CN114705204B - High-precision map generation method based on road foundation design data - Google Patents
High-precision map generation method based on road foundation design data Download PDFInfo
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Abstract
The invention discloses a high-precision map generation method based on road foundation design data, which comprises the step of determining files required for creating a high-precision map based on the road foundation design data. And constructing a high-precision map layering model according to the sequence of a road layer, a road reference line layer, a lane layer, a mark line layer and an illumination and safety facility layer according to an OpenDRIVE format, and programming by using an elementTree tool to generate the high-precision map layering model. And extracting required attribute data in the high-precision map hierarchical model from road foundation design data required by the high-precision map, and automatically filling the attribute values in the high-precision map hierarchical model by using an easy GUI tool to generate the high-precision map. And verifying the high-precision map through the high-precision map visualization to finish the manufacturing process of the high-precision map. The method realizes the generation of the OpenDRIVE format high-precision map based on the road foundation 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 foundation design data.
Background
Along with the development of 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 with a high-precision positioning system, and is beneficial to further developing functions such as 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 in the field, on one hand, the consistency of the map data is difficult to ensure by multi-source data, and the high-precision map generation technology is labor-consuming and time-consuming; on the other hand, the data quality of the high-precision map acquisition can be influenced by external factors such as acquisition equipment, environmental weather and the like. Therefore, there is a need to provide a new high-precision map generation method.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a high-precision map generation method based on road foundation design data.
The specific technical scheme adopted by the invention is as follows:
preparing road foundation design data required for creating a high-precision map hierarchical model;
the method comprises the steps of manufacturing a high-precision map by adopting an international OpenDRIVE standard format, conforming to the 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, and generating a high-precision map hierarchical model according to a road layer, a road reference line layer, a lane layer, a mark line layer, an illumination and safety facility layer, namely sequentially constructing the road layer, the road reference line layer, the lane layer, the mark line layer and the illumination and safety facility layer;
based on the effective original 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.
Utilizing an easy GUI to design an interactive window, inputting attribute data from the easy GUI window, filling various attributes in a road layer, a road reference line layer, a lane layer, a mark line layer, a lighting and security facility layer, and generating a high-precision map under an OpenDRIVE standard format;
and checking the generated high-precision map, checking the consistency of elements such as an abscissa, an altitude, a lane and the like in the high-precision map and real road foundation design data through an OpenDRIVE development tool, and finishing the manufacture of the high-precision map when the judgment indexes are consistent, otherwise, carrying out the steps again.
Further, as a preferable technical solution, the road base data required for the high-precision map generation mainly includes, but is not limited to, road design general specifications, route specifications, safety facility specifications, lighting engineering construction specifications, etc., route horizontal and vertical shrinkage views, route plan views, route vertical section views, roadbed cross section design views, ultrahigh mode views, traffic engineering facility cross section layout views, CAD drawings such as line mark and line plan layout views, lighting plan design views, and tables such as straight line, curve and corner tables, vertical curve tables, control measurement result tables, etc.
Further, as a preferable technical scheme, the construction of the high-precision map hierarchical model includes:
the high-precision map is defined by geographic coordinates, a coordinate system of road design data is determined according to a road design overall specification, and is generally a Gaussian plane projection coordinate system, and the high-precision map is expressed by (x/y/z), wherein the x coordinate is eastward, the y coordinate is northward, 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, the reference line coordinate system is expressed by (s/t/h), s coordinates represent mileage, the distance of the road extends by a plurality of meters from the starting point of the road reference line, s increases corresponding distance from the starting point, and the s direction follows the tangential direction of the reference line; the t-coordinate represents the vertical distance from the road reference line (i.e., the road centerline in the road base design data), and the t-coordinate extends vertically to the left, is positive, increases, extends to the right, is negative, and decreases, 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, namely determining the sequence of road numbers (namely road IDs) and connection conditions according to the running direction of vehicles according to all roads related in road design data, generating the road layer, and 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 into a plurality of reference line segments (straight line, mild curve and circular curve) according to the curvature characteristic of the road reference line under the road, and generating the road reference line layer by extending the reference line segments backwards according to the road driving direction and generating the attribute of each reference line segment of the road reference line layer;
the lane layer definition is used for dividing the lane segments according to the lane change condition, if the lane form on one road is changed, the lane segments need to be divided, and a plurality of lane segments are delayed according to the driving direction of the road during the division. And constructing a center lane for each lane segment as a reference lane, wherein the center lane number (namely lane ID) is 0, the right lane ID is in descending order, the left lane ID is in ascending order to the left, and simultaneously generating the attribute of each lane in the lane layer. The lane sections in the lane layer and the lanes contained in the lane sections together form the lane layer;
defining a marking line layer, selecting a certain lane in the lane layer, defining a lane edge line in the 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 space line, a special road marking line and the like in the mark marking line layer, and generating attributes of the traffic island line, the parking space line, the special road marking line and the like; selecting a certain road in the road layer, defining a mark in the mark marking layer, and generating the attribute of the mark;
the lighting and security facility layer definition selects a certain road in the road layer, defines security facilities such as railings, railing posts and the like, lighting facilities and the like, and generates attributes thereof.
Further, as a preferable technical scheme, the constructing of the high-precision map hierarchical model further includes:
the road layer in the high-precision map layer model at least comprises 1 road element, each road element has a unique road ID, when the road element cannot be described in the previously defined road elements, a new road element is added, and the road ID is increased. Each road of the road layer in the high-precision map layer model extends along a road reference line, that is, 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 preferable technical solution, the generating of the high-precision map standard format file includes:
the high-precision map is manufactured according to an OpenDRIVE standard format, and the OpenDRIVE standard format is based on extensible markup language (XML), so that a unified method can be provided for describing and exchanging structured geographic information data independent of an application program or a provider, and the readability and expansibility of a high-precision map file are enhanced. The XML format describes each element of the high-precision map hierarchical model in a node mode, and the inclusion relation among the elements is represented by a nested structure among 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 may include a plurality of parallel road nodes, each road node including a road reference line layer node, a lane layer node, a marker line layer node, an illumination and safety facility layer node, and a lane edge line node including a marker line layer under the lane layer node;
ElementTree is the python package used to process tree structures, most commonly used to process XML files. Constructing an XML file tree structure by utilizing an elementTree writing program, generating all nodes and corresponding nested structures in a high-precision map file, and creating the attribute of each node;
the easy GUI is a graphical interface tool in python, a simple GUI interaction interface can be provided, a program of an interaction window is written by using the easy GUI, corresponding attributes of corresponding nodes can be automatically filled by manually inputting parameters or reading batch files by a user, an OpenDRIVE standard format file meeting XML language specifications is generated, and rapid generation of a high-precision map file is realized.
Further, as a preferred technical solution, the mathematical computation conversion of the node attribute valid data includes:
the mileage stake number of each road in the OpenDRIVE standard format is represented by an s coordinate and is calculated by the starting and ending mileage stake numbers of the mild curves/circular curves in the straight line, the curve and the corner table. Each road elevation 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 base design data. The ultra-high and ultra-high gradual change sections of the road are expressed by using a cubic polynomial function, and the conversion is required according to the ultra-high gradient and the ultra-high gradual change rate in the road foundation design data. The cross section of the road is represented by a cubic polynomial function containing t coordinates, and the transformation is required according to the road arch cross slope, the super-high gradient and the super-high gradient rate.
Further, as a preferable technical solution, the verification of the generated high-precision map includes:
the OpenDRIVE viewer is a high-precision map development tool, and can verify whether a road model in a high-precision map is consistent with real road foundation design data or not by verifying the generation effect of the high-precision map through a foundation visualization function in the following aspects:
checking whether the overall trend and the shape of the road are consistent with the design data of the real road foundation;
checking whether the positions (x coordinate, y coordinate and z coordinate) of main control points of the road are consistent with the real road basic design data;
checking whether the types, the number and the width of the lanes in the road are consistent with the real road foundation design data;
and checking the type and shape of the lane edge line in the road, marking the position and type of the marking line, and judging whether the position and the range of the lighting and safety facilities are consistent with the real road basic design data.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a map generation mode based on road base design data, which is specially aimed at a high-precision map model under the international OpenDRIVE standard format, and realizes the conversion from the road base design data to a high-precision map data storage mode through a format conversion program. The invention can greatly simplify the high-precision map making process, reduce the adverse effect of external factors when actually measuring data, concentrate the high-precision map making on roads, simplify the map making process, further effectively improve the high-precision map making efficiency and establish a foundation for future large-scale high-precision map making.
Drawings
Technical solutions and other effects of the present invention will be made apparent by the detailed description of specific embodiments thereof with reference to the accompanying drawings;
FIG. 1 is a flow chart of main steps of a high-precision map generation method according to the present invention;
FIG. 2 is a schematic diagram of main elements of the high-precision map model in the invention;
FIG. 3 is a schematic diagram of a coordinate system in a high-precision map hierarchical model according to the present invention;
FIG. 4 is a schematic diagram of the high-precision map hierarchical model generation in the present invention;
FIG. 5 is a schematic view of the definition of the road design height Cheng Jidian (i.e., the road bed design elevation position) of the present invention, wherein (a) is the road cross section with the center separator and (b) is the road cross section without the center separator;
FIG. 6 is a schematic view of the definition of the ultra-high and ultra-low speed section of the road according to the present invention;
FIG. 7 is a schematic view of the definition and calculation of the road cross section in the present invention, wherein (a) is the road arch cross section and (b) is the ultra-high cross section;
FIG. 8 is a visual representation of the present invention at high accuracy map verification;
the drawings are for illustrative purposes only and are not to be construed as limiting the invention; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged, or reduced in size and should not be construed as limiting the invention.
Detailed Description
The invention is further illustrated and described below with reference to the drawings and detailed description. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
The embodiment of the invention provides a high-precision map generation method, which is used for generating a high-precision map under 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 figure 1: and (3) constructing a high-precision map hierarchical model according to a road layer, a road reference line layer, a lane layer, a mark line layer, an illumination and safety facility layer, constructing high-precision map elements by category through the hierarchical model, and adding the attribute of each element based on an element writing program of an element rule according to an OpenDRIVE standard format. And inputting corresponding attribute values of various elements in the hierarchical model by utilizing an easy GUI interactive window according to different types of data in the road foundation design data, and generating a high-precision map under the OpenDRIVE standard format. And carrying out consistency check on the high-precision map and the road design data through the high-precision map visualization tool.
S10, determining original files required by the high-precision map based on road foundation design data.
To obtain the required original files of the high-precision map, as much road base design data as possible is required, and as main map data and auxiliary reference data, the present application only gives the design data files that the embodiments must use and reference, and is not limited to the following files in general scenarios:
description class file: general instruction, route instruction, safety facility instruction, lighting engineering construction design instruction; CAD drawing class file: a route plane longitudinal surface shrinkage map, a highway plane overall design map, a route plane map, a route longitudinal section map, a road standard cross section map, an ultrahigh mode map, a line sign, a marking plane layout map, a traffic engineering facility cross section layout map, a guardrail general layout map and a road cross section illumination layout map; form class file: straight line, curve, corner table, vertical curve table, pile-by-pile coordinate table, control measurement result table, marking line setting list and guardrail setting list;
s20, constructing a high-precision map layering model according to the road layer, the road reference line layer, the lane layer, the mark line layer and the illumination and safety facility layer.
The main elements in the high-precision map hierarchical model, as shown in fig. 2, are specifically described as follows:
before the high-precision map hierarchical model is created, a high-precision map coordinate system is required to be determined, which is the basis for effectively converting road foundation design data and a high-precision map, and the road foundation design data and geographic information data in the high-precision map are required to be kept consistent on two-dimensional projection coordinates. In order to better express the direction of the road element, geographic information data in a high-precision map in the OpenDRIVE standard format is mainly represented in two coordinate systems, as shown in fig. 3. One is a Gaussian plane 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, i.e., a road center line in the road design data, and t-coordinates representing lateral positions with respect to the road reference line, perpendicular to the road reference line.
Road layer: and determining the road ID sequence and the connection condition according to the running direction of the vehicle according to all roads related to 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 the road are described in the following table:
TABLE 1
| Attributes of | Element(s) | Attribute description |
| name | Road | Road name |
| length | Road | Road length |
| id | Road | Road number, unique identifier |
| junction | Road | -1,1 whether it is a road belonging to an inflow 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
Road reference line layer: corresponding to the road base design data, the road reference line is the road center line in the road design data. The road reference line layer determines the position of the road and the planar shape of the road. The road reference line segments are divided into straight line reference line segments, mild curve reference line segments and circular curve reference line segments according to the curvature, and one road center line can be composed of single reference line segments or combination line segments thereof. Each road reference line segment has a start point coordinate s attribute, a start point x/y coordinate attribute, a length attribute, and a heading angle (azimuth angle) attribute, and the position and direction of the road reference line segment are determined by the attributes. The plurality of reference line segments are connected according to the attribute values, and the attribute values must be valid, otherwise, the plurality of reference line segments cannot be connected into a road center line.
Referring to the OpenDRIVE standard, the main elements and properties of the reference line layer are described in the following table:
TABLE 3 Table 3
Lane layer: the lane layer of a road at least comprises a lane section, the number of lanes and the types of lanes in the road are not fixed, the number of lanes and the types of lanes can be changed at intersections, ramp entrances and exits and the like, and the fixed types of lanes and the fixed types of the lanes are classified into one lane section. One lane segment contains at least one lane, the lane defines a center lane with the position of the reference line for separating the left and right lanes, the center lane ID is 0, the right lane ID is in descending order to the right, and the left lane ID is in ascending order to the left.
Referring to the OpenDRIVE standard, the main elements and attributes of the lane layer are described in the following table:
TABLE 4 Table 4
Marking line layer: the lane edge is logically divided into marker line layers, but actually complies with the OpenDRIVE standard, and is defined by lane edge elements below the lane layers; other marking marks are defined in marking mark layers, and the positions and shapes of ground arrows, traffic islands, sidewalks, other special road marks and the like need to be defined; traffic signs (warning signs, indicating signs, etc.), traffic lights and signs set for standardizing road traffic require defining their location, which road or lane they belong to and their point of effectiveness.
Referring to the OpenDRIVE standard, the main elements and properties of the marker layer are described in the following table:
TABLE 5
Lighting and security layer: for lighting and security facilities such as street lamps and guardrails, there are often two characteristics of continuity and repeatability, so that a repeatability node is generated under the node of the lighting and security facilities to represent the characteristics, and the attribute of the repetitive object is created to describe the coverage length, the spacing and the like of the repetitive element.
With reference to the OpenDRIVE standard, the main elements and properties of the lighting and security infrastructure layer are described in the following table:
TABLE 6
In the OpenDRIVE standard format, part of elements are different from a high-precision map layering model, such as ground arrows of a marking line layer, a traffic island, an illumination and safety facility layer and the like are commonly called as objects in the OpenDRIVE, but for attribute filling convenience, the high-precision map layering model provided by the invention integrates the elements, but the indicated entities are consistent, and the high-precision map generation is not influenced.
On the basis of the high-precision map hierarchical model, the map elements are required to be converted into XML language specification files conforming to the OpenDRIVE standard, so that the map elements are constructed through nodes. The canonical file of the OpenDRIVE standard is composed of nodes, node attributes, and node nesting structures, to illustrate:
all element nodes in the OpenDRIVE standard specification file are enclosed in the < OpenDRIVE > node, i.e., all nodes are child nodes of the < OpenDRIVE > node. The road element is represented by a < road > node, and the road layer may include a plurality of < road > nodes, and name, length, etc. after the nodes are all attributes of the road nodes. The lane layer element is represented by a < lanes > node, which is enclosed within a < road > node, i.e., a child of the < road > node. The example only shows two basic nodes, if the number of the nodes is increased, the manual completion of the OpenDRIVE standard specification file is very complex and cumbersome, so that the OpenDRIVE standard specification file is generated by means of a format conversion program;
the element tree can automatically generate an XML file, the principle of which is shown in fig. 4, nodes contained in the high-precision map hierarchical model are generated by using a dom.createelement () function in the element tree, attributes are added to the nodes by using a setAttribute () function, and next-stage child nodes are added to the nodes by using an appendhild () function. Through the combination of the simple processes, all nodes and corresponding nested structures in the high-precision map file are generated, and the attribute of each node is created.
S30, filling various attributes in the high-precision map hierarchical model, and generating a high-precision map under the OpenDRIVE standard.
Part of data in the road base design data can be directly applied to attribute filling, but because the OpenDRIVE standard has a specified representation method for the position and the geometric shape of the element, the part of data needs to be converted into effective data corresponding to high-precision map creation through mathematical calculation;
the mileage stake marks of each road in the OpenDRIVE standard format are represented by s coordinates, the s coordinates of the starting points of the subsequent reference line segments along the extending direction of the road are increased progressively, and the mileage stake marks of the starting points of the relaxation curves/circles in the straight line, the curve and the corner table are calculated;
as shown in fig. 5, in the road foundation design data, the design height Cheng Jidian position (i.e., the road bed design elevation position) on the road section is defined as follows: (1) Newly built highways, highways and primary highways adopt the outer side edge (point A in the figure) of a central separation zone; 2. the third and fourth level highways adopt the edge of roadbed (point B in the figure), and the edge is arranged at the position before the superhigh and widened area is set. (2) The design height Cheng Jidian of the reconstructed highway is generally processed according to the rule of the newly built highway, and the road center line (point C in the figure) can be adopted according to the situation. (3) The design height Cheng Jidian of the newly built urban road is the edge of the motor vehicle lane (point D in the figure). (4) The design height Cheng Jidian of the rebuilt urban road can be the edge of a motor vehicle lane or the center line of the road. In the OpenDRIVE standard format, the elevation base point of the profile design is set on a road reference line (i.e., a road center line). In order to keep consistent with the OpenDRIVE standard format, if the elevation base point adopts a road center line, the position of the elevation base point is kept unchanged, and the elevation base point is still a point C; if the outer edge of the central separation belt is adopted, translating from a point A to a point C in the figure; the road bed edge is adopted to translate from the point B to the point B ', and the motor vehicle lane edge is adopted to translate from the point D to the point D'. In the OpenDRIVE standard format, the elevation at the reference line along the road is represented by a cubic polynomial:
z(Δs)＝a+b*Δs+c*Δs 2 +d*Δs 3
wherein Δs is the distance between a given position along the reference line and the origin of the elevation definition, z (Δs) is the elevation of the given position at the reference line, and a, b, c, d are fitting parameters. The road longitudinal section design line in the road foundation design data consists of a straight line slope section and a vertical curve, wherein for the straight line slope section part, a is the elevation of an elevation definition starting point, b is a longitudinal slope value, and c and d are 0; for the vertical curve part, a quadratic parabola is used in general road foundation design data, wherein a, b and c are solved by applying an elevation calculation method, and d is 0. Solving the required original data provided by a vertical curve table in the road foundation design data;
the super-high is a unidirectional transverse slope with the outer side higher than the inner side arranged on the cross section of the road section when running on a circular curve. The ultra-high relief section refers to a cross slope gradual change section required for smoothly switching a road from a double slope surface of a straight line section to a circular curve section, which has an ultra-high unidirectional cross slope (or an ultra-high cross slope gradual change between two adjacent circular curve sections). In the OpenDRIVE standard format, the superelevation and transitional superelevation mitigation segments on the circular curve are defined by the following cubic polynomial function, as shown in fig. 6:
i(Δs)＝a+b*Δs+c*Δs 2 +d*Δs 3
where Δs is the distance from the origin of the ultra-high/mild segment definition along a given location on the reference line, i (Δs) is the ultra-high slope at the given location, and a, b, c, d is the fitting parameter. For the super high on the circular curve, the single transverse slope gradient value is fixed, so that a is the super high transverse slope value in the road foundation design data, and b, c and d are all 0; for an ultra-high alleviation segment, the transverse slope at a given position is related to the distance between the defined starting points of the alleviation segment, i (delta s) changes along with the change of delta s, and the ultra-high alleviation segment is generally in linear gradual change in road base design data, so that a is the initial transverse slope of the starting point of the ultra-high alleviation segment, b is the ultra-high gradual change rate, and c and d are both 0;
to better describe the complex shape of a road cross section, in the OpenDRIVE standard format, the height difference between a given point on the cross section and the design height Cheng Jidian is defined, the road cross section is divided into a plurality of parts of different transverse slopes, namely, for a cross section at a certain s coordinate, the road cross section is divided into a plurality of parts according to the t coordinate at the change of the transverse slope, each part can be called a transverse slope segment, each transverse slope segment is represented by a polynomial of three times, and the height difference between the given point on the road cross section and the design height Cheng Jidian of the road is calculated, wherein the polynomial of three times is expressed as:
h(Δt)＝a+b*Δt+c*Δt 2 +d*Δt 3
h (Δt) is the difference in elevation of the road design height Cheng Jidian at a given point in the cross-section, Δt being the lateral distance of the given point from the start of the lying lateral ramp segment. When the transverse 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, definition and calculation modes of the road arch cross section (as shown in fig. 7a and table 7 a) and the ultra-high cross section (as shown in fig. 7b and table 7 b) are shown.
Table 7 (a)
| t | 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 |
| d | 0 | 0 | 0 | 0 |
Table 7 (b)
| t | -4 |
| a | -0.01 |
| b | 0.04 |
| c | 0 |
| d | 0 |
For the road arch cross section on a normal road, the road arch transverse slope provided in road design data can be directly converted into parameters, t is the transverse distance of a gradient change position, a is the initial height difference of the gradient change position, and b is the transverse slope value of the part; on a circular curve or a moderating curve, the cross section gradually transits to a unidirectional transverse slope, and on the basis of a road arch transverse slope in road foundation design data, the ultrahigh or ultrahigh gradual change rate is considered to realize the calculation and conversion on parameters.
The easy GUI is used for compiling a program of an interactive window, a prompt window is compiled for prompting the starting and the completion of the high-precision map attribute input program, a user selection window (single selection or multiple selection) is compiled for creating unnecessary elements, the user selection window is compiled for selecting whether to create some elements, the user input window is compiled for attribute input, the attribute of the elements is filled, and a browsing file window is compiled for selecting required data files, and the data files are read in batches to fill the attribute of the elements.
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 whole shape, the lane condition, the marking and the installation range and the position of the lighting and safety facilities of the high-precision map can be visually checked in the visual window, and simultaneously, the visual window quantitatively provides two-dimensional projection coordinates of the required control points, reference system coordinates, the affiliated road and the affiliated lane, so that the consistency check of the position of the main control point of the road and the basic design data of the real road can be realized; checking the consistency of the types of lanes, the number of lanes, the width of lanes and the real road basic design data in the road; the type and shape of the lane edge line in the road, the position and type of the marking line, the position and range of lighting and safety facilities and the consistency of the real road basic design data are checked.
The invention constructs a high-precision map layering model according to the sequence of a road layer, a road reference line layer, a lane layer, a mark line layer, illumination and safety facility layer according to an OpenDRIVE format, and utilizes an ElementTree tool to write a program to generate the high-precision map layering model. And extracting required attribute data in the high-precision map hierarchical model from an original file required by the high-precision map, and automatically filling the attribute values in the high-precision map hierarchical model by using an easy GUI tool to generate the high-precision map. And verifying the high-precision map through the high-precision map visualization to finish the manufacturing process of the high-precision map. The method greatly reduces the time and labor cost of traditional high-precision map making, realizes the high-precision map making of the OpenDRIVE format, and enables the large-scale high-precision map making to be possible in the future.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present 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, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (6)
1. A high-precision map generation method based on road foundation design data is characterized by comprising the following specific steps:
constructing a high-precision map model in an OpenDRIVE standard format by using an elementTree; based on the high-precision map model, a high-precision map layering model is generated according to the sequence of sequentially constructing a road layer, a road reference line layer, a lane layer, a mark marking layer, illumination and safety facility layers; designing an interactive window by utilizing an easy GUI, importing attribute data obtained according to road foundation design data from the interactive window, filling various attributes in the high-precision map hierarchical model, and generating a high-precision map under an OpenDRIVE standard format; checking the consistency of each element in the obtained high-precision map and road base design data through an OpenDRIVE development tool, if the consistency meets the requirement, completing the manufacture of the high-precision map, otherwise, carrying out the steps again;
the construction method of the high-precision map hierarchical model specifically comprises the following steps:
determining a coordinate system according to the road design overall specification, wherein all geographic information attributes in the high-precision map hierarchical model are consistent with the coordinate system;
determining the road number sequence and the connection condition according to all roads involved in the road base design data and the running direction of the vehicle, generating a road layer, and 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 a road reference line under the road, and generating a road reference line layer by extending the reference line segments backwards according to the road driving direction and simultaneously generating the attribute of each reference line segment of the road reference line layer;
selecting each road in the road layer, and defining a lane section and a lane in the lane layer; dividing lane segments according to lane change conditions, and enabling a plurality of lane segments to extend backwards 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, the lane number of the center lane is 0, the lane number on the right side is in descending order, the lane number on the left side 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 below the lane layer, defining a lane edge line in the mark line layer, and generating a lane edge line attribute;
selecting a certain road in the road layer, defining a traffic island line, a parking space line and a special road marking in the marking layer, and generating attributes of the traffic island line, the parking space line and the special road marking; selecting a certain road in the road layer, defining a mark in the mark marking layer, and generating the attribute of the mark;
a road in the road layer is selected, lighting and security facilities are defined, and attributes thereof are generated.
2. The method of claim 1, wherein the road base design data comprises road design overall specifications, route specifications, safety facility specifications, lighting engineering construction specifications, route plan views, route longitudinal section views, roadbed cross section design views, superelevation mode views, traffic engineering facility cross section layout views, line sign line plan layout views, lighting plan design views, and straight, curved and corner tables, vertical curve tables, and control measurement result tables.
3. The high-precision map generation method based on road base design data according to claim 1, wherein the construction method of the high-precision map model is specifically as follows:
and constructing an XML file tree structure by utilizing 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 high-precision map generation method based on road base design data according to claim 1, further comprising:
the road layer in the high-precision map layering model at least comprises 1 road element, each road element has a unique road number, when the road element cannot be described in the previously defined road elements, a new road element is added, and the road number is increased;
each road of the road layer in the high-precision map layering 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 layering model at least comprises 1 lane segment, and each lane segment at least comprises 1 lane with the width larger than 0.
5. The high-precision map generation method based on road base design data according to claim 1, wherein a part of the attribute data is raw data extracted according to the road base design data, and the rest is raw data obtained by mathematical calculation and conversion; the mathematical computational transformation includes:
the mileage stake marks of each road in the OpenDRIVE standard format are represented by s coordinates, the s coordinates of the starting points of the subsequent reference line segments along the extending direction of the road are increased progressively, and the mileage stake marks of the starting points of the relaxation curves or the round curves in the straight line, the curve and the 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 is converted into a cubic polynomial;
the ultra-high and ultra-high alleviation segments in the OpenDRIVE standard format are functionally represented by using a cubic polynomial, and are converted according to the ultra-high gradient and the ultra-high gradual change rate in the road foundation design data;
the transverse distance between a certain point on the road in the OpenDRIVE standard format and a reference line is represented by a t coordinate, the t coordinate on the left side of the reference line is positive, the t coordinate on the right side of the reference line is negative, and the t coordinate on the right side of the reference line is descending to the right; the cross section transverse slope of the road is related to the t coordinate, and conversion is needed according to the road arch gradient, the ultrahigh gradient and the ultrahigh gradient rate.
6. The high-precision map generation method based on road base design data according to claim 1, wherein the method of verifying the consistency of each element in the obtained high-precision map with the road base design data is as follows:
checking whether the overall trend and shape of the road in the obtained high-precision map are consistent with the road foundation design data;
checking whether the position of a main control point of a road in the obtained high-precision map is consistent with the road foundation design data; the main control point position of the road comprises an x coordinate, a y coordinate and a z coordinate in a Gaussian plane projection coordinate system;
checking whether the types, the number and the width of the lanes in the obtained high-precision map road are consistent with the road base design data;
and checking whether the type and shape of the lane edge line, the position and type of the marking mark line, the position and type of the lighting and safety facility in the obtained high-precision map road are consistent with the road basic design data.
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