CN114494505A - Road outside line construction method and system, electronic device and storage medium - Google Patents
Road outside line construction method and system, electronic device and storage medium Download PDFInfo
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- CN114494505A CN114494505A CN202111522036.2A CN202111522036A CN114494505A CN 114494505 A CN114494505 A CN 114494505A CN 202111522036 A CN202111522036 A CN 202111522036A CN 114494505 A CN114494505 A CN 114494505A
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- 238000010276 construction Methods 0.000 title claims description 16
- 238000002955 isolation Methods 0.000 claims abstract description 75
- 238000000034 method Methods 0.000 claims abstract description 18
- 238000010586 diagram Methods 0.000 description 13
- 238000004590 computer program Methods 0.000 description 11
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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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
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Abstract
The invention provides a method and a system for constructing a road outer side line, electronic equipment and a storage medium, wherein the method for constructing the road outer side line comprises the following steps: acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities; and orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line. The invention generates the road outer side line based on the geometry of the physical isolation facility, and solves the problems that the geometric precision can not be ensured and measured, the manual operation consumes much time and the like when most of the conventional map manufacturers draw the road outer side line manually.
Description
Technical Field
The invention relates to the field of high-precision map data processing, in particular to a road outside line construction method and system, electronic equipment and a storage medium.
Background
Based on the application requirements of automatic driving, high-precision map data needs to provide a maximum driving area (ODD), and the general map data is expressed by a road outer side line to construct a physical area of maximum driving of a motor vehicle for physical isolation facilities on two sides of a road. At present, high-precision map data physical isolation facilities comprise physical elements such as guardrails, curbstones and walls, and road outer side lines need to be drawn based on the physical isolation facilities, most of map manufacturers draw the road outer side lines manually at present, and the problems that geometric precision cannot be guaranteed and measured, manual operation consumes much time and the like exist.
Disclosure of Invention
The invention provides a road outside line construction method, a road outside line construction system, electronic equipment and a storage medium, aiming at the technical problems in the prior art.
According to a first aspect of the present invention, there is provided a road lateral line construction method, comprising:
acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities;
and orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to obtain the road outer line includes:
extracting a plurality of first shape points on the lane outer side line;
on a two-dimensional plane, orthographically projecting each first shape point onto a physical isolation facility adjacent to the lane outer side line to obtain a plurality of corresponding second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the lane outer side line;
and generating a smoothly connected road outer side line according to the plurality of second shape points.
Optionally, the extracting a plurality of first shape points on the lane outer side line includes:
and uniformly extracting a plurality of first shape points on the lane outer side line.
Optionally, the orthographically projecting each first shape point onto a physical isolation facility adjacent to the lane outer side line on the two-dimensional plane to obtain a plurality of corresponding second shape points, further includes:
and if the adjacent physical isolation facilities cannot be found by the projection of the first shape point on the lane outer side line, generating a corresponding road outer side line section based on the lane outer side line section corresponding to the missing physical isolation facility section for the missing physical isolation facility section.
Optionally, for a missing physical isolation facility section, generating a corresponding road outer side line section based on a lane outer side line section corresponding to the missing physical isolation facility section includes:
finding a corresponding plurality of first shape points based on the missing physical isolation facility section;
fitting to obtain a lane outer side line section based on the plurality of first shape points;
based on the lane outer line sections, corresponding road outer line sections are generated, the road outer line sections being parallel to the lane outer line sections, the distance between the road outer line sections and the lane outer line sections being equal to the distance of the road outer line sections and the lane outer line sections where the physical isolation facility sections are present.
Optionally, the orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on the two-dimensional plane to obtain the road outer line, and then further including:
the source of the road outer side line generated based on the physical isolation facility projection is recorded as the corresponding physical isolation facility type; the source of the road outer side line generated by the physical isolation area is recorded as virtual.
According to a second aspect of the present invention, there is provided a road siding construction system, comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring high-precision map data which comprises lane outer lines and physical isolation facilities;
and the generating module is used for orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the outside road line construction method when executing a computer management-like program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management-like program which, when executed by a processor, implements the steps of the outside road line construction method.
According to the method and the system for constructing the road outer side line, the electronic equipment and the storage medium, the road outer side line is generated based on the geometry of the physical isolation facility, and the problems that at present, most of map manufacturers manually draw the road outer side line, the geometric accuracy cannot be guaranteed and measured, the manual operation consumes much time and the like are solved.
Drawings
FIG. 1 is a flow chart of a method for constructing a road lateral line according to the present invention;
FIG. 2 is a schematic view of projecting lane outer lines to a physical isolation facility;
FIG. 3 is a schematic view of a missing physical isolation facility section;
FIG. 4 is a schematic diagram of the generation of an outside road line for a missing physical isolation facility section;
FIG. 5 is an overall flowchart of a road outside line construction method;
FIG. 6 is a schematic structural diagram of a road outside line construction system provided by the present invention;
FIG. 7 is a schematic diagram of a hardware structure of a possible electronic device according to the present invention;
fig. 8 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Example one
A road outer side line construction method is disclosed, referring to FIG. 1, and mainly comprises the following steps:
and S1, acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities.
It is understood that high-precision map data is acquired from the high-precision map database, and lane outer lines and physical isolation facilities (guardrails, curbs, walls, etc.) in the map data are acquired.
And S2, orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
As an embodiment, the orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to obtain a road outer line includes: extracting a plurality of first shape points on the lane outer side line; on a two-dimensional plane, orthographically projecting each first shape point onto a physical isolation facility adjacent to the lane outer side line to obtain a plurality of corresponding second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the lane outer side line; and generating a smoothly connected road outer side line according to the plurality of second shape points.
Specifically, a plurality of shape points are uniformly extracted on the acquired lane outer side line, which are called first shape points, for example, one shape point is extracted every 1m on the lane outer side line, and a plurality of first shape points are extracted.
Referring to fig. 2, on a two-dimensional plane, orthographically projecting each first shape point extracted from the lane outer side line onto a physical isolation facility adjacent to the lane outer side line to obtain a series of second shape points, and generating a smoothly connected lane outer side line according to the second shape points.
As an embodiment, the orthographically projecting each first shape point onto a physical isolation facility near the lane outer side line on a two-dimensional plane to obtain a plurality of corresponding second shape points further includes: and if the adjacent physical isolation facilities cannot be found by the projection of the first shape point on the lane outer side line, generating a corresponding road outer side line section based on the lane outer side line section corresponding to the missing physical isolation facility section for the missing physical isolation facility section.
Specifically, referring to fig. 3, if the first shape point projection on the outer lane line cannot find the adjacent physical isolation facility, for example, the section C in fig. 3, there is no physical isolation facility, and therefore, the outer road line of the section cannot be generated according to the above-mentioned manner. In this case, the shape points of the front and rear outside road lines are acquired, and the outside road line for the section is generated by fitting a curve based on the shape points of the outside lane lines in the range.
As an embodiment, the generating, for a missing physical isolation facility section, a corresponding outside road line section based on a lane outside line section corresponding to the missing physical isolation facility section includes: finding a corresponding plurality of first shape points based on the missing physical isolation facility section; fitting to obtain a lane outer side line section based on the plurality of first shape points; based on the lane outer line sections, corresponding road outer line sections are generated, the road outer line sections being parallel to the lane outer line sections, the distance between the road outer line sections and the lane outer line sections being equal to the distance of the road outer line sections and the lane outer line sections where the physical isolation facility sections are present.
As shown in fig. 3 and 4: A. and the road outer side line of the section C is fitted with a curve, namely the lane outer side line of the section according to a plurality of first shape points of the lane outer side line of the interval from Pt to Pm, and the road outer side line of the corresponding section is generated based on the lane outer side line of the section. For example, if the distance between the lane outer line and the road outer line of the sections a and B is L, the distance between the lane outer line and the road outer line of the section where the physical isolation facility is absent is also L.
Finally, after generating the road outer side line based on the lane outer side line, recording the source of the generated road outer side line, wherein the source of the road outer side line generated based on the physical isolation facility projection is recorded as the corresponding physical isolation facility type; the origin of the out-of-road line generated by the non-physical isolation area is recorded as virtual, for example, the out-of-road lines of the a section and the B section in fig. 4 are the type of physical isolation facility (guardrail, curb, wall, etc.), and the origin of the out-of-road line of the C section is virtual.
Example two
A method of constructing an outside road lane, referring to fig. 5, the method of constructing an outside road lane comprising: and acquiring high-precision data from the high-precision database, wherein the high-precision data comprises lane outer lines and physical isolation facilities. The method comprises the steps of extracting a plurality of first shape points on a lane outer side line, orthographically projecting each first shape point on a physical isolation facility adjacent to the lane outer side line on a two-dimensional plane to obtain a plurality of corresponding second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the lane outer side line, and generating a road outer side line based on the plurality of second shape points obtained by projection.
If the adjacent physical isolation facilities cannot be found by the first shape point projection on the lane outer side line, shape points of the front and rear road outer side lines are obtained, and the road outer side line is generated by fitting a curve based on the shape points of the lane outer side lines in the range.
EXAMPLE III
An outside road lane building system, see fig. 6, comprising an obtaining module 601 and a generating module 602, wherein:
the acquisition module 601 is used for acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities;
a generating module 602, configured to orthographically project the lane outer line on a physical isolation facility adjacent to the lane outer line in a two-dimensional plane, so as to generate a road outer line.
It can be understood that the system for constructing the outer road line provided by the present invention corresponds to the method for constructing the outer road line provided by the foregoing embodiments, and the relevant technical features of the system for constructing the outer road line may refer to the relevant technical features of the method for constructing the outer road line, and are not described herein again.
Example four
Referring to fig. 7, fig. 7 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 7, an embodiment of the present invention provides an electronic device 700, which includes a memory 710, a processor 720 and a computer program 711 stored in the memory 710 and running on the processor 720, wherein the processor 720 implements the following steps when executing the computer program 711: acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities; and orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
EXAMPLE five
Referring to fig. 8, fig. 8 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 8, the present embodiment provides a computer-readable storage medium 800 having a computer program 811 stored thereon, the computer program 811 realizing the following steps when executed by a processor: acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities; and orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
According to the method and the system for constructing the road outer side line, the electronic device and the storage medium, the road outer side line is generated based on the geometry of the physical isolation facility, and the problems that at present, most of map manufacturers manually draw the road outer side line, the geometric accuracy cannot be guaranteed and measured, the manual operation consumes much time and the like are solved.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A road outside line construction method is characterized by comprising the following steps:
acquiring high-precision map data, wherein the high-precision map data comprises lane outer lines and physical isolation facilities;
and orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
2. The method for constructing an outside road line according to claim 1, wherein the orthographically projecting the outside lane line on a physical isolation facility adjacent to the outside lane line in a two-dimensional plane to obtain the outside road line comprises:
extracting a plurality of first shape points on the lane outer side line;
on a two-dimensional plane, orthographically projecting each first shape point onto a physical isolation facility adjacent to the lane outer side line to obtain a plurality of corresponding second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the lane outer side line;
and generating a smoothly connected road outer side line according to the plurality of second shape points.
3. The outside road line construction method according to claim 2, wherein the extracting a plurality of first shape points on the outside lane line includes:
and uniformly extracting a plurality of first shape points on the lane outer side line.
4. The method for constructing an outside road line according to claim 2, wherein the orthographically projecting each first shape point onto a physical isolation facility adjacent to the outside lane line on the two-dimensional plane to obtain a plurality of corresponding second shape points further comprises:
and if the adjacent physical isolation facilities cannot be found by the projection of the first shape point on the lane outer side line, generating a corresponding road outer side line section based on the lane outer side line section corresponding to the missing physical isolation facility section for the missing physical isolation facility section.
5. The method according to claim 4, wherein the generating, for a missing physical-isolation-facility section, a corresponding outside-roadway-line section based on the outside-lane-line section corresponding to the missing physical-isolation-facility section, comprises:
finding a corresponding plurality of first shape points based on the missing physical isolation facility section;
fitting to obtain a lane outer side line section based on the plurality of first shape points;
based on the lane outer line sections, corresponding road outer line sections are generated, the road outer line sections being parallel to the lane outer line sections, the distance between the road outer line sections and the lane outer line sections being equal to the distance of the road outer line sections and the lane outer line sections where the physical isolation facility sections are present.
6. The method for constructing an outside road line according to claim 5, wherein the orthographically projecting the outside lane line on a physical isolation facility adjacent to the outside lane line in a two-dimensional plane to obtain the outside road line, further comprises:
the source of the road outer side line generated based on the physical isolation facility projection is recorded as the corresponding physical isolation facility type; the source of the road outer side line generated by the physical isolation area is recorded as virtual.
7. A road siding construction system, comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring high-precision map data which comprises lane outer lines and physical isolation facilities;
and the generating module is used for orthographically projecting the lane outer line on a physical isolation facility adjacent to the lane outer line on a two-dimensional plane to generate a road outer line.
8. An electronic device, comprising a memory, a processor for implementing the steps of the method of constructing a road outside line according to any one of claims 1 to 6 when executing a computer management-like program stored in the memory.
9. A computer-readable storage medium, having stored thereon a computer management-like program which, when executed by a processor, implements the steps of the outside road line construction method according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111522036.2A CN114494505A (en) | 2021-12-13 | 2021-12-13 | Road outside line construction method and system, electronic device and storage medium |
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| CN202111522036.2A CN114494505A (en) | 2021-12-13 | 2021-12-13 | Road outside line construction method and system, electronic device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115077515A (en) * | 2022-08-19 | 2022-09-20 | 高德软件有限公司 | Data generation method and device, electronic equipment and computer program product |
| CN115631356A (en) * | 2022-11-28 | 2023-01-20 | 北京闪马智建科技有限公司 | Road facility missing identification method and device, storage medium and electronic device |
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| CN113157842A (en) * | 2021-04-13 | 2021-07-23 | 中移智行网络科技有限公司 | Map generation method and device, electronic equipment and readable storage medium |
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| CN111062958A (en) * | 2019-11-21 | 2020-04-24 | 滁州学院 | Urban road element extraction method |
| CN111874006A (en) * | 2020-08-05 | 2020-11-03 | 腾讯科技（深圳）有限公司 | Route planning processing method and device |
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| CN115077515A (en) * | 2022-08-19 | 2022-09-20 | 高德软件有限公司 | Data generation method and device, electronic equipment and computer program product |
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