CN113744413A - Elevation matching method and system for vehicle on three-dimensional high-precision map road - Google Patents
Elevation matching method and system for vehicle on three-dimensional high-precision map road Download PDFInfo
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- CN113744413A CN113744413A CN202110948855.7A CN202110948855A CN113744413A CN 113744413 A CN113744413 A CN 113744413A CN 202110948855 A CN202110948855 A CN 202110948855A CN 113744413 A CN113744413 A CN 113744413A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012800 visualization Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052792 caesium Inorganic materials 0.000 description 1
- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
An elevation matching method and system for a vehicle on a three-dimensional high-precision map road are disclosed, wherein the method comprises the following steps: step 1, formulating a corresponding electronic fence rule based on a road type, and marking various road types on a three-dimensional high-precision map based on the electronic fence rule; and 2, acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle. The invention provides a method and a system for matching the elevation of a vehicle on a three-dimensional high-precision map road.
Description
Technical Field
The invention relates to a network communication technology and a webpage three-dimensional visualization technology, in particular to a method and a system for matching the elevation of a vehicle on a three-dimensional high-precision map road.
Background
The webpage three-dimensional visualization technology is a three-dimensional visualization system constructed based on an open-source three-dimensional framework Cesium. The format used by the three-dimensional high-precision map data is a 3D tiles format, and the data format is used for calling and rendering map tiles based on an LOD pyramid form, so that only map tile data which are in line with the current view angle range can be loaded and rendered when a webpage is browsed. When the vehicle carries out simulated motion on the three-dimensional high-precision map, the elevation matching processing of nearby points can be carried out, and the real-time position information of the vehicle under the three-dimensional scene is really restored under the condition that only the real-time longitude and latitude of the vehicle are provided. However, when the vehicle moves to an elevated road section, a plurality of elevation information appears, and at this time, the elevation information of the road section cannot be matched only according to the longitude and latitude, and the correct position of the vehicle simulation cannot be restored.
Disclosure of Invention
In view of the technical defects and technical drawbacks in the prior art, embodiments of the present invention provide a method and a system for matching an elevation of a vehicle on a three-dimensional high-precision map road, which overcome the above problems or at least partially solve the above problems, and the specific scheme is as follows:
as a first aspect of the present invention, there is provided an elevation matching method of a vehicle on a three-dimensional high-precision map road, the method including the steps of:
step 1, formulating a corresponding electronic fence rule based on a road type, and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
and 2, acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
Further, the step 1 specifically includes:
defining a road of a ground type as a class 1 electronic fence area, and marking a corresponding road mark on a three-dimensional high-precision map as 1;
defining the elevated type road as a type 2 electronic fence area, and marking a corresponding road as 2 on a three-dimensional high-precision map;
defining a ramp or tunnel type road as a 3 rd type electronic fence area, and marking a corresponding road as 3 on a three-dimensional high-precision map;
and defining a 4 th type electronic fence area for the road at the upper ramp or the tunnel, and marking the corresponding road as 4 on the three-dimensional high-precision map.
Further, the ground type roads include general ground roads, elevated below roads, and general roads on the ground, and the elevated type roads include elevated road sections and elevated type expressways.
Further, step 2 specifically includes:
step 2.1, when the vehicle runs on a common road or an elevated lower road, giving a default status mark to the vehicle as false, matching a class 4 electronic fence area in a preset range based on longitude and latitude uploaded by the vehicle, and judging as follows:
a, if no 4 th type electronic fence area exists nearby or the current coordinate point does not enter the 4 th type fence area in matching, the vehicle does not enter a ramp or a road through which a tunnel is required to pass downwards, and the vehicle elevation is matched with the nearby point according to the ground road type elevation;
b, the vehicle enters a matched upper class 4 electronic fence area, represents a road section which is required to pass through when the vehicle enters a ramp or a underpass tunnel, the vehicle elevation is matched with the elevation information of the nearby interpolation point of the associated class 3 fence according to the nearby point, and the vehicle state mark is changed into true;
step 2.2, when the vehicle runs on a ramp or runs through a tunnel, matching elevation information of an electronic fence area corresponding to the current road, and when the vehicle runs out of the current electronic fence area, matching nearby type 2 or type 3 fence information according to the current approach point, wherein the specific steps are as follows:
a, when a vehicle enters a class 2 electronic fence area, the vehicle enters an elevated main road from a ramp, and the vehicle elevation is matched with the elevation of an adjacent interpolation point according to the electronic fence area corresponding to the current elevated main road;
b, when the vehicle enters a 3 rd fence area, representing a ramp changing ramp, and performing adjacent interpolation point elevation matching on the vehicle elevation according to the electronic fence area corresponding to the currently matched ramp;
and 2.3, matching the type 3 electronic fence area according to the current nearby point when the vehicle runs out of the current ramp from the overhead, and performing nearby interpolation point elevation matching according to the corresponding electronic fence area.
Further, if the situation that the type 3 electronic fence area does not exist in the preset range represents that the vehicle is switched from the current ramp to other common roads or the vehicle passes through a tunnel from the lower part and enters the common road on the ground, the vehicle elevation is subjected to near point matching according to the type elevation of the road on the ground, and the vehicle state mark at the moment is changed into false.
As a second aspect of the present invention, there is provided an elevation matching system for a vehicle on a three-dimensional high-precision map road, the system comprising a road type marking module and an elevation calculation module;
the road type marking module is used for formulating a corresponding electronic fence rule based on the road type and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
the elevation calculation module is used for acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
Further, the road type marking module is specifically configured to:
defining a road of a ground type as a class 1 electronic fence area, and marking a corresponding road mark on a three-dimensional high-precision map as 1;
defining the elevated type road as a type 2 electronic fence area, and marking a corresponding road as 2 on a three-dimensional high-precision map;
defining a ramp or tunnel type road as a 3 rd type electronic fence area, and marking a corresponding road as 3 on a three-dimensional high-precision map;
and defining a 4 th type electronic fence area for the road at the upper ramp or the tunnel, and marking the corresponding road as 4 on the three-dimensional high-precision map.
Further, the ground type roads include general ground roads, elevated below roads, and general roads on the ground, and the elevated type roads include elevated road sections and elevated type expressways.
Further, the elevation calculation module is specifically configured to:
when the vehicle runs on a common road or an elevated lower road, giving a default status mark to the vehicle as false, matching a class 4 electronic fence area in a preset range based on longitude and latitude uploaded by the vehicle, and judging as follows:
a, if no 4 th type electronic fence area exists nearby or the current coordinate point does not enter the 4 th type fence area in matching, the vehicle does not enter a ramp or a road through which a tunnel is required to pass downwards, and the vehicle elevation is matched with the nearby point according to the ground road type elevation;
b, the vehicle enters a matched upper class 4 electronic fence area, represents a road section which is required to pass through when the vehicle enters a ramp or a underpass tunnel, the vehicle elevation is matched with the elevation information of the nearby interpolation point of the associated class 3 fence according to the nearby point, and the vehicle state mark is changed into true;
when a vehicle runs on a ramp or passes through a tunnel, matching elevation information of an electronic fence area corresponding to a current road, and when the vehicle runs out of the current electronic fence area, matching nearby 2 nd or 3 rd fence information according to a current near point, wherein the method specifically comprises the following steps:
a, when a vehicle enters a class 2 electronic fence area, the vehicle enters an elevated main road from a ramp, and the vehicle elevation is matched with the elevation of an adjacent interpolation point according to the electronic fence area corresponding to the current elevated main road;
b, when the vehicle enters a 3 rd fence area, representing a ramp changing ramp, and performing adjacent interpolation point elevation matching on the vehicle elevation according to the electronic fence area corresponding to the currently matched ramp;
when the vehicle runs out of the current ramp from the overhead, matching the class 3 electronic fence area according to the current nearby point, and performing nearby interpolation point elevation matching according to the corresponding electronic fence area; if the situation that the type 3 electronic fence area does not exist in the preset range represents that the vehicle is switched to other common roads from the current ramp or the vehicle passes through the tunnel from the lower part and enters the common road on the ground, the vehicle elevation is matched with the nearby point according to the type elevation of the road on the ground, and the vehicle state mark at the moment is changed to be false.
The invention has the following beneficial effects:
under the premise of only providing longitude and latitude, the invention provides an elevation matching method and system for a vehicle on a three-dimensional high-precision map road.
Drawings
FIG. 1 is a schematic flow chart of an elevation matching method for a vehicle on a three-dimensional high-precision map road according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a three-dimensional high-precision map marker provided in an embodiment of the present invention.
Detailed Description
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 only a part of the present invention, and not all embodiments. 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.
As shown in fig. 1, as a first embodiment of the present invention, there is provided an elevation matching method of a vehicle on a three-dimensional high-precision map road, the method including the steps of:
step 1, formulating a corresponding electronic fence rule based on a road type, and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
and 2, acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
Preferably, step 1 specifically includes:
defining a ground type road as a class 1 electronic fence area, marking a corresponding road mark as 1 on a three-dimensional high-precision map, wherein the ground type road comprises a common ground road, an elevated lower road and a common road on the ground;
defining an elevated type road as a type 2 electronic fence area, and marking a corresponding road as 2 on a three-dimensional high-precision map, wherein the elevated type road comprises an elevated road section and an elevated type expressway;
defining a ramp or tunnel type road as a 3 rd type electronic fence area, and marking a corresponding road as 3 on a three-dimensional high-precision map;
and defining a 4 th type electronic fence area for the road at the upper ramp or the tunnel, and marking the corresponding road as 4 on the three-dimensional high-precision map.
In the above embodiments, the present invention covers the road surface with polygons, which is called electronic fence area, and the fence types are classified into 4 types according to the road types, wherein the electronic fence area is not required to be set in the 1 st type.
It should be noted that the above embodiment needs a front rule, i.e. a vehicle on-line rule, which specifies that the vehicle can only go on-line from the ground road, but cannot go on-line directly from the inside of the elevated road or the tunnel.
Preferably, step 2 specifically comprises:
step 2.1, when the vehicle runs on a common road or an elevated lower road, giving a default status flag to the vehicle as false, matching a category 4 electronic fence area within a preset range (for example, within 30 m) based on longitude and latitude uploaded by the vehicle, and judging as follows:
a, if no 4 th type electronic fence area exists nearby or the current coordinate point does not enter the 4 th type fence area in matching, the vehicle does not enter a ramp or a road through which a tunnel is required to pass downwards, and the vehicle elevation is matched with the nearby point according to the ground road type elevation;
b, the vehicle enters a matched upper class 4 electronic fence area, represents a road section which is required to pass through when the vehicle enters a ramp or a underpass tunnel, the vehicle elevation is matched with the elevation information of the nearby interpolation point of the associated class 3 fence according to the nearby point, and the vehicle state mark is changed into true;
step 2.2, when the vehicle runs on a ramp or runs through a tunnel, matching elevation information of an electronic fence area corresponding to the current road, and when the vehicle runs out of the current electronic fence area, matching nearby type 2 or type 3 fence information according to the current approach point, wherein the specific steps are as follows:
a, when a vehicle enters a class 2 electronic fence area, the vehicle enters an elevated main road from a ramp, and the vehicle elevation is matched with the elevation of an adjacent interpolation point according to the electronic fence area corresponding to the current elevated main road;
b, when the vehicle enters a 3 rd fence area, representing a ramp changing ramp, and performing adjacent interpolation point elevation matching on the vehicle elevation according to the electronic fence area corresponding to the currently matched ramp;
step 2.3, when the vehicle runs out of the current ramp from the overhead, matching the 3 rd type electronic fence area according to the current nearby point, and performing nearby interpolation point elevation matching according to the corresponding electronic fence area; if the situation that the type 3 electronic fence area does not exist in the preset range represents that the vehicle is switched to other common roads from the current ramp or the vehicle passes through the tunnel from the lower part and enters the common road on the ground, the vehicle elevation is matched with the nearby point according to the type elevation of the road on the ground, and the vehicle state mark at the moment is changed to be false.
In addition, when the vehicle runs out of the current elevated road on the elevated main road, the nearby third type fence area is matched to judge and process the lower elevated ramp, at this time, a special condition needs to be marked, the elevated main road may have no ramp to directly access to the ground express way, at this time, a part of the road which runs out needs to be planned as the 3 rd type fence, and at the same time, the corresponding 4 th type fence is added to the running direction under the condition to be used as the judgment and processing condition of the upper elevated road.
The principles of the present invention are further illustrated below by way of a map of a high speed and overhead junction, as shown in FIG. 2, where the numerical designations represent the respective types of roads, as follows;
when a vehicle runs from a ground road section (namely a class 1 fence) to a toll station to enter a class 4 fence, the vehicle enters an elevated ramp and is matched with the class 3 fence elevation at the moment, the vehicle continues to run to the junction of ramps and enters another ramp with black display, the vehicle is matched with the class 3 fence elevation at the moment, and the vehicle runs from the ramp to an elevated main road and is matched with the class 2 electronic fence elevation corresponding to the current elevated main road. And a ground road is arranged below the 3 rd class ramp with the black color, but the elevation of the ground road issued by the 3 rd class ramp is not matched with that of the overhead road because the 3 rd class fence does not have the associated four classes of ramps.
As a second embodiment of the invention, an elevation matching system for a vehicle on a three-dimensional high-precision map road is provided, which comprises a road type marking module and an elevation calculation module;
the road type marking module is used for formulating a corresponding electronic fence rule based on the road type and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
the elevation calculation module is used for acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An elevation matching method for a vehicle on a three-dimensional high-precision map road is characterized by comprising the following steps:
step 1, formulating a corresponding electronic fence rule based on a road type, and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
and 2, acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
2. The elevation matching method for the vehicle on the three-dimensional high-precision map road according to claim 1, wherein the step 1 specifically comprises the following steps:
defining a road of a ground type as a class 1 electronic fence area, and marking a corresponding road mark on a three-dimensional high-precision map as 1;
defining the elevated type road as a type 2 electronic fence area, and marking a corresponding road as 2 on a three-dimensional high-precision map;
defining a ramp or tunnel type road as a 3 rd type electronic fence area, and marking a corresponding road as 3 on a three-dimensional high-precision map;
and defining a 4 th type electronic fence area for the road at the upper ramp or the tunnel, and marking the corresponding road as 4 on the three-dimensional high-precision map.
3. The elevation matching method for a vehicle on a three-dimensional high-precision map road according to claim 1, wherein the ground-type road includes a general ground road, an elevated below road, and a general road on the ground, and the elevated-type road includes an elevated road section and an elevated type expressway.
4. The elevation matching method for the vehicle on the three-dimensional high-precision map road according to claim 2, wherein the step 2 specifically comprises:
step 2.1, when the vehicle runs on a common road or an elevated lower road, giving a default status mark to the vehicle as false, matching a class 4 electronic fence area in a preset range based on longitude and latitude uploaded by the vehicle, and judging as follows:
a, if no 4 th type electronic fence area exists nearby or the current coordinate point does not enter the 4 th type fence area in matching, the vehicle does not enter a ramp or a road through which a tunnel is required to pass downwards, and the vehicle elevation is matched with the nearby point according to the ground road type elevation;
b, the vehicle enters a matched upper class 4 electronic fence area, represents a road section which is required to pass through when the vehicle enters a ramp or a underpass tunnel, the vehicle elevation is matched with the elevation information of the nearby interpolation point of the associated class 3 fence according to the nearby point, and the vehicle state mark is changed into true;
step 2.2, when the vehicle runs on a ramp or runs through a tunnel, matching elevation information of an electronic fence area corresponding to the current road, and when the vehicle runs out of the current electronic fence area, matching nearby type 2 or type 3 fence information according to the current approach point, wherein the specific steps are as follows:
a, when a vehicle enters a class 2 electronic fence area, the vehicle enters an elevated main road from a ramp, and the vehicle elevation is matched with the elevation of an adjacent interpolation point according to the electronic fence area corresponding to the current elevated main road;
b, when the vehicle enters a 3 rd fence area, representing a ramp changing ramp, and performing adjacent interpolation point elevation matching on the vehicle elevation according to the electronic fence area corresponding to the currently matched ramp;
and 2.3, matching the type 3 electronic fence area according to the current nearby point when the vehicle runs out of the current ramp from the overhead, and performing nearby interpolation point elevation matching according to the corresponding electronic fence area.
5. The method as claimed in claim 4, wherein if there is no type 3 electric fence area within the predetermined range, the vehicle is switched from the current ramp to another ordinary road, or the vehicle passes through a tunnel from below and enters the ordinary road on the ground, the vehicle elevation is matched at a nearby point according to the type elevation of the road on the ground, and the vehicle status flag at this time is changed to false.
6. The elevation matching system for the vehicle on the three-dimensional high-precision map road is characterized by comprising a road type marking module and an elevation calculation module;
the road type marking module is used for formulating a corresponding electronic fence rule based on the road type and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
the elevation calculation module is used for acquiring longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
7. The elevation matching system for a vehicle on a three-dimensional high-precision map road according to claim 6, wherein the road type marking module is specifically configured to:
defining a road of a ground type as a class 1 electronic fence area, and marking a corresponding road mark on a three-dimensional high-precision map as 1;
defining the elevated type road as a type 2 electronic fence area, and marking a corresponding road as 2 on a three-dimensional high-precision map;
defining a ramp or tunnel type road as a 3 rd type electronic fence area, and marking a corresponding road as 3 on a three-dimensional high-precision map;
and defining a 4 th type electronic fence area for the road at the upper ramp or the tunnel, and marking the corresponding road as 4 on the three-dimensional high-precision map.
8. The elevation matching system for a vehicle on a three-dimensional high-precision map road according to claim 7, wherein the ground-type road includes a general ground road, an elevated below road, and a general road on the ground, and the elevated-type road includes an elevated road section and an elevated type expressway.
9. The system for matching the elevation of a vehicle on a three-dimensional high-precision map road according to claim 7, wherein the elevation calculation module is specifically configured to:
when the vehicle runs on a common road or an elevated lower road, giving a default status mark to the vehicle as false, matching a class 4 electronic fence area in a preset range based on longitude and latitude uploaded by the vehicle, and judging as follows:
a, if no 4 th type electronic fence area exists nearby or the current coordinate point does not enter the 4 th type fence area in matching, the vehicle does not enter a ramp or a road through which a tunnel is required to pass downwards, and the vehicle elevation is matched with the nearby point according to the ground road type elevation;
b, the vehicle enters a matched upper class 4 electronic fence area, represents a road section which is required to pass through when the vehicle enters a ramp or a underpass tunnel, the vehicle elevation is matched with the elevation information of the nearby interpolation point of the associated class 3 fence according to the nearby point, and the vehicle state mark is changed into true;
when a vehicle runs on a ramp or passes through a tunnel, matching elevation information of an electronic fence area corresponding to a current road, and when the vehicle runs out of the current electronic fence area, matching nearby 2 nd or 3 rd fence information according to a current near point, wherein the method specifically comprises the following steps:
a, when a vehicle enters a class 2 electronic fence area, the vehicle enters an elevated main road from a ramp, and the vehicle elevation is matched with the elevation of an adjacent interpolation point according to the electronic fence area corresponding to the current elevated main road;
b, when the vehicle enters a 3 rd fence area, representing a ramp changing ramp, and performing adjacent interpolation point elevation matching on the vehicle elevation according to the electronic fence area corresponding to the currently matched ramp;
when the vehicle runs out of the current ramp from the overhead, matching the class 3 electronic fence area according to the current nearby point, and performing nearby interpolation point elevation matching according to the corresponding electronic fence area; if the situation that the type 3 electronic fence area does not exist in the preset range represents that the vehicle is switched to other common roads from the current ramp or the vehicle passes through the tunnel from the lower part and enters the common road on the ground, the vehicle elevation is matched with the nearby point according to the type elevation of the road on the ground, and the vehicle state mark at the moment is changed to be false.
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