description information of the non-connection road; and generating the target description file according to the first description information and the second description information.
Preferably, the step of generating the first description information according to the preset information specifically includes: determining the position and the course of the non-connected road in the target description file according to the relative position and/or the included angle between every two non-connected roads in the source map description file; determining road parameters of non-connected roads in the target description file according to preset information; and determining the connection relation of the unconnected roads in the target description file according to the position, the course and the road parameters of the unconnected roads in the target description file, and generating first description information.
Preferably, the preset information at least includes a road threshold and a preset step length, and the step of determining the road parameter of the non-connected road in the target description file according to the preset information specifically includes: obtaining a plurality of target road parameters in a road threshold according to the road threshold and a preset step length, wherein the difference value between each target parameter value is a non-zero integral multiple of the preset step length; each target road parameter corresponds to a road parameter corresponding to the non-connected road in one target description file.
Preferably, the step of determining the second description information of the corresponding connection road according to the first description information of the non-connection road specifically includes: determining the road type of the corresponding connection road based on the connection relation of the non-connection road; calculating road parameters of a connecting road according to road parameters of a non-connecting road connected with the connecting road; and generating second description information according to the road type and the road parameter of the connecting road and the connection relation between the non-connecting road and the connecting road.
Preferably, the road type of the connecting road is one or a combination of an intersection, an arc, a spiral, a cubic polynomial and a parametrized cubic polynomial.
Preferably, the step of determining the non-connected road and the connected road corresponding to the non-connected road according to the description information specifically includes: acquiring the road type of the road in the source map description file according to the description information; when the road type of the road in the source map description file is an arc, a cubic polynomial or a parameter-bearing cubic polynomial, determining the road type of a target road connected with the road according to the description information; when the road type of the target road is a straight road or a parametric cubic polynomial, determining the road as a connecting road; otherwise, the road is determined as a non-connection road.
Preferably, the step of determining the connection road and the connection road corresponding to the non-connection road according to the description information specifically includes: acquiring the road type of the road in the source map description file according to the description information; when the road type of the road in the source map description file is a straight road, determining the road as a non-connection road; and when the road type of the road in the source map file is a spiral line or an intersection, determining the road as a connecting road.
In a second aspect, an embodiment of the present application further provides a device for generating a map description file, including: the acquisition module is used for acquiring the description information according to the source map description file; the first determining module is used for determining a non-connection road and a connection road corresponding to the non-connection road according to the description information; the first generation module is used for receiving preset information corresponding to road parameters of all non-connected roads input by a user on a non-connected road configuration interface and generating first description information according to the preset information; the second determining module is used for determining second description information of the corresponding connecting road according to the first description information of the non-connecting road; and the second generation module is used for generating the target description file according to the first description information and the second description information.
In a third aspect, an embodiment of the present application further provides an electronic device, including: the map description file generation device comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, when the electronic device runs, the processor and the memory are communicated through the bus, and the processor executes the machine readable instructions to execute the steps of the map description file generation method.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the map description file generation method.
According to the method and the device for generating the map description file, the description information of the non-connection road is obtained from the source map description file, the road parameters of the non-connection road part are readjusted to generate the new non-connection road according to the preset information corresponding to the road parameters input by a user on the non-connection road configuration interface, the connection road is generated according to the new non-connection road to form a complete road map, and finally a plurality of map description files corresponding to the road map, namely the target description files, are output, so that the rapid generalization of the road map is realized, the time for drawing a large number of road maps is shortened, and the work load of staff is relieved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flowchart illustrating a method for generating a map description file according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating a method for generating first description information according to an embodiment of the present application;
fig. 3 is a flowchart illustrating a method for determining second description information according to an embodiment of the present application;
FIG. 4 is a diagram illustrating a result of an apparatus for generating a map-describing file according to an embodiment of the present disclosure;
fig. 5 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be performed in reverse order or concurrently. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The conventional general description scheme of the automatic driving simulation scene is an OpenX series standard, which comprises the following steps: OpenDRIVE, OpenSCENARIO and OpenCRG. Static parts of the simulation test scene (such as road topology, traffic sign lines and the like) are described by OpenDRIVE files, surface details of roads (such as potholes, pebbles and the like) are described by OpenCRG files, and dynamic parts of the simulation test scene (such as behaviors of traffic vehicles) are described by OpenSCENARIO files.
In order to ensure the safety of automatic driving, a large number of simulation scenes are needed to test an automatic driving algorithm, but the current simulation scenes are drawn manually, especially the static part, which comprises a large number of roads and parameters, and if the simulation scenes are set manually one by one, a large amount of time and manpower are consumed.
In view of the foregoing problems, embodiments of the present application provide a method and an apparatus for generating a map description file, an electronic device, and a storage medium, which are described below by way of embodiments.
For the convenience of understanding of the present application, the technical solutions provided in the present application will be described in detail below with reference to specific embodiments.
Referring to fig. 1, a method for generating a map description file according to an embodiment of the present application includes the steps of:
and S101, acquiring description information according to the source map description file.
The map description file is an OpenDRIVE file which has a uniform format and standard and is used for describing a static part (such as a road topological structure, a traffic sign line and the like) of an automatic driving simulation scene, wherein the map description file describes a road network in a driving simulation application program. The source map description file is any existing complete OpenDRIVE file. The description information is a description field of the road in the OpenDRIVE file, and the road type and the road parameter corresponding to the road can be obtained through the description field.
Illustratively, according to the description field < Road name ═ Road a "length ═ 1.6208639671483849e + 02" > in the OpenDRIVE document, the Road length in the Road parameter of Road a is 50 meters.
And S102, determining a non-connection road and a connection road corresponding to the non-connection road according to the description information.
In this embodiment, the non-connected road is a main road separated from a plurality of roads set in the source map description file, and road parameters of the road may be changed, such as length adjustment, lane increase, and the like, and the road type of the non-connected road is mainly a straight road. The connecting road is used for connecting a plurality of non-connecting roads so as to ensure that the roads are directly, continuously and smoothly, and the types of the connecting roads mainly comprise arc roads, spiral roads, cubic polynomial roads and parametric cubic polynomial roads. The road with the parameter cubic polynomial is the road with the curve shape of the road centerline in the projection on the horizontal plane.
S103, receiving preset information corresponding to the road parameters of the non-connected roads input by a user on the non-connected road configuration interface, and generating first description information according to the preset information.
The road parameters can be road length, road heading angle, road lane number, road radian, lane width, road position parameters in a road map, and the like. Non-connected road configuration interface for non-connected roadAnd an interface for configuring road parameters of the road is connected, wherein an edit box corresponding to the road parameters is arranged, and a user can input preset information through the edit box. The preset information can be used for the step length x and the value range [ a, b ] of a certain road parameter]And presetting to obtain values corresponding to a plurality of road parameters in the value range. The step length is used for calculating values corresponding to a plurality of road parameters, wherein the values corresponding to the road parameters are a, a + x, a +2x, …,
x、b。
The first description information is description information which is generated according to the road type, the road parameter and the like of the non-connection road and has the same format and standard with the map description file, and is used as a part of the target description file.
And S104, determining second description information of the corresponding connection road according to the first description information of the non-connection road.
The road type and road parameters corresponding to each non-connection road can be obtained according to the first description information of the non-connection roads, and the position and the course of the corresponding non-connection road are determined according to the position of the non-connection road in the road map in the source map description file and the relative position and/or included angle between every two non-connection roads. And calculating road parameters of the connecting road according to the road parameters of the non-connecting road corresponding to the connecting road. And generating second description information according to the determined connection road. The second description information here is description information of the same format and standard as the map description file generated from the road type, road parameters, and the like of the connection road, for use as part of the object description.
And S105, generating a target description file according to the first description information and the second description information.
The object description file herein is a map description file describing a complete road map composed of non-connected roads and connected roads interconnected.
In step S101, one map description file selected by the user from the existing map description files may be acquired, and the corresponding road information is acquired based on the description field in the map description file.
In step S102, all the roads included in the map description file are analyzed based on the description information, thereby determining a non-connected road and a connected road.
Illustratively, the road types of the first road and the third road are straight roads, wherein the course of the first road is true south and the course of the third road is true west, the road type of the second road is curved roads, two ends of the second road are respectively connected with the first road and the third road, the first road and the second road are determined as non-connected roads, and the second road is connected roads.
Specifically, the road type of the road in the source map description file may be acquired according to the description information.
And when the road type of the road in the source map description file is an arc line, a cubic polynomial or a parameter-carrying cubic polynomial, determining the road type of a target road connected with the road according to the description information, and when the road type of the target road is a straight road or a parameter-carrying cubic polynomial, determining the road as a connected road, otherwise, determining the road as a non-connected road.
And when the road type of the road in the source map description file is a straight road, determining the road as a non-connection road.
And when the road type of the road in the source map file is a spiral line or an intersection, determining the road as a connecting road.
The road type may include a straight road, an arc line, a spiral line, a cubic polynomial and a parametric cubic polynomial, and the track reference line of the road may be understood as a straight line, an arc line, a cubic polynomial and a parametric cubic polynomial, respectively. The track reference line is a line projected on the ground by the center line of the road.
In step S103, preset information input by a user via a non-connected road configuration interface is received, where an edit box corresponding to the road parameter of each non-connected road is displayed on the configuration interface, and the road parameters that can be set for the non-connected roads of different road types are different.
For example, a straight road needs to set a road length, a road heading angle and a road lane number; the arc road needs to be provided with road length, road radian, circle center position, road arc radius and road lane number; the third-order polynomial road needs to set the road length, the coefficient of the third-order polynomial and the number of road lanes, wherein the coefficient of the third-order polynomial comprises a zero-order leading parameter, a first-order leading parameter, a second-order leading parameter and a third-order leading parameter.
In step S104, a connected road is added between the non-connected roads according to the road parameters of the non-connected roads that have already been set, so as to achieve connection and smoothing between the roads. And selecting a proper road type of the connecting road according to the relative position between two or more non-connecting roads, calculating road parameters of the connecting road according to the road parameters of the non-connecting roads, and finally generating second description information corresponding to the connecting road.
In step S105, the first description information and the second description information are combined to generate a target description file conforming to a standard map description file, wherein the target description file includes a plurality of different map description files generated based on preset information input by a user in a generalization manner.
In the embodiment, the description information of the non-connected road is acquired from the source map description file, the road parameters of the non-connected road part are readjusted to generate a new non-connected road according to the preset information corresponding to the road parameters input by the user on the non-connected road configuration interface, the connected road is generated according to the new non-connected road to form a complete road map, and finally a plurality of map description files corresponding to the road map, namely target description files, are output, so that the rapid generalization of the road map is realized, the time for drawing a large number of road maps is shortened, and the workload is relieved for staff.
Referring to fig. 2, a method for generating first description information according to another embodiment of the present application is provided, where the method includes:
s201, determining the position and the heading of the non-connection road in the target description file according to the relative position and/or the included angle between every two non-connection roads in the source map description file.
S202, determining road parameters of the non-connected roads in the target description file according to preset information.
S203, determining the connection relation of the unconnected roads in the target description file according to the positions, the headings and the road parameters of the unconnected roads in the target description file, and generating first description information.
In step S201, the position and heading of the unconnected road in the target description file are first determined according to the relative position and/or angle between the unconnected roads in the source map description file, so as to ensure that the position and heading of the unconnected roads in the target description file are similar to or even identical to those of the unconnected roads in the source map description file.
Illustratively, in the source map file, the straight road a and the straight road B form an included angle of 90 degrees, and the distance between the central points of the straight road a and the straight road B is 120 meters, then in the newly generated road map, the straight road a corresponds to the straight road a1Straight path B corresponds to B1Then straight road A1And straight road B1The included angle between the two is also 90 degrees, and the straight path A1And straight road B1The distance between the centre points of which is 120 meters.
In step S202, a plurality of different parameter values corresponding to each road parameter of each non-connected road in the target description file are obtained according to the preset information.
In step S203, complete information of each unconnected road is generated for the position, heading, road parameters, and the like of one unconnected road, and the connection relationship between the unconnected roads is determined. The connection relation may be generated based on information on the non-connection roads, or may be generated by referring to the connection relation between the non-connection roads in the source map file. And finally, generating first description information according to the position, the course, the road parameters and the connection relation of the non-connection road according to the uniform format standard of the map description file.
For example, if the Road length of the non-connected Road a is 100, the corresponding first description information is generated as < Road name ═ Road a, "length ═ 1.6208639671483849e +02," id ═ 1, "junction ═ 1" >. Wherein, road name represents the name of the road, length represents the length of the road, id is the identification of the non-connected road, the identification is represented by the number 1, junction represents the intersection connected with the road, and-1 represents the number of the intersection connected with the road.
In a preferred example, the step of determining the road parameter of the non-connected road in the target description file according to the preset information at least includes:
and acquiring a plurality of target road parameters within the road threshold according to the road threshold and a preset step length, wherein the difference value between each target parameter value is non-zero integral multiple of the preset step length, and each target road parameter corresponds to the road parameter corresponding to the non-connected road in one target description file.
Specifically, a plurality of target road parameters within the road threshold are calculated and generated according to the road threshold and the preset step length input by the user to the road parameters of the non-connected road. Illustratively, the road threshold is [100, 200], the preset step size is 10, and the obtained target road parameter sets corresponding to the road parameters are {100, 110, 120, 130, 140,.., 190, 200 }. One of the target road parameter sets is randomly selected as a value of the road parameter, so that a plurality of different first description information are generated based on the non-connection road combination of the values of different road parameters.
Illustratively, the subset of the road length of the non-connected road a is respectively obtained as a according to preset information of a user1The subset of road lengths for road B is B {100, 110, 120}, where B is the total number of road segments1After {60, 80}, a may be passed through a1And B1Thereby obtaining a plurality of subsets, wherein S1＝{a＝100，b＝60}，S2＝{a＝110，b＝60}，S3＝{a＝120，b＝60}，S4＝{a＝100，b＝80}，S5＝{a＝110，b＝80}，S6120 and 80, wherein each subset corresponds to the value of the road parameter in one object description file, a is the value of the road length of the non-connected road a, and B is the road of the non-connected road BThe path length parameter takes value.
In an alternative example, fig. 3 provides a method for determining the second description information. As shown in fig. 3, the step of determining the second description information of the corresponding connection road according to the first description information of the non-connection road specifically includes:
s301, determining the road type of the corresponding connecting road based on the connection relation of the non-connecting road;
step S302, calculating road parameters of a connecting road according to road parameters of a non-connecting road connected with the connecting road;
step S303, generating second description information according to the road type and the road parameter of the connection road and the connection relation between the non-connection road and the connection road.
In step S301, a connection road is determined for adjacent non-connection roads according to the connection relationship of the determined non-connection roads, so as to connect two or more roads, and simultaneously ensure that the connection road between two non-connection roads is smooth, meets the actual road condition, and can ensure that vehicles can safely pass through.
In step S302, based on the determined road type of the connected road, the road parameter of the connected road is calculated according to the road parameter of the unconnected road connected to the connected road, and for example, according to the straight road a and the straight road B, the road type of the connected road C between the straight road a and the straight road B is determined to be an arc road, and if the number of lanes of the straight road a and the number of lanes of the straight road B are both four lanes, the lane of the connected road C is also four lanes.
In step S303, the road type and the road parameter of the connection road and the connection relationship between the connection road and the non-connection road connected to the connection road are generated according to the uniform format standard of the map description file.
Furthermore, the type of the road connecting the roads is one or a combination of an intersection, an arc line, a spiral line, a cubic polynomial and a parametric cubic polynomial. It is necessary to select an appropriate road type according to the distance difference, height difference, positional relationship, and the like of adjacent ports between two or more non-connected roads to ensure the functions of the road itself. The connecting roads with different road types can be one road type or a combination of multiple road types, such as a flat curve formed by an arc line, a spiral line and an arc line, so that multiple road scenes are provided, and the requirement of the automatic driving algorithm test is met.
In a preferred embodiment, a system for generating a map description file is provided to implement the method, where a user inputs an existing source map description file into the generation system through a terminal device, the generation system obtains description information in the source map description file, automatically identifies a non-connection road and a connection road, and generates a corresponding non-connection road configuration interface according to the non-connection road.
The identity of each non-connected road can be displayed in the non-connected road configuration interface so as to clarify the currently configured road object, and the road type corresponding to the non-connected road and the road parameter configuration frame corresponding to the road type are displayed at the same time. For example, the road parameters of the straight road may include road length, road heading angle, road lane number; the road parameters of the arc road may include road length, road radian, road circle center position, road radius, road lane number, and the like.
Preferably, the road parameters of each non-connected road can be sequentially displayed on the non-connected road configuration interface, so that a user can configure each non-connected road, and the degree of freedom of user configuration is improved. And the non-connection roads of the same road type can be displayed by using the uniform road parameter configuration frame, namely, the user only needs to set the non-connection roads of the same road type once, so that the configuration task amount of the user is reduced. It can be understood that the non-connected roads of the same road type are displayed in a uniform road parameter configuration frame, and after the user inputs the preset information, the correction is required according to the road positions of the roads, so as to avoid the situations of position conflict and the like between some roads. The values of the road length, the road number and the like are represented by numerical values, and a user can configure the road threshold and the preset step length of the road parameters.
After a user configures road parameters of non-connection roads, generating information according to preset information input by the user to automatically select proper connection roads among the non-connection roads, and finally generating a plurality of corresponding target description files according to the road parameters, the position relation, the connection relation and the like of the non-connection roads and the connection roads, wherein the target description files are similar to the source map description files as far as possible. Specifically, according to the identity of each road, taking a numerical label as an example, the road with the smallest number is defaulted as the first road, the position of the road on the map is set, the relative positions of all the roads are sequentially obtained, and the road parameters are calculated.
Based on the same inventive concept, a map description file generation device corresponding to the map description file generation method is further provided in the embodiments of the present application, and because the principle of solving the problem of the map description file generation device in the embodiments of the present application is similar to that of the map description file generation method in the embodiments of the present application, the implementation of the map description file generation device may refer to the implementation of the method, and repeated details are not repeated.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a device for generating a map description file according to an embodiment of the present application. As shown in fig. 4, the generating means 400 includes:
an obtaining module 410, configured to obtain description information according to the source map description file;
the first determining module 420 is configured to determine a non-connected road and a connected road corresponding to the non-connected road according to the description information;
the first generating module 430 is configured to receive preset information corresponding to road parameters of each non-connected road, which is input by a user on the non-connected road configuration interface, and generate first description information according to the preset information;
the second determining module 440 is configured to determine, according to the first description information of the non-connection road, second description information of a corresponding connection road;
the second generating module 450 is configured to generate a target description file according to the first description information and the second description information.
In a preferred embodiment, the first generating module specifically includes:
the correction module is used for determining the position and the course of the non-connected road in the target description file according to the relative position and/or the included angle between every two non-connected roads in the source map description file;
the first calculation module is used for determining road parameters of the non-connected roads in the target description file according to preset information;
and the first information generation module is used for determining the connection relation of the unconnected road in the target description file according to the position, the course and the road parameter of the unconnected road in the target description file and generating first description information.
In a preferred embodiment, the preset information at least includes a road threshold and a preset step length, and the first calculating module is specifically configured to:
and acquiring a plurality of target road parameters within the road threshold according to the road threshold and a preset step length, wherein the difference value between each target parameter value is non-zero integral multiple of the preset step length, and each target road parameter corresponds to a road parameter corresponding to the non-connected road in one target description file.
In a preferred embodiment, the second generating module specifically includes:
the selection module is used for determining the road type of the corresponding connection road based on the connection relation of the non-connection road;
the parameter calculation module is used for calculating road parameters of the connecting road according to the road parameters of the non-connecting road connected with the connecting road;
and the second information generation module is used for generating second description information according to the road type and the road parameter of the connecting road and the connection relation between the non-connecting road and the connecting road.
The road type of the connecting road is one or a combination of an intersection, an arc line, a spiral line, a cubic polynomial and a parametric cubic polynomial.
In a preferred embodiment, the selecting module is specifically configured to: acquiring the road type of a road in a source map description file according to the description information, and determining the road type of a target road connected with the road according to the description information when the road type of the road in the source map description file is an arc, a cubic polynomial or a parametrized cubic polynomial; when the road type of the target road is a straight road or a parametric cubic polynomial, determining the road as a connecting road; otherwise, the road is determined as a non-connection road.
In a preferred embodiment, the selecting module is further specifically configured to: acquiring the road type of the road in the source map description file according to the description information; when the road type of the road in the source map description file is a straight road, determining the road as a non-connection road; and when the road type of the road in the source map file is a spiral line or an intersection, determining the road as a connecting road.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 5, electronic device 800 includes a processor 810, a memory 820, and a bus 830.
The memory 820 stores machine-readable instructions executable by the processor 810, when the electronic device 800 runs, the processor 810 communicates with the memory 820 through the bus 830, and when the machine-readable instructions are executed by the processor 810, the steps of the method for generating a map description file in the embodiment of the method shown in fig. 1 may be executed.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the step of the method for generating a map description file in the method embodiment shown in fig. 1 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable memory executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a memory, and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for generating a map description file is characterized by comprising the following steps:
acquiring description information according to the source map description file;
determining a non-connection road and a connection road corresponding to the non-connection road according to the description information;
receiving preset information corresponding to road parameters of each non-connection road input by a user on a non-connection road configuration interface, and generating first description information according to the preset information;
determining second description information of a corresponding connection road according to the first description information of the non-connection road;
and generating a target description file according to the first description information and the second description information.
2. The method according to claim 1, wherein the step of generating the first description information according to the preset information specifically includes:
determining the position and the course of the non-connected road in the target description file according to the relative position and/or the included angle between every two non-connected roads in the source map description file;
determining road parameters of non-connected roads in the target description file according to the preset information;
and determining the connection relation of the unconnected roads in the target description file according to the position, the course and the road parameters of the unconnected roads in the target description file, and generating first description information.
3. The method according to claim 2, wherein the preset information at least includes a road threshold and a preset step length, and the step of determining the road parameter of the non-connected road in the target description file according to the preset information specifically includes:
obtaining a plurality of target road parameters in a road threshold according to the road threshold and a preset step length, wherein the difference value between each target parameter value is a non-zero integral multiple of the preset step length;
each target road parameter corresponds to a road parameter corresponding to the non-connected road in one target description file.
4. The method according to claim 2, wherein the step of determining the second description information of the corresponding connection link according to the first description information of the non-connection link specifically includes:
determining the road type of the corresponding connecting road based on the connection relation of the non-connecting road;
calculating road parameters of a connecting road according to road parameters of a non-connecting road connected with the connecting road;
and generating second description information according to the road type and the road parameter of the connecting road and the connection relation between the non-connecting road and the connecting road.
5. The method of claim 4, wherein the road type of the connecting road is one or a combination of an intersection, an arc, a helix, a cubic polynomial, and a parametrically cubic polynomial.
6. The method according to claim 1, wherein the step of determining the non-connection road and the connection road corresponding to the non-connection road according to the description information specifically includes:
acquiring the road type of the road in the source map description file according to the description information;
when the road type of the road in the source map description file is an arc, a cubic polynomial or a parameter-bearing cubic polynomial, determining the road type of a target road connected with the road according to the description information;
when the road type of the target road is a straight road or a parametric cubic polynomial, determining the road as a connecting road;
otherwise, the road is determined as a non-connection road.
7. The method according to claim 1, wherein the step of determining the connection road and the connection road corresponding to the non-connection road according to the description information specifically includes:
acquiring the road type of the road in the source map description file according to the description information;
when the road type of the road in the source map description file is a straight road, determining the road as a non-connection road;
and when the road type of the road in the source map file is a spiral line or an intersection, determining the road as a connecting road.
8. An apparatus for generating a map description file, comprising:
the acquisition module is used for acquiring the description information according to the source map description file;
the first determining module is used for determining a non-connection road and a connection road corresponding to the non-connection road according to the description information;
the first generation module is used for receiving preset information corresponding to road parameters of the non-connected roads, input by a user on a non-connected road configuration interface, and generating first description information according to the preset information;
the second determining module is used for determining second description information of the corresponding connecting road according to the first description information of the non-connecting road;
and the second generation module is used for generating a target description file according to the first description information and the second description information.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the map description file generation method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of generating a map-describing file according to any one of claims 1 to 7.
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