CN114705204A - High-precision map generation method based on road basic design data - Google Patents
High-precision map generation method based on road basic design data Download PDFInfo
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Abstract
The invention discloses a high-precision map generation method based on road basic design data. And (3) constructing a high-precision map hierarchical model according to the order of the road layer → the road reference line layer → the lane layer → the sign line layer → the lighting and safety facility layer according to the OpenDRIVE format, and generating the high-precision map hierarchical model by utilizing an ElementTree tool to write a program. And extracting attribute data required in the high-precision map hierarchical model from the road basic design data required by the high-precision map, and automatically filling attribute values in the high-precision map hierarchical model by using an easy GUI tool to generate the high-precision map. And (4) verifying the high-precision map through high-precision map visualization to finish the manufacturing process of the high-precision map. The method realizes the OpenDRIVE format high-precision map generation based on the road basic design data, and greatly reduces the time and labor cost of the traditional high-precision map production.
Description
Technical Field
The invention relates to the technical field of high-precision maps, in particular to a high-precision map generation method based on road basic design data.
Background
With the development of the technology, the high-precision map becomes an important tool for intelligent driving, can accurately depict road and traffic information, can accurately sense the real-time position and the environment of a vehicle through the combination of the high-precision map and a high-precision positioning system, and is favorable for further developing functions of navigation, driving behavior recognition and the like.
The high-precision map has extremely high requirements on real road data, the current high-precision map generation technology mainly collects road information on site, and on one hand, multi-source data are difficult to ensure the consistency of map data, which is labor-consuming and time-consuming; on the other hand, external factors such as acquisition equipment and environmental weather can influence the data quality of high-precision map acquisition. Therefore, it is desirable to provide a new high-precision map generation method.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a high-precision map generation method based on road basic design data.
The invention adopts the following specific technical scheme:
preparing road basic design data required by creating a high-precision map hierarchical model;
the method comprises the steps of manufacturing a high-precision map by adopting an international universal OpenDRIVE standard format, constructing a node and a nested structure (namely a high-precision map model) of the OpenDRIVE standard format by utilizing an ElementTree according to the OpenDRIVE standard format, and generating a high-precision map layered model according to a road layer → a road reference line layer → a lane layer → a marking line layer → an illumination and safety facility layer, namely generating the high-precision map layered model according to the sequence of constructing the road layer, the road reference line layer, the lane layer, the marking line layer and the illumination and safety facility layer in sequence;
based on the effective raw data extracted from the road base design data, part of the data is converted into effective data corresponding to the high-precision map creation through mathematical calculation.
Designing an interactive window by using easy GUI, inputting attribute data from the easy GUI window, filling various attributes in a road layer, a road reference line layer, a lane layer, a marking line layer, a lighting and safety facility layer, and generating a high-precision map in an OpenDRIVE standard format;
and verifying the generated high-precision map, verifying the consistency of elements such as horizontal and vertical coordinates, elevations, lanes and the like in the high-precision map and the basic design data of the real road through an OpenDRIVE development tool OpenDRIVE viewer, finishing the manufacturing of the high-precision map when the judgment indexes are consistent, and otherwise, repeating the steps.
Further, as a preferred technical solution, the road basic data required by the high-precision map generation mainly includes, but is not limited to, specifications of a general road design specification, a route specification, a safety facility specification, a lighting engineering construction design specification, and the like, CAD drawings such as a route flat longitudinal surface thumbnail, a route plane drawing, a route longitudinal section drawing, a roadbed cross section design drawing, an ultrahigh mode drawing, a traffic engineering facility cross section layout drawing, a along-line sign line plane layout drawing, a lighting plane design drawing, and the like, and tables such as a straight line, a curve and corner table, a vertical curve table, a control measurement result table, and the like.
Further, as a preferred technical solution, the constructing of the high-precision map layer model includes:
the definition of the geographical coordinates of the high-precision map is that the coordinate system of the road design data is determined according to the general specification of the road design, generally, the coordinate system of the Gaussian plane projection is expressed by (x/y/z), the x coordinate is eastward, the y coordinate is northerly, and the z coordinate is upward, and the high-precision map is consistent with the coordinate system. Secondly, a reference line coordinate system exists in the high-precision map and is represented by (s/t/h), the s coordinate represents mileage, the measurement is started from the starting point of the road reference line, the distance of the road is increased from the starting point by a corresponding distance according to the length of the road, and the direction of the s follows the tangential direction of the reference line; the t-coordinate represents the vertical distance from the road reference line (i.e., the center line of the road in the road basic design data), and extends vertically to the left, increases in magnitude, extends to the right, and decreases in magnitude, measured from the road reference line at the s-coordinate. The h coordinate is oriented perpendicular to the s/t plane.
Defining a road layer, determining the sequence of road numbers (namely road ID) and the connection condition according to the driving direction of a vehicle according to all roads related in the road design data, generating the road layer, and simultaneously generating the attribute of each road in the road layer;
defining a road reference line layer, selecting each road in the road layer, dividing the road reference line into a plurality of reference line segments (straight lines, gentle curves and circular curves) according to the curvature characteristics of the road reference line under the road, extending the reference line segments backwards according to the road driving direction, generating the road reference line layer, and generating the attribute of each reference line segment of the road reference line layer;
and defining a lane layer, namely dividing lane sections according to the lane change condition, wherein the lane sections need to be divided if the lane form on one road changes, and a plurality of lane sections are delayed according to the driving direction of the road during the division. A center lane is constructed for each lane segment as a reference lane, the number (namely lane ID) of the center lane is 0, the IDs of the right side lanes are in descending order to the right, the IDs of the left side lanes are in ascending order to the left, and meanwhile, the attribute of each lane in the lane layer is generated. The lane sections in the lane layer and the lanes contained in the lane sections form the lane layer together;
the method comprises the following steps of defining a mark line layer, selecting a lane in the lane layer, defining a lane edge line in the mark line layer and generating the attribute of the lane edge line; selecting a certain road in a road layer, defining a traffic island line, a parking position line, a special road marking line and the like in a marking line layer, and generating attributes of the marking line; selecting a certain road in a road layer, defining marks in a mark marking layer, and generating attributes of the marks;
lighting and safety layer definitions, which are defined by selecting a road on a road layer, defining safety and lighting such as balustrades and balustrades, and generating attributes thereof.
Further, as a preferred technical solution, the constructing of the high-precision map layer model further includes:
the road layer in the high-precision map hierarchical model at least comprises 1 road element, each road element has a unique road ID, when the road elements cannot be described in the previously defined road elements, a new road element is added, and the road ID is increased progressively. Each road of the road layer in the high-precision map hierarchical model extends along a road reference line, namely each road element at least comprises 1 road reference line segment. Each road element comprises at least 1 lane segment, and each lane segment comprises at least 1 lane with the width larger than 0.
Further, as a preferred technical solution, the generating of the high-precision map standard format file includes:
the high-precision map is manufactured according to the OpenDRIVE standard format, the OpenDRIVE standard format is based on extensible markup language (XML), a unified method can be provided for describing and exchanging structured geographic information data independent of an application program or a supplier, and the readability and the expansibility of the high-precision map file are enhanced. The XML format describes each element of the high-precision map hierarchical model by using nodes, and the inclusion relationship between the elements is represented by a nested structure between the nodes and can be regarded as a node tree structure;
the main nodes when the high-precision map hierarchical model is converted into the OpenDRIVE standard format are as follows: the road layer can comprise a plurality of parallel road nodes, each road node comprises a road reference line layer node, a lane layer node, a marking line layer node and a lighting and safety facility layer node, and each lane layer node comprises a lane edge line node of a marking line layer;
the ElementTree is a python package used to process tree structures, most commonly used to process XML files. An ElementTree compiling program is utilized to construct an XML file tree structure, all nodes and corresponding nested structures in a high-precision map file are generated, and attributes of each node are created;
easy GUI is a graphic interface tool in python, can provide a simple GUI interactive interface, utilizes easy GUI to write a program of an interactive window, can automatically fill corresponding attributes of corresponding nodes through manual parameter input by a user or batch file reading, generates an OpenDRIVE standard format file conforming to XML language specification, and realizes the rapid generation of a high-precision map file.
Further, as a preferred technical solution, the mathematical computation and conversion of the node attribute valid data includes:
the milepost number of each road in the OpenDRIVE standard format is represented by s coordinates, and is calculated by the milepost numbers of starting and ending points of a straight line, a curve and a gentle curve/circular curve in a corner table. The elevation of each road in the OpenDRIVE standard format is represented by a cubic polynomial function, and the elevation is solved by applying an elevation calculation method through a vertical curve table in road basic design data. The ultrahigh and ultrahigh transition sections of the road are represented by cubic polynomial functions, and conversion is required according to the ultrahigh gradient and the ultrahigh gradient rate in the road basic design data. The cross section of the road is represented by a cubic polynomial function containing a t coordinate, and conversion is required according to a road arch transverse slope, an ultrahigh slope and an ultrahigh gradient rate.
Further, as a preferred technical solution, the verification of the generated high-precision map includes:
OpenDRIVE viewer is a high-precision map development tool, the generation effect of the high-precision map is verified through a basic visualization function, and whether a road model in the high-precision map is consistent with the basic design data of a real road can be verified in the following aspects:
checking whether the whole trend and shape of the road are consistent with the basic design data of the real road;
checking whether the position (x coordinate, y coordinate and z coordinate) of the main control point of the road is consistent with the basic design data of the real road;
checking whether the lane type, the lane number and the lane width in the road are consistent with the basic design data of the real road or not;
and (4) checking whether the types and shapes of the lane edge lines, the positions and types of the mark lines, the positions and the ranges of the lighting and safety facilities in the road are consistent with the basic design data of the real road.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a map generation mode based on road basic design data, which is specially used for a high-precision map model in the international OpenDRIVE standard format, and realizes the conversion from road basic design data to a high-precision map data storage mode through a format conversion program. The method can greatly simplify the high-precision map making process, reduce the adverse effect of external factors during data actual measurement, concentrate the high-precision map making on the road, simplify the map generating process, further effectively improve the high-precision map generating efficiency, and establish a foundation for future large-scale high-precision map making.
Drawings
The technical scheme and other effects of the invention are obvious through the detailed description of the specific embodiment of the invention with the accompanying drawings;
FIG. 1 is a flow chart of the main steps of the high-precision map generation method proposed by the present invention;
FIG. 2 is a schematic diagram of main elements of a high-precision map model according to the present invention;
FIG. 3 is a schematic diagram of a coordinate system in the high-precision map hierarchical model according to the present invention;
FIG. 4 is a schematic diagram illustrating a principle of high-precision map hierarchical model generation according to the present invention;
FIG. 5 is a schematic diagram illustrating the definition of a base point of a road design elevation (i.e., a designed elevation position of a roadbed) according to the present invention, wherein (a) is a cross section of a road with a central bank and (b) is a cross section of a road without a central bank;
FIG. 6 is a schematic diagram illustrating the definition of the road super-high and super-high transition section according to the present invention;
FIG. 7 is a schematic diagram of the road cross section definition and calculation in the present invention, wherein (a) is a road arch cross section and (b) is an ultrahigh cross section;
FIG. 8 is a schematic view of visualization during high-precision map verification according to the present invention;
the drawings are for illustration purposes only and are not to be construed as limiting the invention; for a better understanding of the present embodiments, certain elements of the drawings may be omitted, enlarged or reduced, and are not to be considered limiting of the present invention.
Detailed Description
The invention will be further elucidated and described with reference to the drawings and the detailed description. The technical characteristics of the embodiments of the invention can be correspondingly combined without mutual conflict.
The embodiment of the invention provides a high-precision map generation method, which is used for generating a high-precision map in an OpenDRIVE standard format and providing accurate map data for vehicle navigation, driving behavior identification and the like, and comprises the following steps as shown in FIG. 1: according to the OpenDRIVE standard format, a program is written based on ElementTree, a high-precision map layered model is constructed according to a road layer → a road reference line layer → a lane layer → a sign line layer → a lighting and safety facility layer, high-precision map elements are created according to categories through the layered model, and the attribute of each element is added. And according to different types of data in the road basic design data, inputting corresponding attribute values of various elements in the hierarchical model by using an easy GUI interactive window, and generating a high-precision map in an OpenDRIVE standard format. And carrying out consistency check on the high-precision map and the road design data through a high-precision map visualization tool.
And S10, determining an original file required by the high-precision map based on the road basic design data.
In order to obtain the required original files of the high-precision map, as many as possible road basic design data are required to be obtained as the main map data and the auxiliary referential data, the application only gives the design data files which must be used and referred by the embodiment, and the design data files are not limited to the following files in the general scene:
specification class files: general instructions, route instructions, safety facility instructions, lighting engineering construction design instructions; CAD drawing class file: a route plane longitudinal plane contracted drawing, a road plane overall design drawing, a route plane drawing, a route longitudinal section drawing, a road and standard cross section drawing, an ultrahigh mode drawing, a line mark, a marked line plane arrangement drawing, a traffic engineering facility cross section arrangement drawing, a guardrail general arrangement drawing and a road cross section illumination arrangement drawing; table type file: the system comprises a straight line, a curve and corner table, a vertical curve table, a pile-by-pile coordinate table, a control measurement result table, a marking line setting list table and a guardrail setting list table;
s20, constructing a high-precision map layered model according to the road layer → the road reference line layer → the lane layer → the sign line layer → the lighting and safety facility layer.
The main elements in the high-precision map hierarchical model are specifically explained as follows, as shown in fig. 2:
before a high-precision map hierarchical model is established, a high-precision map coordinate system needs to be determined, which is the basis for effective conversion of road basic design data and a high-precision map, and the road basic design data and geographic information data in the high-precision map need to be kept consistent on a two-dimensional projection coordinate. In order to better express the orientation of the road elements, the geographic information data in the high-precision map under the OpenDRIVE standard format is mainly represented by two coordinate systems, as shown in fig. 3. One is a Gaussian planar projection coordinate system (x/y/z) and the other is a reference line coordinate system (s/t/h).
The high-precision map defines a reference line coordinate system, s coordinates along a road reference line, namely a road center line in the road design data, and t coordinates representing lateral positions relative to the road reference line and perpendicular to the road reference line.
And (3) road layer: and determining the road ID sequence and the connection condition according to the driving direction of the vehicle according to all roads related in the road design data, and generating a road layer. The road layer at least comprises one road.
Referring to the OpenDRIVE standard, the main elements and attributes of a road are described in the following table:
TABLE 1
| Properties | Element(s) | Attribute statementMing dynasty |
| name | Road | Road name |
| length | Road | Length of road |
| id | Road | Road number, unique |
| junction | Road | |
| 1, 1, whether it is a road belonging to an inflowing intersection |
For each road, other elements under the road are defined, such as road speed limit, elevation, lateral elevation (cross section and superelevation). Referring to the OpenDRIVE standard, the main elements and attributes thereof are described as follows:
TABLE 2
A road reference line layer: corresponding to the basic road design data, the reference road line is the center road line in the road design data. The road reference line layer determines the position of the road and the plane shape of the road. The road reference line segments are divided into straight line reference line segments, easement curve reference line segments and circular curve reference line segments according to the curvature, and one road center line can be formed by a single reference line segment or a combination line segment thereof. Each of the road reference line segments has a start point coordinate s attribute, a start point x/y coordinate attribute, a length attribute, and a heading angle (azimuth) attribute, by which the position and direction of the road reference line segment are determined. And connecting a plurality of reference line segments according to the attribute values, wherein the attribute values are required to be effective, otherwise, the reference line segments cannot be connected into a road center line.
Referring to the OpenDRIVE standard, the main elements and attributes of the reference line layer are illustrated in the following table:
TABLE 3
And (3) lane layer: the lane layer of one road at least comprises one lane section, the number and the types of the lanes in the road are not fixed, the lane layer may be changed at intersections, ramp entrances and exits, and the like, and the road sections with the types and the numbers of the fixed lanes are classified into one lane section. A lane segment contains at least one lane, the lane defining a center lane for separating left and right lanes with the position of the reference line, the center lane ID being 0, the right side lane ID in descending order, and the left side lane ID in ascending order.
Referring to the OpenDRIVE standard, the main elements and attributes of the lane layer are described in the following table:
TABLE 4
Marking a marking layer: the lane edge line is logically divided into mark line layers, but actually conforms to the OpenDRIVE standard and is defined by lane edge line elements below the lane layer; other marking lines are defined in the marking line layer, and the positions and shapes of ground arrows, traffic islands, pedestrian crossings, other special road marking lines and the like need to be defined; traffic signs (warning signs, indicator signs, etc.), traffic lights and signs for regulating road traffic require a definition of their position, which roads or lanes they belong to and their effective points.
Referring to the OpenDRIVE standard, the main elements and attributes of the logo mark layer are described in the following table:
TABLE 5
Lighting and security facilities layer: for lighting and safety facilities such as street lamps and guardrails, continuity and repeatability characteristics are usually provided, so that a repeatability node is generated under the lighting and safety facility node to represent the characteristics, and the attributes of repeated objects are created to describe the coverage length, the interval and the like of repeated elements.
With reference to the OpenDRIVE standard, the main elements and attributes of the lighting and security layers are illustrated in the following table:
TABLE 6
In the OpenDRIVE standard format, partial elements are different from the high-precision map layered model in terms of names, such as ground arrows of a mark line layer, a traffic island, a lighting and safety facility layer and the like, which are collectively called objects in OpenDRIVE, but attribute filling is convenient.
On the basis of a high-precision map hierarchical model, the map elements need to be converted into XML language specification files meeting the OpenDRIVE standard, and therefore the map elements are constructed through nodes. The specification file of the OpenDRIVE standard is composed of nodes, node attributes and a node nesting structure, and is described by a sample:
all element nodes in the OpenDRIVE standard specification file are enclosed in the < OpenDRIVE > node, that is, all nodes are child nodes of the < OpenDRIVE > node. The road element is represented by a < road > node, the road layer can contain a plurality of < road > nodes, and the name, length and the like behind the nodes are the attributes of the road nodes. The lane-level element is represented by the < lanes > node, which is enclosed within the < road > node, i.e., the < lanes > node is a child of the < road > node. In the example, only two basic nodes are displayed, and if the number of the nodes is increased, the manual completion of the OpenDRIVE standard specification file is very complicated and tedious, so that the OpenDRIVE standard specification file needs to be generated by means of a format conversion program;
the principle of the ElementTree can be used for automatically generating an XML file, as shown in FIG. 4, nodes contained in a high-precision map hierarchical model are generated by using a dom. createElement () function in the ElementTree, attributes are added to the nodes through a setAttribute () function, and next-level child nodes are added to the nodes through an apendHild () function. And generating all nodes and corresponding nested structures in the high-precision map file through the combination of the simple flows, and creating the attribute of each node.
And S30, filling each attribute in the high-precision map hierarchical model, and generating the high-precision map under the OpenDRIVE standard.
Part of data in the road basic design data can be directly applied to attribute filling, but the OpenDRIVE standard has a specified representation method for the position and the geometric shape of an element, so that part of data needs to be converted into effective data corresponding to high-precision map creation through mathematical calculation;
the milepost number of each road in the OpenDRIVE standard format is represented by s coordinates, the coordinates of the starting point s of a subsequent reference line segment along the extending direction of the road are increased progressively, and the starting and ending point milepost numbers of a straight line, a curve and a gentle curve/circular curve in a corner table are calculated;
as shown in fig. 5, in the road basic design data, the design elevation base point position (i.e., the designed roadbed elevation position) on the route longitudinal section is defined as follows: (1) newly building a road, wherein the outer edges of the central separation belts (point A in the figure) are adopted by the expressway and the first-level highway; the second, third and fourth grade roads adopt the edge of the roadbed (point B in the figure), and the edge is arranged at the position where the ultrahigh and widened section is arranged. (2) The design elevation base point of the reconstructed highway is generally worked out according to the regulations of the newly-built highway, and a road center line (point C in the figure) can also be adopted according to specific situations. (3) The design elevation basic point of the newly-built urban road is the motor vehicle lane edge (point D in the figure). (4) The designed elevation base point for reconstructing the urban road can adopt the edge of a motor vehicle lane or the center line of the road. In the OpenDRIVE standard format, a base point of a vertical section design elevation is arranged on a road reference line (namely a road center line). In order to keep consistent with the OpenDRIVE standard format, designing an elevation base point to be a C point if the position of the elevation base point is kept unchanged by adopting a road center line; if the outer edge of the central separation belt is adopted, the belt is translated from the point A to the point C in the figure; the roadbed edge is translated from the point B to the point B ', and the motor vehicle lane edge is translated from the point D to the point D'. In the OpenDRIVE standard format, the elevation along the road reference line is represented by a cubic polynomial:
z(Δs)＝a+b*Δs+c*Δs2+d*Δs3
where Δ s is the distance from an elevation-defining starting point at a given location along a reference line, z (Δ s) is the elevation of the given location at the reference line, and a, b, c, d are fitting parameters. In the basic design data of the road, the design line of the longitudinal section of the road is composed of a straight slope section and a vertical curve, for the straight slope section, a is the elevation of the elevation definition starting point, b is the longitudinal slope value, and c and d are 0; for the part of the vertical curve, a quadratic parabola is used in general road basic design data, wherein a, b and c need to be solved by using an elevation calculation method, and d is 0. The original data needed for solving is provided by a vertical curve table in the basic design data of the road;
the superelevation is a one-way cross slope with the outer side higher than the inner side arranged on the cross section of the road section when the vehicle runs on a circular curve. The ultrahigh transition section is a cross slope transition section which is required for smoothly converting a road from a double slope surface of a straight line section to a circular curve section and has ultrahigh unidirectional cross slope (or ultrahigh cross slope transition between two adjacent circular curve sections). In the OpenDRIVE standard format, the superelevation on the circular curve and the transition superelevation transition moderation section are both defined by the following cubic polynomial function, as shown in fig. 6:
i(Δs)＝a+b*Δs+c*Δs2+d*Δs3
where Δ s is the distance from the superelevation/transition defining starting point along a given position on the reference line, i (Δ s) is the superelevation slope at the given position, and a, b, c, d are fitting parameters. For the superelevation on the circular curve, the slope value of the single cross slope is fixed, so a is the value of the superelevation cross slope in the basic design data of the road, and b, c and d are all 0; for the ultrahigh moderate section, the transverse slope of a given position is related to the distance from the defined starting point of the moderate section, i (delta s) changes along with the change of delta s, and the ultrahigh moderate section is generally linearly changed in the road basic design data, so that a is the initial transverse slope of the starting point of the ultrahigh moderate section, b is the ultrahigh gradient rate, and c and d are both 0;
in order to better describe the complex shape of the road cross section, in the OpenDRIVE standard format, the height difference between a given point on the cross section and a design elevation base point is defined, the road cross section is divided into a plurality of parts of different cross slopes, namely for the cross section at a certain s coordinate, the cross slope is divided into a plurality of parts according to the t coordinate of the change position of the cross slope, each part can be called a cross slope section, each cross slope section is represented by a cubic polynomial, and the height difference between the given point on the road cross section and the design elevation base point of the road is calculated, and the cubic polynomial is represented as:
h(Δt)＝a+b*Δt+c*Δt2+d*Δt3
h (delta t) is the height difference of a given point on the cross section relative to the base point of the road design elevation, and delta t is the transverse distance between the given point and the starting point of the cross slope section. When the cross slope of the cross section is changed for a plurality of times, a plurality of cubic polynomials are constructed to describe each section respectively. As shown in fig. 7 and table 7, the definition and calculation of the road arch cross section (as shown in fig. 7a and table 7 a) and the super high cross section (as shown in fig. 7b and table 7 b) are shown.
TABLE 7(a)
| |
3 | 0 | -3 | -4 |
| a | 0.03 | 0.09 | 0.03 | 0 |
| b | -0.03 | -0.02 | 0.02 | 0.03 |
| c | 0 | 0 | 0 | 0 |
| |
0 | 0 | 0 | 0 |
TABLE 7(b)
| t | -4 |
| a | -0.01 |
| b | 0.04 |
| c | 0 |
| |
0 |
For the road arch cross section on the normal road, directly converting the road arch cross slope provided in the road design data into parameters, wherein t is the transverse distance of the gradient change part, a is the initial height difference of the gradient change part, and b is the cross slope value of the part; on a circular curve or a gentle curve, the cross section can gradually transit to a unidirectional transverse slope, and ultrahigh or ultrahigh gradient rate is considered on the basis of a road arch transverse slope in road basic design data to realize calculation conversion on parameters.
The method comprises the steps of compiling a program of an interactive window by using easy GUI, compiling a prompt window to prompt starting and finishing of a high-precision map attribute input program, compiling a user selection window (single selection or multiple selection) to create unnecessary elements for selecting whether some elements are created, compiling the user input window to input attributes for filling the attributes of the elements, compiling a browsing file window to select required data files, and reading data in batches to fill the attributes of the elements.
And S40, verifying the high-precision map through high-precision map visualization.
The OpenDRIVE viewer software is started on the ubuntu virtual machine, and the generated high-precision map file is imported, as shown in fig. 8. The overall shape, lane conditions, marking lines and the installation range and position of illumination and safety facilities of the high-precision map can be visually checked in the visual window, meanwhile, the visual window quantitatively provides two-dimensional projection coordinates, reference system coordinates, the road and the lane of the required control point, and consistency check of the position of the main control point of the road and basic design data of the real road can be realized; the consistency of the lane types, the lane quantity and the lane width in the road and the basic design data of the real road is checked; the type and shape of the lane edge lines in the road, the position and type of the mark lines, the position and range of lighting and safety facilities and the consistency check of the real road basic design data.
The method is characterized in that a high-precision map hierarchical model is constructed according to the OpenDRIVE format in the sequence of road layer → road reference line layer → lane layer → sign line layer → lighting and safety facility layer, and the high-precision map hierarchical model is generated by writing a program with an ElementTree tool. And extracting attribute data required in the high-precision map hierarchical model from an original file required by the high-precision map, and automatically filling attribute values in the high-precision map hierarchical model by using an easy GUI tool to generate the high-precision map. And (4) verifying the high-precision map through high-precision map visualization to finish the manufacturing process of the high-precision map. The method greatly reduces the time and labor cost of the traditional high-precision map making, realizes the high-precision map generation in the OpenDRIVE format, and makes the large-scale high-precision map making possible.
The above-described embodiments are merely preferred embodiments of the present invention, which should not be construed as limiting the invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, the technical scheme obtained by adopting the mode of equivalent replacement or equivalent transformation is within the protection scope of the invention.
Claims (7)
1. A high-precision map generation method based on road basic design data is characterized by comprising the following steps:
constructing a high-precision map model in an OpenDRIVE standard format by using an ElementTree; based on the high-precision map model, generating a high-precision map layered model according to the sequence of constructing a road layer, a road reference line layer, a lane layer, a marking line layer and a lighting and safety facility layer in sequence; designing an interactive window by using easy GUI, importing attribute data obtained according to road basic design data from the interactive window, filling various attributes in the high-precision map hierarchical model, and generating a high-precision map in an OpenDRIVE standard format; and verifying the consistency of each element in the obtained high-precision map and the road basic design data through an OpenDRIVE development tool OpenDRIVE viewer, if the consistency meets the requirement, finishing the manufacturing of the high-precision map, and otherwise, repeating the steps.
2. The method of claim 1, wherein the road basic design data includes a general road design specification, a route specification, a safety facility specification, a lighting engineering construction design specification, a route plan, a route longitudinal section view, a roadbed cross section design view, an ultra high mode view, a traffic engineering facility cross section layout view, a line marking plan layout view along a line, a lighting plan design view, a straight line, a curve, a corner table, a vertical curve table, and a control measurement result table.
3. The method for generating a high-precision map based on basic road design data as claimed in claim 1, wherein the method for constructing the high-precision map model is as follows:
and constructing an XML file tree structure by using an ElementTree writing program, generating nodes in an OpenDRIVE standard format and corresponding nested structures, and creating attributes of each node to obtain a high-precision map model.
4. The method for generating a high-precision map based on basic road design data as claimed in claim 1, wherein the method for constructing the high-precision map hierarchical model is as follows:
determining a coordinate system according to the general specification of the road design, wherein all geographic information attributes in the high-precision map hierarchical model are consistent with the coordinate system;
determining the road numbering sequence and the connection condition according to the driving direction of the vehicle according to all roads related in the road basic design data, generating a road layer, and simultaneously generating the attribute of each road in the road layer;
selecting each road in a road layer, dividing the road into a plurality of reference line segments according to the curvature characteristics of the road reference line under the road, delaying the reference line segments according to the road driving direction, generating a road reference line layer, and simultaneously generating the attribute of each reference line segment of the road reference line layer;
selecting each road in a road layer, and defining a lane section and a lane in a lane layer; dividing lane sections according to lane change conditions, and delaying a plurality of lane sections according to the road driving direction; the lanes in one lane section are divided into a left lane, a middle lane and a right lane, wherein the center lane is constructed as a reference lane and the lane number of the center lane is 0, the number of the right lane is in descending order, the number of the left lane is in ascending order, and the attribute of each lane in the lane layer is generated;
selecting a certain lane in a certain lane section under a lane layer, defining a lane edge line in a marking line layer, and generating a lane edge line attribute;
selecting a certain road in the road layer, defining a traffic island line, a parking position line and a special road marking in the marking line layer, and generating the attribute of the traffic island line, the parking position line and the special road marking; selecting a certain road in a road layer, defining marks in a mark marking layer, and generating attributes of the marks;
a road in the road layer is selected, lighting and safety facilities are defined, and attributes thereof are generated.
5. The method for generating a high-precision map based on road basic design data as claimed in claim 4, further comprising:
the road layer in the high-precision map hierarchical model at least comprises 1 road element, each road element has a unique road number, when the road elements cannot be described in the previously defined road elements, a new road element is added, and the road numbers are increased progressively;
each road of a road layer in the high-precision map hierarchical model extends along a road reference line, namely each road element at least comprises 1 road reference line segment;
the lane layer in the high-precision map hierarchical model at least comprises 1 lane segment, and each lane segment at least comprises 1 lane with the width larger than 0.
6. The method for generating a high-precision map based on the basic design data of the road as claimed in claim 1, wherein a part of the attribute data is the original data extracted from the basic design data of the road, and the rest is the original data obtained by converting the original data through mathematical calculation; the mathematical computation conversion includes:
the milepost number of each road in the OpenDRIVE standard format is represented by s coordinates, the coordinates of the starting point s of a subsequent reference line segment along the extending direction of the road are increased progressively, and the starting and ending point milepost numbers of a straight line, a curve and a gentle curve or a circular curve in a corner table are calculated;
the elevation of each road in the OpenDRIVE standard format is represented by a cubic polynomial function, and is solved by applying an elevation calculation method through a vertical curve table in road basic design data and converted into a cubic polynomial;
the ultrahigh and ultrahigh transition sections in the OpenDRIVE standard format are functionally expressed by a cubic polynomial and need to be converted according to the ultrahigh gradient and the ultrahigh gradient rate in the road basic design data;
the transverse distance between a certain point on a road and a reference line in the OpenDRIVE standard format is represented by a t coordinate, the t coordinate on the left side of the reference line is positive and is in ascending order to the left, and the t coordinate on the right side of the reference line is negative and is in descending order to the right; the cross section cross slope of the road is related to the t coordinate and needs to be converted according to the road arch slope, the ultrahigh slope and the ultrahigh gradient rate.
7. The method for generating a high-precision map based on basic road design data as claimed in claim 1, wherein the method for checking the consistency of each element in the high-precision map and the basic road design data is as follows:
checking whether the whole trend and the shape of the road in the obtained high-precision map are consistent with the basic design data of the road;
checking whether the position of the main control point of the road in the obtained high-precision map is consistent with the basic design data of the road; the position of the main road control point comprises an x coordinate, a y coordinate and a z coordinate in a Gaussian plane projection coordinate system;
checking whether the lane type, the lane number and the lane width in the obtained high-precision map road are consistent with the basic design data of the road or not;
and checking whether the types and the shapes of the lane edge lines, the positions and the types of the mark lines, the positions and the types of the lighting and safety facilities in the obtained high-precision map road are consistent with the basic design data of the road.
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