CN114152262B - Method, device and equipment for generating guide belt - Google Patents
Method, device and equipment for generating guide belt Download PDFInfo
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- 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
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Abstract
The application relates to a method, a device and equipment for generating a guide belt. The method comprises the following steps: acquiring two boundary lane lines with coincident starting end points on an intersection area; connecting the starting end point and the tail end point of each boundary lane line to generate two connecting lines; determining the dividing points on each connecting line according to a preset dividing interval value; connecting each division point on one connection line with a corresponding division point on the other connection line to generate a plurality of intersecting lines; connecting the intersecting lines with two intersecting points at which two boundary lane lines intersect respectively to generate a plurality of set side lines; selecting a corresponding set point at one side of each set edge far from the starting end point of the boundary lane line; and connecting each set point with two end points of a corresponding set edge line to generate a diversion belt. According to the scheme, the diversion belt can be automatically generated, the high-precision map drawing efficiency is improved, and the navigation experience is optimized.
Description
Technical Field
The present disclosure relates to the field of navigation technologies, and in particular, to a method, an apparatus, and a device for generating a flow guiding belt.
Background
With the development of artificial intelligence, automatic driving and other technologies, the construction of intelligent traffic also becomes a research hotspot, and a high-precision map is an indispensable part in the construction of intelligent traffic data. The manufacturing of the high-precision map requires drawing of a guide belt, and the guide belt can provide data support for navigation in application scenes such as automatic driving. The guide belt is mainly applied to an excessively wide, irregular or complex intersection, and has the function of standardizing that vehicles run on the road section, the intersection and the entrance according to a specified line, and warning drivers that the vehicles cannot run on the line or run beyond the line.
However, in the related art, the generation of the guide belt is generally completed through manual drawing, and the guide belt cannot be automatically generated in the high-precision map, so that the drawing efficiency of the high-precision map is affected, and the navigation experience is affected.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method, a device and equipment for generating a guide belt, which can automatically generate the guide belt, improve the drawing efficiency of a high-precision map and optimize the navigation experience.
The first aspect of the present application provides a method for generating a flow guiding belt, including:
acquiring two boundary lane lines with coincident starting end points on an intersection area;
connecting the starting end point and the tail end point of each boundary lane line to generate two connecting lines;
determining the dividing points on each connecting line according to a preset dividing interval value;
connecting each division point on one connection line with a corresponding division point on the other connection line to generate a plurality of intersecting lines;
connecting the intersecting lines with two intersecting points at which two boundary lane lines intersect respectively to generate a plurality of set side lines;
selecting a corresponding set point at one side of each set edge far from the starting end point of the boundary lane line;
and connecting each set point with two end points of a corresponding set edge line to generate a diversion belt.
In one embodiment, each connecting line has N dividing points, where N is a positive integer greater than 1; the distance between the N-th adjacent dividing point and the N-1-th adjacent dividing point on the connecting line is the preset dividing distance value, and the distance between the 1-th adjacent dividing point on the connecting line and the starting end point of the boundary lane line is the preset dividing distance value.
In one embodiment, the preset dividing distance value is determined according to a preset length value and an included angle between the two connecting lines.
In one embodiment, the preset dividing distance value is equal to a cosine value corresponding to a half of an included angle between the two connecting lines divided by the preset length value.
In one embodiment, the predetermined length value is two meters.
In one embodiment, each set point and a corresponding set edge form an isosceles triangle, the set edge is a base of the isosceles triangle, the set point is a vertex angle point of the isosceles triangle, and the position of the set point is determined according to a preset vertex angle value of the isosceles triangle.
In one embodiment, the preset vertex angle value is 90 degrees.
A second aspect of the present application provides a device for generating a flow guiding strip, including:
the acquisition module is used for acquiring two boundary lane lines with coincident starting end points on the intersection area;
the first generation module is used for connecting the starting end point and the tail end point of each boundary lane line to generate two connecting lines;
the determining module is used for determining the dividing points on each connecting line according to a preset dividing interval value;
the second generation module is used for connecting each division point on one connecting line with a corresponding division point on the other connecting line to generate a plurality of intersecting lines;
the third generation module is used for connecting the intersection lines with two intersection points where the two boundary lane lines intersect respectively to generate a plurality of set side lines;
the selecting module is used for selecting a corresponding set point at one side of each set edge far away from the starting endpoint of the boundary lane line;
and the fourth generation module is used for connecting each set point with two end points of a corresponding set edge line to generate a diversion belt.
A third aspect of the present application provides an electronic device, comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme that this application provided can include following beneficial effect:
according to the method, the two boundary lane lines with the coincident initial end points on the intersection area are obtained, so that the initial end points and the tail end points of the boundary lane lines can be connected to generate two connecting lines; according to the preset segmentation interval value, the segmentation points on each connecting line can be determined; connecting each dividing point on one connecting line with a corresponding dividing point on the other connecting line to generate a plurality of intersecting lines; the intersecting lines are respectively connected with two intersecting points at which the two boundary lane lines intersect, so that a plurality of set side lines are generated; selecting a corresponding set point at one side of each set edge far from the initial end point of the boundary lane line, and connecting each set point with two end points of the corresponding set edge line to obtain a plurality of current guiding lines so as to generate a current guiding belt. Therefore, the guide belt can be automatically generated, the drawing efficiency of the high-precision map is improved, and the navigation experience is optimized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flow chart of a method for generating a guide belt according to an embodiment of the present application;
fig. 2 is a schematic diagram of a generating process of a guide belt according to an embodiment of the present application;
fig. 3 is another schematic diagram of a generating process of a guide belt according to an embodiment of the present application;
fig. 4 is another schematic diagram of a generating process of a guide belt according to an embodiment of the present application;
fig. 5 is another schematic diagram of a generating process of a guide belt according to an embodiment of the present application;
fig. 6 is another schematic diagram of a generating process of a guide belt according to an embodiment of the present application;
fig. 7 is another schematic diagram of a generating process of a guide belt according to an embodiment of the present application;
fig. 8 is a schematic structural view of a flow guide belt generating device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the related art, the generation of the guide belt is generally completed through manual drawing, and the guide belt cannot be automatically generated in the high-precision map, so that the drawing efficiency of the high-precision map is affected, and the navigation experience is affected.
Aiming at the problems, the embodiment of the application provides a generation method of a guide belt, which can automatically generate the guide belt, improve the drawing efficiency of a precise map and optimize the navigation experience.
The following describes the technical scheme of the embodiments of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for generating a guide belt according to an embodiment of the present application.
Referring to fig. 1, the method includes:
step S101, acquiring two boundary lane lines with coincident starting end points in an intersection area.
Wherein, two boundary lane lines are the boundary line of guiding belt. Further, two boundary lane lines with coincident starting end points in the intersection area can be obtained according to the Divider data resources on the vehicle. The two boundary lane lines with the starting end points coincident, that is, the intersection point of the two boundary lane lines is the starting end point of the two boundary lane lines.
The guide belt includes two boundary lane lines and a plurality of guide lines disposed between the two boundary lane lines. The guide belt is mainly applied to an excessively wide, irregular or complex intersection, and has the function of standardizing that vehicles run on the road section, the intersection and the entrance according to a specified line, and warning drivers that the vehicles cannot run on the line or run beyond the line.
Step S102, connecting the starting end point and the ending end point of each boundary lane line to generate two connecting lines.
In this step, see also FIG. 2, boundary lane line d as shown in FIG. 2 1 Boundary lane line d 2 Boundary lane line d 1 Is to (a)The connection between the start end point and the end point generates a connection line l 1 Boundary lane line d 2 The connection between the start terminal and the end terminal generates a connection line l 2 。
Step S103, determining the division points on each connecting line according to a preset division interval value.
In this step, the positions of the division points on each connecting line are determined by selecting the positions of the division points on each connecting line according to a preset division pitch value.
In an alternative embodiment, each connecting line has N dividing points, where N is a positive integer greater than 1; the distance between the N-th partition point and the N-1 th partition point which are adjacent on the connecting line is a preset partition distance value, and the distance between the 1 st partition point on the connecting line and the starting end point of the boundary lane line is a preset partition distance value.
For example, as shown in FIG. 3, there are 4 dividing points on each connecting line, connecting line l 1 The 1 st division point is P l11 The 2 nd division point is P l12 The 3 rd division point is P l13 The 4 th division point is P l14 Connecting line l 2 The 1 st division point is P l21 The 2 nd division point is P l22 The 3 rd division point is P l23 The 4 th division point is P l24 . Connecting line l 1 The distance between two adjacent dividing points is a preset dividing distance value d', and the connecting line l is connected with the two adjacent dividing points 1 The 1 st division point is P l11 And boundary lane line d 1 The distance between the starting points of the two adjacent segments is a preset segmentation interval value d'; connecting line l 2 The distance between two adjacent dividing points is a preset dividing distance value d', and the connecting line l is connected with the two adjacent dividing points 2 The 1 st division point is P l21 And boundary lane line d 2 The distance between the start points of (a) is a preset division pitch value d'.
The preset dividing distance value can be determined according to a preset length value and an included angle between the two connecting lines. In an alternative embodiment, the preset dividing distance value is equal to a cosine value corresponding to a preset length value divided by a half of an included angle between the two connecting lines. As shown in fig. 4, two connecting linesThe angle between them, i.e. the connecting line l shown in FIG. 4 1 And connecting line l 2 And an included angle alpha between them. The preset length value is the length value of the line segment d shown in fig. 4. The preset division pitch value is the length value of the line segment d' shown in fig. 4. It can be found that the two line segments d' are respectively the connecting lines l 1 And connecting line l 1 Two line segments d' and the included angle alpha can form an isosceles triangle, wherein the line segment d is an angular bisector of the included angle alpha, and the line segment d is also the height of the isosceles triangle. From this, it can be derived that:
that is, the preset dividing distance value d' is equal to the cosine value corresponding to the preset length value d divided by the half of the included angle α between the two connecting lines, i.e. the preset dividing distance value is equal to the cosine value corresponding to the preset length value divided by the half of the included angle between the two connecting lines. Preferably, the preset length value may take a value of two meters.
Step S104, each division point on one connection line is connected with a corresponding division point on the other connection line, and a plurality of intersecting lines are generated.
In this step, as shown in fig. 5, the connection line l 1 With a plurality of dividing points P l11 、P l12 、P l13 、P l14 Connecting line l 2 With a plurality of dividing points P l21 、P l22 、P l23 、P l24 The division point P can be divided l11 And the dividing point P l21 Connected to generate an intersecting line X 1 . Similarly, P is l12 And P l22 Is connected to P l13 And P l23 Is connected to P l14 And P l24 Connected to generate an intersecting line X 2 Intersecting line X 3 Intersecting line X 4 . The intersecting lines may be parallel to each other, and the distance between two adjacent intersecting lines may be equal.
Step S105, connecting the intersecting lines with two intersecting points where the two boundary lane lines intersect respectively, and generating a plurality of set side lines.
Since each intersection line intersects with two boundary lane lines, in this step, the intersection lines may be connected with two intersection points at which the two boundary lane lines intersect, respectively, to generate a plurality of set side lines. It will be appreciated that each set edge is a segment of its corresponding intersection line, that is, each intersection line corresponds to a set edge. Two endpoints of the side line, namely two intersection points of the corresponding intersection lines and the two boundary lane lines are set. As shown in FIG. 6, the intersection line X 1 Correspondingly set side line Y 1 Intersecting line X 2 Correspondingly set side line Y 2 Intersecting line X 2 Correspondingly set side line Y 2 Intersecting line X 2 Correspondingly set side line Y 2 。
Step S106, selecting a corresponding set point at one side of each set edge far from the starting end point of the boundary lane line.
In this step, each set point corresponds to a set edge, and the set point is located on the side of its corresponding set edge away from the starting end point of the boundary lane line.
In one embodiment, each set point and a corresponding set edge form an isosceles triangle, the set edge is the bottom side of the isosceles triangle, the set point is the top corner point of the isosceles triangle, and the position of the set point is determined according to the preset top corner value of the isosceles triangle. That is, for a selected setpoint, the setpoint may be co-configured with a corresponding set edge line to form an isosceles triangle, and the setpoint is the vertex point of the isosceles triangle, and the set edge line is the base of the isosceles triangle. In this way, the specific position of the setpoint can be determined from a determined preset vertex angle value of the isosceles triangle. Preferably, the preset vertex angle value may be 90 degrees.
For example, as shown in FIG. 6, set point O 1 To set the edge line Y 1 Corresponding set point, set point O 1 And set the edge line Y 1 Can form an isosceles triangle and set a side line Y 1 Set point O for the base of isosceles triangle 1 Apex angle of isosceles trianglePoint, setpoint O 1 The corresponding vertex angle value can take 90 degrees, namely the preset vertex angle value is 90 degrees. Similarly, set point O 2 To set the edge line Y 2 The corresponding set point.
Step S107, each set point is connected with two end points of a corresponding set edge line to generate a diversion belt.
In this step, the set point is connected to both ends of its corresponding set edge to generate a current lead, which is understood to be "chevron" shaped. The plurality of flow conductors together form a flow conductor, that is to say the flow conductor produced comprises a plurality of flow conductors. For example, as shown in fig. 6 and 7, the flow guide line Z 1 For the set point O 1 Corresponding guide line, guide line Z 2 For the set point O 2 Corresponding guide line, guide line Z 3 For the set point O 3 Corresponding guide line, guide line Z 4 For the set point O 4 A corresponding drain line.
As can be seen from this embodiment, in the method provided by the present application, by acquiring two boundary lane lines with coincident start end points in the intersection area, the start end point and the end point of each boundary lane line can be connected to generate two connecting lines; according to the preset segmentation interval value, the segmentation points on each connecting line can be determined; connecting each dividing point on one connecting line with a corresponding dividing point on the other connecting line to generate a plurality of intersecting lines; the intersecting lines are respectively connected with two intersecting points at which the two boundary lane lines intersect, so that a plurality of set side lines are generated; selecting a corresponding set point at one side of each set edge far from the initial end point of the boundary lane line, and connecting each set point with two end points of the corresponding set edge line to obtain a plurality of current guiding lines so as to generate a current guiding belt. Therefore, the guide belt can be automatically generated, the drawing efficiency of the high-precision map is improved, and the navigation experience is optimized.
Corresponding to the embodiment of the application function implementation method, the application further provides a device for generating the guide belt, electronic equipment and corresponding embodiments.
Fig. 8 is a schematic structural view of a flow guide tape generating device according to an embodiment of the present invention.
Referring to fig. 8, a device for generating a guide belt includes: an acquisition module 801, a first generation module 802, a determination module 803, a second generation module 804, a third generation module 805, a selection module 806, and a fourth generation module 807.
An obtaining module 801, configured to obtain two boundary lane lines with coincident start endpoints in an intersection area.
The first generating module 802 is configured to connect a start endpoint and an end endpoint of each boundary lane line to generate two connecting lines.
A determining module 803, configured to determine a division point on each connection line according to a preset division pitch value.
The second generating module 804 is configured to connect each division point on one connection line with a corresponding division point on another connection line, so as to generate a plurality of intersecting lines.
And a third generating module 805, configured to connect the intersecting lines with two intersecting points where the two boundary lane lines intersect, and generate a plurality of set edges.
The selecting module 806 is configured to select a corresponding set point on a side of each set edge far from the start point of the boundary lane line.
A fourth generating module 807, configured to connect each set point with two end points of a corresponding set edge, and generate a diversion band.
From the example, the device provided by the application can automatically generate the guide belt, improve the drawing efficiency of the precise map and optimize the navigation experience.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
Fig. 9 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 9, an electronic device 900 includes a memory 910 and a processor 920.
The processor 920 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 910 may include various types of storage units such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions required by the processor 920 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 910 may include any combination of computer-readable storage media including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks may also be employed. In some implementations, memory 910 may include a readable and/or writable removable storage device such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a blu-ray read only disc, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disk, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 910 has stored thereon executable code that, when processed by the processor 920, can cause the processor 920 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or a server, etc.), causes the processor to perform part or all of the steps of the above-described methods according to the present application.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method of generating a guide strip, comprising:
acquiring two boundary lane lines with coincident starting end points on an intersection area according to the parting line data resources;
connecting the starting end point and the tail end point of each boundary lane line to generate two connecting lines;
determining the dividing points on each connecting line according to a preset dividing interval value;
connecting each division point on one connection line with a corresponding division point on the other connection line to generate a plurality of intersecting lines;
connecting the intersecting lines with two intersecting points at which two boundary lane lines intersect respectively to generate a plurality of set side lines;
selecting a corresponding set point at one side of each set edge far from the starting end point of the boundary lane line;
and connecting each set point with two end points of a corresponding set edge line to generate a diversion belt.
2. The method according to claim 1, characterized in that:
n dividing points are arranged on each connecting line, and N is a positive integer greater than 1; the distance between the N-th adjacent dividing point and the N-1-th adjacent dividing point on the connecting line is the preset dividing distance value, and the distance between the 1-th adjacent dividing point on the connecting line and the starting end point of the boundary lane line is the preset dividing distance value.
3. The method according to claim 1, characterized in that:
the preset dividing distance value is determined according to a preset length value and an included angle between the two connecting lines.
4. A method according to claim 3, characterized in that:
the preset dividing distance value is equal to the cosine value corresponding to the preset length value divided by half of the included angle between the two connecting lines.
5. The method according to claim 4, wherein:
the preset length value is two meters.
6. The method according to claim 1, characterized in that:
each set point and a corresponding set side line form an isosceles triangle, the set side line is the bottom edge of the isosceles triangle, the set point is the vertex angle point of the isosceles triangle, and the position of the set point is determined according to the preset vertex angle value of the isosceles triangle.
7. The method according to claim 6, wherein:
the preset vertex angle value is 90 degrees.
8. A device for generating a guide belt, comprising:
the acquisition module is used for acquiring two boundary lane lines with coincident starting end points on the intersection area according to the parting line data resources;
the first generation module is used for connecting the starting end point and the tail end point of each boundary lane line to generate two connecting lines;
the determining module is used for determining the dividing points on each connecting line according to a preset dividing interval value;
the second generation module is used for connecting each division point on one connecting line with a corresponding division point on the other connecting line to generate a plurality of intersecting lines;
the third generation module is used for connecting the intersection lines with two intersection points where the two boundary lane lines intersect respectively to generate a plurality of set side lines;
the selecting module is used for selecting a corresponding set point at one side of each set edge far away from the starting endpoint of the boundary lane line;
and the fourth generation module is used for connecting each set point with two end points of a corresponding set edge line to generate a diversion belt.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-7.
10. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1-7.
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