CN115082588A - Driving track rendering method, device and equipment and storage medium - Google Patents
Driving track rendering method, device and equipment and storage medium Download PDFInfo
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Abstract
The application relates to a driving track rendering method, a driving track rendering device, driving track rendering equipment and a storage medium. The main technical scheme comprises: acquiring positioning points of a target object in a preset time period, and determining first position points of the positioning points in a map; mapping each first position point to a target path in the map respectively to obtain second position points corresponding to each first position point; rendering the driving track of the target object on the map based on the second position point and the number of the first position points within a preset range. The application can reduce the processing pressure of the rendering tool, improve the drawing effect, and the rendered track graph is high in definition and high in visibility, so that the user experience is improved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for rendering a driving trajectory.
Background
At present, the field of automatic driving is rapidly developed, and the vehicle running track is one of important data inputs in the field of automatic driving. The real vehicle running path on the path can be directly displayed by rendering the vehicle running track, and the vehicle running condition is visually displayed on the map.
The existing vehicle driving track rendering method generally connects the positions of the positioning points received twice and corresponding to the positioning points on a map, and connects the continuous positioning points, thereby rendering the vehicle driving track. However, in the actual test process, because the data scale of the vehicle driving track is large, if the positioning point connecting line is directly drawn into the track map, the data processing pressure of the rendering tool is large, and the drawn track map is messy and complicated.
Disclosure of Invention
Based on the above, the application provides a driving track rendering method, a driving track rendering device, equipment and a storage medium, so as to solve the problems in the prior art.
In a first aspect, a driving track rendering method is provided, and the method includes:
acquiring positioning points of a target object in a preset time period, and determining first position points of the positioning points in a map;
mapping each first position point to a target path in the map respectively to obtain second position points corresponding to each first position point;
rendering the driving track of the target object on the map based on the second position point and the number of the first position points within a preset range.
According to an implementation manner of the embodiment of the application, the rendering the driving track of the target object on the map based on the number of the second position points and the first position points within the preset range includes:
determining a moving track of the target object on the target path based on the second position point;
determining a rendering form of the movement track based on the number of the first position points in a preset range;
and rendering the driving track of the target object on the map based on the moving track of the target object on the target path and the rendering form of the moving track.
One way of accomplishing this in an embodiment of the present application is characterized in that the target path is a path parallel to the center line of the roadway.
According to an implementation manner of the embodiment of the present application, the mapping each first location point to a target path in the map respectively to obtain a second location point corresponding to each first location point includes:
and mapping each first position point to a target path in the map along the direction of a vertical line of a road center line where each first position point is located, and obtaining a second position point corresponding to each first position point on the target path.
According to an implementation manner in the embodiment of the present application, the preset range includes: a road segment, a block, or a block.
According to an implementation manner of the embodiment of the present application, the determining a rendering form of the movement trajectory based on the number of the first position points within the preset range includes:
rendering the color of the movement track based on the number of the first position points within a preset range; or the like, or, alternatively,
rendering the linearity of the movement trajectory based on the number of the first location points within a preset range.
In a second aspect, there is provided a travel track rendering apparatus, the apparatus including:
an acquisition unit: the positioning method comprises the steps of obtaining positioning points of a target object in a preset time period, and determining first position points of the positioning points in a map;
a mapping unit: the map mapping system is used for mapping each first position point to a target path in the map respectively to obtain a second position point corresponding to each first position point;
a rendering unit: the method comprises the step of rendering the driving track of the target object on the map based on the number of the second position points and the first position points within a preset range.
According to an implementable manner in an embodiment of the present application, the rendering unit is further configured to:
determining a moving track of the target object on the target path based on the second position point;
determining a rendering form of the movement track based on the number of the first position points in a preset range;
and rendering the driving track of the target object on the map based on the moving track of the target object on the target path and the rendering form of the moving track.
In a third aspect, a computer device is provided, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer instructions executable by the at least one processor to enable the at least one processor to perform the method referred to in the first aspect above.
In a fourth aspect, a computer-readable storage medium is provided, on which computer instructions are stored, wherein the computer instructions are configured to cause a computer to perform the method according to the first aspect.
According to the technical content provided by the embodiment of the application, the positioning points of the target object in the preset time period are obtained, the positioning points are mapped to the target path in the map respectively, and the driving track of the target object on the map is rendered according to the positions and the number of the mapped points, so that the processing pressure of a rendering tool can be reduced, the drawing effect is improved, the rendered track graph is high in visibility, and the user experience is improved.
Drawings
FIG. 1 is a flow chart illustrating a method for rendering a driving trajectory according to an embodiment;
FIG. 2 is a mapping diagram of a driving trajectory rendering method according to an embodiment;
FIG. 3 is a block diagram showing a configuration of a travel track rendering apparatus according to an embodiment;
FIG. 4 is a schematic block diagram of a computer apparatus in one embodiment.
Detailed Description
The present application will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
Fig. 1 is a flowchart of a driving trajectory rendering method according to an embodiment of the present application, and as shown in fig. 1, the method may include the following steps:
step 101: and acquiring positioning points of the target object in a preset time period, and determining first position points of the positioning points in the map.
Specifically, the target object may be a vehicle, but is not limited to a vehicle, and may also include an airplane, a bicycle, a pedestrian, and the like. The preset period may be any preset period of time, such as one day, one week, one month, etc. The locating point of the target object can be obtained through equipment such as radar, a satellite, locating equipment on the target object and the like, and the position information of the target object and the locating point are obtained once after a specific time interval. The method comprises the steps of obtaining positioning points of a target object in a preset time period, namely obtaining all the positioning points of the target object in a time period, and determining the position of each positioning point in a map as a first position point. That is, the position point actually traveled by the target object is mapped to the corresponding position on the map, and the first position point is obtained.
Step 102: and mapping each first position point to a target path in the map respectively to obtain a second position point corresponding to each first position point.
Specifically, for example, when a vehicle is taken as a target object, during actual driving of the vehicle, since a road is wide and may include multiple lanes, the vehicle may shuttle among the multiple lanes, and therefore, if the trajectory diagram is directly drawn by connecting the acquired first position points, the trajectory diagram may be crossed and confused. Therefore, in this step, a plurality of target routes are set on the map in advance, each first position point is mapped to a target route in the map, and a second position point corresponding to each first position point is obtained on the target route. For example, a certain lane in a road is selected as a target path, actual positioning points, i.e., first position points, of vehicles on adjacent lanes are respectively mapped to the certain lane, and second position points corresponding to the first position points are obtained on the certain lane.
In the step, the first position points are mapped to the target path in the map respectively, so that the first position points can be subjected to centralized reduction processing, a clear track graph can be conveniently drawn, and the drawing pressure of a rendering tool is reduced.
Step 103: and rendering the driving track of the target object on the map based on the second position point and the number of the first position points within the preset range.
Specifically, after step 102, second position points corresponding to the first position points are obtained on the target path in the map, and the moving track of the target object on the map can be determined by connecting the positions of the second position points. Meanwhile, the moving track of the target object on the map is rendered according to the number of the first position points in the preset range, and a driving track map of the target object can be obtained. The number of the first position points in the preset range represents the driving frequency of the target object in the preset range, in the step, the driving track of the target object on the map is rendered based on the position of the second position points on the target path and the number of the first position points in the preset range, the definition of the track graph is improved, and simultaneously the frequency of the target object in each range on the map can be visually reflected, so that the rendered track graph is high in definition and visibility.
It can be seen that, in the embodiment of the application, by acquiring the positioning points of the target object in the preset time period, mapping the positioning points to the target path in the map, and rendering the driving track of the target object on the map according to the positions and the number of the mapped points, the processing pressure of the rendering tool can be reduced, the drawing effect can be improved, the rendered track graph has high visibility, and the user experience can be improved.
The following describes in detail the step 102, that is, "mapping each first location point to a target path in a map to obtain a second location point corresponding to each first location point" in combination with an embodiment.
In one embodiment of the present application, the target path in step 102 is a path parallel to the center line of the roadway.
For example, fig. 2 shows eight mutually parallel lanes in the vertical direction, and the target path 1 and the target path 2 in fig. 2 are paths parallel to the center line of the road, and the target path 1 and the target path 2 respectively represent target paths of lanes in opposite directions on the road.
In an embodiment of the present application, the mapping each first location point to the target path in the map in step 102, and obtaining a second location point corresponding to each first location point includes: and mapping each first position point to a target path in the map along the direction of a vertical line of the center line of the road where each first position point is located, and obtaining a second position point corresponding to each first position point on the target path.
Specifically, with continued reference to fig. 2, the positioning points a, b, and C in fig. 2 are the position points that the target object actually travels, that is, the positioning points a, b, and C are first position points, the first position points a, b, and C are respectively mapped to the target path 1 in the map along the vertical line direction of the center line of the road where each first position point is located, and the second position points A, B and C corresponding to the first position points a, b, and C are obtained on the target path 1. The positioning points d, e and F are the position points actually traveled by the target object in the opposite direction, that is, the positioning points d, e and F are first position points, the first position points d, e and F are respectively mapped to the target path 2 in the map along the direction of the vertical line of the center line of the road where each first position point is located, and second position points D, E and F corresponding to the first position points d, e and F are obtained on the target path 2. The positioning points g, h and I are first position points, the first position points g, h and I are respectively mapped to the target path 2 in the map along the direction of the vertical line of the center line of the road where each first position point is located, and second position points G, H and I corresponding to the first position points g, h and I are obtained on the target path 2.
In the embodiment, each first position point is mapped to the target path in the map along the direction of the vertical line of the center line of the road where each first position point is located, and the second position point corresponding to each first position point is obtained on the target path, so that the first position points can be subjected to centralized reduction treatment, a clear track graph can be conveniently drawn, and the drawing pressure of a rendering tool is reduced.
It should be noted that the above embodiment shows the mapping case when the road is a straight road by taking fig. 2 as an example, and the above embodiment is also applicable to the case when the road is a curve.
The above step 103, i.e., "rendering the travel track of the target object on the map based on the number of the second position points and the first position points within the preset range", will be described in detail with reference to the embodiments.
In one embodiment of the present application, the rendering of the driving trajectory of the target object on the map based on the second location point and the number of the first location points within the preset range in step 103 includes: determining a moving track of the target object on the target path based on the second position point; determining a rendering form of the movement track based on the number of the first position points in the preset range; and rendering the driving track of the target object on the map based on the moving track of the target object on the target path and the rendering form of the moving track.
Specifically, the step 102 of determining the movement track of the target object on the target path based on the second position points means that after the second position points corresponding to the first position points are obtained on the target path in the map, and the movement track of the target object on the target path can be determined by connecting the positions of the second position points.
In one embodiment of the present application, the preset range in step 103 may include, but is not limited to: a co-directional road, a bidirectional road, or a block. And counting the number of the first position points in a preset range, namely determining the frequency of the target object in the preset range. For example, in fig. 2, a section of equidirectional road is taken as a preset range, the first fixed point on the section of equidirectional road is mapped onto the target path 1, and the number of target objects on the section of equidirectional road is counted to be 3; and mapping the first positioning point on the other segment of road in the opposite direction to the target path 2, and counting the number of the target objects on the segment of road to be 6, which shows that the frequency of the target objects driving in the preset range corresponding to the target path 2 is greater than the frequency of the target objects driving in the preset range corresponding to the target path 1. The frequency with which the target object travels on the road section in different directions can thereby be determined. The preset range can comprise not only a same-direction road but also a bidirectional road or a block, and the running frequency of the target object in different areas can be obtained by setting different preset ranges.
Because the number of the first position points in the preset range represents the driving frequency of the target object in the preset range, different rendering forms can be set based on the number of the first position points in the preset range, so that the driving frequency of the target object in different areas can be clearly displayed in the track map through the different rendering forms, the driving track of the target object on the map can be rendered based on the moving track of the target object on the target path and the rendering forms of the moving track, on one hand, the definition of the drawn track map is greatly improved, and on the other hand, the frequency of the target object in each range on the map can be visually reflected.
In another embodiment of the application, the determining the rendering form of the movement track based on the number of the first position points in the preset range in step 103 includes: rendering the color of the movement track based on the number of the first position points in the preset range; or rendering the linearity of the movement trajectory based on the number of the first position points within a preset range.
Specifically, the color of the movement trajectory is rendered based on the number of the first position points within the preset range, for example, when the number of the first position points within the preset range is large, the movement trajectory is rendered in a dark color; when the number of the first position points is less than the preset range, the moving track is rendered in light color. Rendering the linearity of the movement track based on the number of the first position points in the preset range, for example, rendering the movement track by using a thick line when the number of the first position points in the preset range is large; and when the number of the first position points in the preset range is small, rendering the moving track by using a thin line.
According to the method and the device for processing the target object, the positioning points of the target object in the preset time period are obtained, the positioning points are mapped to the target path in the map respectively, the driving track of the target object on the map is rendered according to the positions and the number of the mapped points, the processing pressure of a rendering tool can be reduced, the drawing effect is improved, the rendered track graph is high in definition and visibility, and the user experience can be improved.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in a strict order unless explicitly stated in the application, and may be performed in other orders. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Fig. 3 is a schematic structural diagram of a driving trajectory rendering device according to an embodiment of the present application, and as shown in fig. 3, the device may include: an acquisition unit 301, a mapping unit 302, and a rendering unit 303. The main functions of each component module are as follows:
the acquisition unit 301: the positioning method comprises the steps of obtaining positioning points of a target object in a preset time period, and determining first position points of the positioning points in a map;
the mapping unit 302: the map mapping system is used for mapping each first position point to a target path in a map respectively to obtain a second position point corresponding to each first position point;
the rendering unit 303: and the method is used for rendering the driving track of the target object on the map based on the second position point and the number of the first position points within the preset range.
In another embodiment of the present application, the rendering unit 303 is further configured to: determining a moving track of the target object on the target path based on the second position point; determining a rendering form of the movement track based on the number of the first position points in the preset range; and rendering the driving track of the target object on the map based on the moving track of the target object on the target path and the rendering form of the moving track.
In another embodiment of the present application, the target path is a path parallel to the center line of the roadway.
In another embodiment of the present application, the mapping unit 302 is further configured to: and respectively mapping each first position point to a target path in a map along the direction of a vertical line of the center line of the road where each first position point is located, and obtaining a second position point corresponding to each first position point on the target path.
In another embodiment of the present application, the preset range includes: a co-directional road, a bidirectional road, or a block.
In another embodiment of the present application, the rendering unit 303 is further configured to: rendering the color of the movement track based on the number of the first position points in the preset range; or rendering the linearity of the movement trajectory based on the number of the first position points within a preset range.
According to the specific embodiment provided by the application, the technical scheme provided by the application can have the following advantages:
the method comprises the steps of obtaining positioning points of a target object in a preset time period, mapping the positioning points to a target path in a map, and rendering the driving track of the target object on the map according to the positions and the number of the mapped points, so that the processing pressure of a rendering tool can be reduced, the drawing effect can be improved, the rendered track graph has high definition and high visibility, and the user experience can be improved.
The same and similar parts among the various embodiments are referred to each other, and each embodiment focuses on differences from other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should be noted that, in the embodiments of the present application, the use of user data may be involved, and in practical applications, the user-specific personal data may be used in the scheme described herein within the scope permitted by applicable laws and regulations, under the condition of meeting the requirements of applicable laws and regulations in the country (for example, the user explicitly agrees, the user is informed, the user explicitly authorizes, etc.).
According to an embodiment of the present application, a computer device and a computer-readable storage medium are also provided.
As shown in fig. 4, a block diagram of a computer device according to an embodiment of the present application is shown. Computer apparatus is intended to represent various forms of digital computers or mobile devices. Which may include desktop computers, laptop computers, workstations, personal digital assistants, servers, mainframe computers, and other suitable computers. The mobile device may include a tablet, smartphone, wearable device, and the like.
As shown in fig. 4, the apparatus 400 includes a calculation unit 401, a ROM 402, a RAM 403, a bus 404, and an input/output (I/O) interface 404, the calculation unit 401, the ROM 402, and the RAM 403 being connected to each other via the bus 404. An input/output (I/O) interface 404 is also connected to bus 404.
The calculation unit 401 may execute various processes in the method embodiments of the present application according to computer instructions stored in a Read Only Memory (ROM)402 or computer instructions loaded from a storage unit 408 into a Random Access Memory (RAM) 403. Computing unit 401 may be a variety of general and/or special purpose processing components with processing and computing capabilities. The computing unit 401 may include, but is not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. In some embodiments, the methods provided by embodiments of the present application may be implemented as a computer software program tangibly embodied in a computer-readable storage medium, such as storage unit 408.
The RAM 403 may also store various programs and data necessary for the operation of the device 400. Part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 802 and/or the communication unit 409.
An input unit 404, an output unit 407, a storage unit 408 and a communication unit 409 in the device 400 may be connected to the I/O interface 404. The input unit 404 may be, for example, a keyboard, a mouse, a touch screen, a microphone, or the like; the output unit 407 may be, for example, a display, a speaker, an indicator lamp, or the like. The device 600 is capable of exchanging information, data, etc. with other devices via the communication unit 609.
It should be noted that the device may also include other components necessary to achieve proper operation. It may also contain only the components necessary to implement the solution of the present application and not necessarily all of the components shown in the figures.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof.
Computer instructions for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer instructions may be provided to the computing unit 401 such that the computer instructions, when executed by the computing unit 401 such as a processor, cause the steps involved in embodiments of the method of the present application to be performed.
The computer-readable storage medium provided herein may be a tangible medium that may contain, or store, computer instructions for performing the steps involved in the method embodiments of the present application. The computer readable storage medium may include, but is not limited to, storage media in the form of electronic, magnetic, optical, electromagnetic, and the like.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A travel track rendering method, characterized by comprising:
acquiring positioning points of a target object in a preset time period, and determining first position points of the positioning points in a map;
mapping each first position point to a target path in the map respectively to obtain second position points corresponding to each first position point;
rendering the driving track of the target object on the map based on the second position point and the number of the first position points within a preset range.
2. The travel track rendering method according to claim 1, wherein the rendering of the travel track of the target object on the map based on the number of the second position points and the first position points within a preset range includes:
determining a moving track of the target object on the target path based on the second position point;
determining a rendering form of the movement track based on the number of the first position points in a preset range;
and rendering the driving track of the target object on the map based on the moving track of the target object on the target path and the rendering form of the moving track.
3. The travel track rendering method according to claim 1, wherein the target path is a path parallel to a road center line.
4. The driving track rendering method according to claim 3, wherein the mapping each first position point to a target path in the map to obtain a second position point corresponding to each first position point comprises:
and mapping each first position point to a target path in the map along the direction of a vertical line of a road center line where each first position point is located, and obtaining a second position point corresponding to each first position point on the target path.
5. The travel track rendering method according to claim 1, wherein the preset range includes: a co-directional road, a bidirectional road, or a block.
6. The travel track rendering method according to claim 2, wherein the determining a rendering form of the travel track based on the number of the first position points within a preset range includes:
determining the color adopted for rendering the movement track based on the number of the first position points in a preset range; or the like, or, alternatively,
and determining the linearity adopted for rendering the movement track based on the number of the first position points in a preset range.
7. A travel track rendering apparatus, characterized by comprising:
an acquisition unit: the positioning method comprises the steps of obtaining positioning points of a target object in a preset time period, and determining first position points of the positioning points in a map;
a mapping unit: the map mapping system is used for mapping each first position point to a target path in the map respectively to obtain a second position point corresponding to each first position point;
a rendering unit: the method comprises the step of rendering the driving track of the target object on the map based on the number of the second position points and the first position points within a preset range.
8. The travel track rendering apparatus according to claim 7, wherein the rendering unit is further configured to:
determining a moving track of the target object on the target path based on the second position point;
determining a rendering form of the movement track based on the number of the first position points in a preset range;
and rendering the driving track of the target object on the map based on the moving track of the target object on the target path and the rendering form of the moving track.
9. A computer device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
10. A computer-readable storage medium having computer instructions stored thereon for causing a computer to perform the method of any one of claims 1 to 6.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114817370A (en) * | 2022-05-10 | 2022-07-29 | 广州小马慧行科技有限公司 | Autonomous vehicle reproduction method, apparatus, computer device, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114817370A (en) * | 2022-05-10 | 2022-07-29 | 广州小马慧行科技有限公司 | Autonomous vehicle reproduction method, apparatus, computer device, and storage medium |
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