CN115171376B - Map data processing method, server, and storage medium - Google Patents
Map data processing method, server, and storage medium Download PDFInfo
- Publication number
- CN115171376B CN115171376B CN202210744991.9A CN202210744991A CN115171376B CN 115171376 B CN115171376 B CN 115171376B CN 202210744991 A CN202210744991 A CN 202210744991A CN 115171376 B CN115171376 B CN 115171376B
- Authority
- CN
- China
- Prior art keywords
- road
- points
- point
- type
- lane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 40
- 230000008569 process Effects 0.000 claims abstract description 28
- 238000009877 rendering Methods 0.000 claims abstract description 11
- 238000004806 packaging method and process Methods 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 10
- 230000002776 aggregation Effects 0.000 claims description 3
- 238000004220 aggregation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000000265 homogenisation Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/40—Information retrieval; Database structures therefor; File system structures therefor of multimedia data, e.g. slideshows comprising image and additional audio data
- G06F16/44—Browsing; Visualisation therefor
- G06F16/444—Spatial browsing, e.g. 2D maps, 3D or virtual spaces
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
Abstract
The application discloses a map data processing method. The processing method comprises the following steps: acquiring road metadata of a road to be processed, wherein the road metadata comprises a lane, a lane line and left and right side lines of the lane; the method comprises the steps of obtaining midpoints of the same position type points of left and right side lines of a lane by utilizing road metadata, extracting a central line, performing thinning treatment on the central line to obtain a position and height set of a type point column, and applying the position and height set of the type point column to all lanes and lane side lines to complete a type point uniform treatment process; generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt; and packaging the road drawing object result into binary data in a specified format, outputting the binary data to a rendering engine of the vehicle-mounted system for modeling, and obtaining the three-dimensional high-precision map. The center line is applied to all the road edges, so that the rendered road surface is smooth, and the phenomenon of covering caused by collision with other drawing objects on the road surface can be avoided.
Description
Technical Field
The present invention relates to the field of map data processing technology, and more particularly, to a map data processing method, a server, and a non-transitory computer-readable storage medium of a computer program.
Background
When a road and a drawing object on the road are displayed on a high-precision three-dimensional map, the road to be displayed and the drawing object on a road plane are required to be displayed after three-dimensional modeling, the minimum unit of the three-dimensional modeling road and the drawing object is a triangular surface, three type points are formed on the triangular surface, if the three type points are uneven, the three type points are triangulated, the height deviation of the three points of the triangular surface of the road is large, the constructed road model is uneven, and meanwhile, the road is covered with other drawing objects, so that the drawing object is not fully displayed, for example, lane side lines disappear.
Disclosure of Invention
The application provides a non-volatile computer readable storage medium of a map data processing method, a server, and a computer program.
The application provides a map data processing method, which comprises the following steps:
acquiring road metadata of a road to be processed, wherein the road metadata comprises a lane, a lane line and left and right side lines of the lane;
the method comprises the steps of obtaining midpoints of the same position type points of left and right side lines of a lane by utilizing road metadata, extracting a central line, performing thinning treatment on the central line to obtain a position and height set of a type point column, and applying the position and height set of the type point column to all lanes and lane side lines to complete a type point uniform treatment process;
generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt;
and packaging the road drawing object result into binary data in a specified format, outputting the binary data to a rendering engine of the vehicle-mounted system for modeling, and obtaining the three-dimensional high-precision map.
And after the position and height set of the point column are applied to all the lanes and the lane side lines to finish the point uniformity processing process, road drawing objects are generated according to the point uniformity processing results, the lane lines, the induced arrows and the current guide belts, and the road drawing object results are packed into binary data in a specified format and are output to a rendering engine of a vehicle-mounted system for modeling, so that a three-dimensional high-precision map is obtained. The center line is applied to all road edges so that the rendered road surface is smooth, inclination can not occur, and the phenomenon of covering can not occur due to collision with other drawing objects on the road surface. The center line can be synchronously applied to all lane center lines, so that all lane side lines and the shape points on the lane center lines are distributed uniformly, and the local lane center lines and lane side lines on the road are ensured to be on the road surface, thereby ensuring the integrity of the road surface drawing object.
The obtaining the midpoint of the same position point of the left and right side lines of the lane by using the road metadata comprises the following steps:
combining the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by using the road metadata to obtain a shape point position aggregation set;
and in the point position combination set, determining the same position type points of the left line and the right line of the lane as the middle points.
In this way, the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by using the road metadata are combined, and after the shape point position combination set is obtained, the shape points at the same positions of the left line of the lane and the right line of the lane can be determined to be the middle point in the shape point position combination set.
The method for extracting the center line and performing thinning treatment on the center line to obtain the position and height set of the point column comprises the following steps:
extracting a central line, and performing two-dimensional thinning treatment on the central line to obtain a position and height set of the point column which reserves the two-dimensional topological relation of the road.
Thus, a central line is extracted, two-dimensional thinning treatment is carried out on the central line, and the position and height set of the point column which keeps the two-dimensional topological relation of the road is obtained. The model point array can keep the topological relation of the road in the two-dimensional dimension while reducing the number of model point.
Extracting a central line and performing two-dimensional thinning treatment on the central line to obtain a position and height set of a point column which reserves a two-dimensional topological relation of a road, wherein the two-dimensional thinning treatment comprises the following steps:
performing two-dimensional thinning treatment on the central line to obtain a point column retaining the two-dimensional topological relation of the road and filtered points;
and inserting the filtered model points meeting the preset conditions back into the model point column to obtain the position and height set of the model point column.
And after the two-dimensional thinning treatment is carried out on the central line to obtain a model point row which keeps the two-dimensional topological relation of the road and the filtered model points, inserting the filtered model points which meet the preset conditions back into the model point row to obtain the position and the height set of the model point row, so that the heights of the model points at symmetrical positions on the left and right side lines of the treated lane are consistent.
The method is characterized in that the step of inserting the filtered shaped points meeting the preset conditions back into the shaped point column to obtain the position and height set of the shaped point column comprises the following steps:
inserting the filtered model points back into the model point column;
judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which meet the preset condition relation, and removing the filtered type points which do not meet the preset condition relation to obtain the position and height set of the type point row.
And the filtered type points are inserted into the type point row, the relation between the filtered type points and the adjacent type points in the type point row is judged, the filtered type points which meet the preset condition relation are reserved, and the filtered type points which do not meet the preset condition relation are removed, so that the position and the height set of the type point row are obtained. The decision to keep the filtered type points is made by determining whether the filtered type points and the adjacent type points meet a preset condition relationship.
Judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which meet the preset condition relation, and removing the filtered type points which do not meet the preset condition relation to obtain a position and height set of the type point row, wherein the method comprises the following steps:
judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference, and removing the filtered type points which do not accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference so as to obtain the position and the height set of the type point row.
In this way, the relation between the filtered type points and the adjacent type points in the type point row is judged, the filtered type points which accord with the relation of the preset front-rear distance, the preset gradient change and the preset height difference are reserved, the filtered type points which do not accord with the relation of the preset front-rear distance, the preset gradient change and the preset height difference are removed, and the position and the height set of the type point row can be obtained.
The step of completing the uniform processing process of the model points by applying the position and the height set of the model point array to all lanes and lane side lines comprises the following steps:
extracting three-dimensional points of the vehicle line corresponding to the positions and the heights of the point columns;
and adding a preset height to the three-dimensional points of the vehicle line positioned on the non-road side line to generate a vehicle line type point row so as to complete the uniform processing process of the points.
In this way, after the three-dimensional type points of the vehicle line corresponding to the positions and the height sets of the type point columns are extracted, the three-dimensional type points of the vehicle line positioned on the non-road side line are increased by a preset height, and the side line type point columns are generated to complete the type point uniform processing process
Generating a road drawing object according to the uniform processing result of the shaped points, the vehicle line, the induced arrow and the diversion belt, comprising:
generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt;
and triangulating the road drawing object.
Thus, after the road drawing object is generated according to the shape point uniform processing result, the vehicle line, the induced arrow and the guide belt, the road drawing object is triangulated to obtain a complete road model of the road drawing object, wherein the road surface is smooth.
The application also provides a server, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the processing method when being executed by the processor.
The present application also provides a non-transitory computer readable storage medium of a computer program which, when executed by one or more processors, implements the processing method of the claims.
The map data processing method, the server and the non-volatile computer readable storage medium acquire road metadata of a road to be processed including a lane, a vehicle line and left and right side lines of the lane, acquire midpoints of points at the same positions of the left and right side lines of the lane by utilizing the road metadata, extract a center line, perform thinning processing on the center line to obtain a position and height set of a type point column, apply the position and height set of the type point column to all lanes and lane side lines to finish a type point uniform processing process, generate a road drawing object according to a type point uniform processing result, the vehicle line, an induction arrow and a guide belt, package the road drawing object result into binary data in a specified format, and output the binary data to a rendering engine of the vehicle-mounted system for modeling to obtain a three-dimensional high-precision map. The center line is applied to all road edges so that the rendered road surface is smooth, inclination can not occur, and the phenomenon of covering can not occur due to collision with other drawing objects on the road surface. The center line can be synchronously applied to all lane center lines, so that all lane side lines and the shape points on the lane center lines are distributed uniformly, and the local lane center lines and lane side lines on the road are ensured to be on the road surface, thereby ensuring the integrity of the road surface drawing object.
Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic view of a scenario of the processing method of the present application;
FIG. 2 is a schematic flow chart of the treatment method of the present application;
FIG. 3 is a schematic view of a scenario of the processing method of the present application;
FIG. 4 is a schematic view of a scenario of the processing method of the present application;
FIG. 5 is a schematic view of a scenario of the processing method of the present application;
FIG. 6 is a schematic view of a scenario of the processing method of the present application;
FIG. 7 is a schematic view of a scenario of the processing method of the present application;
FIG. 8 is a schematic view of a scenario of the processing method of the present application;
FIG. 9 is a schematic view of a scenario of the processing method of the present application;
FIG. 10 is a flow diagram of a process of the present application;
FIG. 11 is a flow diagram of a process of the present application;
FIG. 12 is a flow chart of a process of the present application;
FIG. 13 is a flow diagram of a process of the present application;
FIG. 14 is a flow diagram of a process of the present application;
FIG. 15 is a flow diagram of a process of the present application;
FIG. 16 is a flow diagram of a process of the present application;
fig. 17 is a schematic diagram of a connection state of a nonvolatile computer-readable storage medium and a processor of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the embodiments of the present application and are not to be construed as limiting the embodiments of the present application.
Referring to fig. 1, a schematic diagram of the triangular surface of a road formed by triangulating a road edge with uneven shaped points is shown in fig. 1, wherein E, C and a type points are arranged on the left line of the road, G, F, D and B type points are arranged on the right line of the road, wherein the E type points and the G type points are symmetrically distributed, the C type points and the F type points are symmetrically distributed, the A type points and the B type points are symmetrically distributed, but the number of the D type points and the number of the shaped points on the two edges are asymmetric on the right line of the road, so that the triangular surface after triangulating is disordered, the rendered road surface is inclined, and other drawing objects on the road surface are covered, and especially under the condition of slope surface encountering, the inclination angle of the road surface is larger.
Referring to fig. 2, the present application provides a map data processing method, which includes the following steps:
01: acquiring road metadata of a road to be processed, wherein the road metadata comprises a lane, a lane line and left and right side lines of the lane;
02: the method comprises the steps of obtaining midpoints of the same position type points of left and right side lines of a lane by utilizing road metadata, extracting a central line, performing thinning treatment on the central line to obtain a position and height set of a type point column, and applying the position and height set of the type point column to all lanes and lane side lines to complete a type point uniform treatment process;
03: generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt;
04: and packaging the road drawing object result into binary data in a specified format, outputting the binary data to a rendering engine of the vehicle-mounted system for modeling, and obtaining the three-dimensional high-precision map.
The application also provides a server comprising a memory and a processor. The memory stores computer program, the processor is used for obtaining the road metadata of the road to be processed including the lanes, the lines and the left and right edges of the lanes, obtaining the midpoints of the same position type points of the left and right edges of the lanes by using the road metadata, extracting the center line, performing thinning treatment on the center line to obtain the position and height set of the type point column, applying the position and height set of the type point column to all lanes and the edges of the lanes to complete the type point uniform processing process, generating a road drawing object according to the type point uniform processing result, the lines, the induced arrows and the diversion belts, and outputting the binary data of the road drawing object result packaged into a specified format to the rendering engine of the vehicle-mounted system for modeling, thus obtaining the three-dimensional high-precision map.
Specifically, the road metadata includes data from a high-precision map, such as data representing a road, lanes in the road, lane edges on the lanes, lane center lines, and data representing three-dimensional spatial information at the level of the lanes, such as data representing groupings and topological relationships between the roads, lanes, lane center lines, and the like. I.e. the source of the data processed in the present application may come from high precision map data. The shape point refers to a point constituting the geometry of the road element, the shape point column refers to a point column constituting the geometry of the road element, for example, a lane left line shape point refers to a point constituting the geometry of a lane left line. The lane right line type point refers to a point constituting the geometry of the lane right line. The lane lines include lane side lines, lane center lines, and the like. The drawing objects on the road surfaces such as the induced arrows and the diversion belts can be prepared in advance by using the data of the high-precision map. The same location refers to a location of percent identity because the symmetrically distributed two points to the midpoint are of percent identity. Therefore, the left-right line identical position type points refer to two type points in which the percentage of the type point position on the left line of the road and the type point position on the right line of the road to the position of the midpoint are identical.
Referring to fig. 3, a road may be composed of a plurality of lanes, each lane is composed of a lane left edge and a lane right edge, so that there are an outermost road edge and a plurality of lane edges in the road, wherein the outermost road edge is also composed of the lane edges. That is, the lane left side line means a lane side line which can be used as a road left side line, and the lane right side line means a lane side line which can be used as a road right side line.
It can be understood that, by using the midpoints of the same position type points in the left lane line and the right lane line and extracting the center line, all the characteristic points of the left lane line and the right lane line are reserved on the center line, and then the center line is subjected to thinning treatment, so that the number of the type points can be reduced to the greatest extent under the condition that the shape of the center line is unchanged, namely, the number of the type points can be reduced under the condition that the two-dimensional topological relation of the road side line can be kept, and the data volume is reduced, so that the type points at symmetrical positions on the left lane line and the right lane line after the treatment are symmetrically and uniformly distributed on the two-dimensional topological relation. And meanwhile, performing high thinning treatment on the profile point rows on the central line, so that the heights of the profile points at symmetrical positions on the left and right side lines of the treated lane are consistent, and the uniform treatment of the profile points is completed. And deducing the left line of the lane and the right line of the lane according to the profile point row on the center line after finishing profile point uniform treatment, namely, applying the center line to the road side line, wherein the profile points of the road side lines on two sides are symmetrically and uniformly distributed, and the relative height difference of the profile points at the symmetrical positions of the two side lines of the road side line is small. After the drawing object is generated according to the point array, a plurality of triangular surfaces are obtained through triangularization, two triangular surfaces form a pavement unit, and the height deviation of three vertexes of the triangular surfaces is reduced, so that the rendered pavement is flat, inclination can not occur, and covering phenomenon can not occur due to collision with other drawing objects on the pavement. Meanwhile, the center line can be synchronously applied to all lane center lines, so that all lane side lines and the shape points on the lane center lines are distributed uniformly, the local lane center lines and the lane side lines on the road are ensured to be on the road surface, and the integrity of the drawing object on the road surface is ensured.
Referring to fig. 4, taking a road as an example, first, a lane edge that can be used as a road edge in the lane edge is determined by a lane edge of the road in the obtained road metadata, and a midpoint of the formation of the type points of the two edges can be determined by the same position of the left-edge type point of the lane as the middle-edge type point of the right-edge type point of the lane, and as shown in fig. 4, a center line of the two edges can be generated according to the midpoint. And then, extracting the central line, and performing thinning treatment on the central line to obtain the position and height set of the pattern point row of the central line after treatment. The position and height set of the type point array is applied to all lanes and lane side lines so as to complete the process of evenly processing the type points, the effect of the type point array applied to the lane side lines is shown in fig. 5, and the effect of the type point array applied to the lane center line is shown in fig. 6. The triangular surface effect schematic diagram of the triangular process after the uniform processing result of the points, the vehicle line, the induced arrow and the diversion belt are used for generating the road drawing object is shown in fig. 7. And finally, packaging the road drawing object result into binary data in a specified format, outputting the binary data to a rendering engine of the vehicle-mounted system for modeling, and obtaining a three-dimensional high-precision map, thereby obtaining an effect schematic diagram shown in fig. 8. The road model obtained by rendering engine modeling without passing through the point homogenization is shown in fig. 9, and the framed portion does not show the lane edge. The lane line of the road model obtained by rendering engine modeling through type point homogenization is displayed completely.
And after the position and height set of the point column are applied to all the lanes and the lane side lines to finish the point uniformity processing process, road drawing objects are generated according to the point uniformity processing results, the lane lines, the induced arrows and the current guide belts, and the road drawing object results are packed into binary data in a specified format and are output to a rendering engine of a vehicle-mounted system for modeling, so that a three-dimensional high-precision map is obtained. The center line is applied to all road edges so that the rendered road surface is smooth, inclination can not occur, and the phenomenon of covering can not occur due to collision with other drawing objects on the road surface. The center line can be synchronously applied to all lane center lines, so that all lane side lines and the shape points on the lane center lines are distributed uniformly, and the local lane center lines and lane side lines on the road are ensured to be on the road surface, thereby ensuring the integrity of the road surface drawing object.
Referring to fig. 10, in step 02, obtaining the midpoints of the same position points of the left and right edges of the lane using the road metadata includes:
020: combining the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by using the road metadata to obtain a shape point position aggregation set;
021: and in the point position combination set, determining the same position type points of the left line and the right line of the lane as the middle points.
The processor is used for combining the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by utilizing the road metadata to obtain a shape point position combination set, and determining the shape points of the same positions of the left line of the lane and the right line of the lane as the middle points in the shape point position combination set.
Specifically, the method for determining the midpoint includes that firstly, the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by using the road metadata are combined to obtain a shape point combination set. When expressed by a function, the type point position of the left line of the lane can be denoted as L= { p|0< p <1}, and the type point position of the right line of the lane is denoted as R= { p|0< p <1}, where p is the type point on the left line of the lane or the right line of the lane. Then, the position of the shape point of the right line of the lane and the position of the shape point of the left line of the lane are combined to obtain M= { p|0< p <1}. And taking points from each type point on the central line on two side lines through the union M, wherein the middle points of the type point position of the left side line of the taken lane and the type point position of the right side line of the lane are marked as coordinates of the middle points in x, y and z axes respectively.
C(n).x＝(LP(n).x+RP(n).x)/2
C(n).y＝(LP(n).y+RP(n).y)/2
C(n).z＝(LP(n).z+RP(n).z)/2
Resulting in a center line c= (x, y, z) |c (x, y, z).
In this way, the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by using the road metadata are combined, and after the shape point position combination set is obtained, the shape points at the same positions of the left line of the lane and the right line of the lane can be determined to be the middle point in the shape point position combination set.
Referring to fig. 11, in step 02, extracting a center line and performing thinning processing on the center line to obtain a position and height set of a dot column includes:
022: extracting a central line, and performing two-dimensional thinning treatment on the central line to obtain a position and height set of the point column which reserves the two-dimensional topological relation of the road.
The processor is used for extracting a central line and performing two-dimensional thinning treatment on the central line to obtain a position and height set of the point column which reserves the two-dimensional topological relation of the road.
Specifically, although the center lines obtained through combination retain all characteristic points of the left lane line and the right lane line, due to the problem of precision, the model points on part of the center lines are too closely spaced, so that the center lines can be subjected to thinning processing. The central line is subjected to thinning treatment by using a Douglas-Peuker (DP), so that a group of point columns can be obtained, and the topological relation of the road in two dimensions can be reserved while the number of point numbers is reduced.
Thus, a central line is extracted, two-dimensional thinning treatment is carried out on the central line, and the position and height set of the point column which keeps the two-dimensional topological relation of the road is obtained. The model point array can keep the topological relation of the road in the two-dimensional dimension while reducing the number of model point.
Referring to fig. 12, step 022 includes:
0220: performing two-dimensional thinning treatment on the central line to obtain a point column retaining the two-dimensional topological relation of the road and filtered points;
0221: and inserting the filtered model points meeting the preset conditions back into the model point column to obtain the position and height set of the model point column.
The processor is used for carrying out two-dimensional thinning treatment on the center line to obtain a model point row which keeps the two-dimensional topological relation of the road and filtered model points, and is used for inserting the filtered model points meeting preset conditions back into the model point row to obtain the position and height set of the model point row.
Specifically, after the two-dimensional thinning treatment is carried out on the central line, the height of the central line is further treated, so that the heights of the symmetrical points on the left and right side lines of the treated lane are consistent. After the center line is subjected to two-dimensional thinning treatment, unnecessary form points can be filtered out. At this time, the shape points meeting the preset conditions are inserted back into the shape point column, so that the height of the shape point column is adjusted, a position and a height set of the shape point column are obtained, a function can be expressed as f= { (p, z) |0< p <1}, and p is the position of the shape point on the central line. The predetermined condition may be a condition that a developer designs for the height of the profile points of the symmetrical positions on the left and right edges of the processed lane to be uniform, including various calculation methods and judgment conditions.
And after the two-dimensional thinning treatment is carried out on the central line to obtain a model point row which keeps the two-dimensional topological relation of the road and the filtered model points, inserting the filtered model points which meet the preset conditions back into the model point row to obtain the position and the height set of the model point row, so that the heights of the model points at symmetrical positions on the left and right side lines of the treated lane are consistent.
Referring to fig. 13, step 0221 includes:
02210: inserting the filtered model points back into the model point column;
02211: judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which meet the preset condition relation, and removing the filtered type points which do not meet the preset condition relation to obtain the position and height set of the type point row.
The processor is used for inserting the filtered type points back into the type point row, judging the relation between the filtered type points in the type point row and the adjacent type points, reserving the filtered type points which accord with the preset condition relation, and removing the filtered type points which do not accord with the preset condition relation so as to obtain the position and the height set of the type point row.
Specifically, when the height of the center line is further processed, the filtered shape points meeting the relation of the preset condition may be filtered points meeting the relation of the preset condition between the adjacent shape points. That is, the filtered pattern points are inserted back to the original pattern point row, and after the filtered pattern points are inserted back to the original pattern point row, other pattern points adjacent to the filtered pattern points exist on the central line. Therefore, whether the filtered type points are kept or not can be determined by judging whether the filtered type points and the adjacent type points accord with the preset condition relation. When the filtered pattern points and the adjacent pattern points accord with the preset condition relation, the filtered pattern points are reserved in the pattern point row, and when the filtered pattern points and the adjacent pattern points do not accord with the preset condition relation, the filtered pattern points are removed, so that the positions and the heights of the pattern point row are gathered.
And the filtered type points are inserted into the type point row, the relation between the filtered type points and the adjacent type points in the type point row is judged, the filtered type points which meet the preset condition relation are reserved, and the filtered type points which do not meet the preset condition relation are removed, so that the position and the height set of the type point row are obtained. The decision to keep the filtered type points is made by determining whether the filtered type points and the adjacent type points meet a preset condition relationship.
Referring to fig. 14, step 02211 includes:
022110: judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference, and removing the filtered type points which do not accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference so as to obtain the position and the height set of the type point row.
The processor is used for judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference, and removing the filtered type points which do not accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference so as to obtain the position and the height set of the type point row.
Specifically, it is determined whether the filtered type point and the adjacent type point meet a preset condition relationship to determine whether to keep the filtered type point. The preset condition relation comprises that the relation symbol between the filtered type point and the adjacent type point does not accord with three conditions. In condition one, the distance between the filtered pattern point and the adjacent pattern point is greater than a preset distance value, and the preset distance value can be specified by a developer, for example, 2 meters. In condition two, the gradient change formed between the filtered form point and the adjacent form point is larger than the preset gradient value, and the preset gradient value can be set by a developer, for example, 0.5 degrees. And thirdly, the height difference formed between the filtered type point and the adjacent type point is larger than a preset height value, and the preset height value can be set by a developer, for example, 5 cm. When the relation between the filtered type point and the adjacent type point accords with three conditions, the filtered type point can be left in the type point column, and when the relation between the filtered type point and the adjacent type point does not accord with three conditions, the filtered type point which does not accord with the three conditions can be removed in the type point column, so that the position and the height set of the type point column can be obtained.
In this way, the relation between the filtered type points and the adjacent type points in the type point row is judged, the filtered type points which accord with the relation of the preset front-rear distance, the preset gradient change and the preset height difference are reserved, the filtered type points which do not accord with the relation of the preset front-rear distance, the preset gradient change and the preset height difference are removed, and the position and the height set of the type point row can be obtained.
Referring to fig. 15, in step 02, the location and height set of the profile point column is applied to all lanes and lane edges to complete the profile point uniformity process, which includes:
023: extracting three-dimensional points of the vehicle line corresponding to the positions and the heights of the point columns;
024: and adding a preset height to the three-dimensional points of the vehicle line positioned on the non-road side line to generate a vehicle line type point row so as to complete the uniform processing process of the points.
The processor is used for extracting three-dimensional points of the vehicle line corresponding to the position and height set of the model point columns, and increasing the three-dimensional points of the vehicle line positioned on the non-road side line by a preset height to generate side line type point columns so as to complete the model point uniform processing process.
Specifically, the three-dimensional points of the lane include three-dimensional points on the road side line, the lane side line, and the lane center line. The train line type point column comprises a road side line, a lane side line and a lane central line. The processed position and height set of the profile point columns can be applied to all road side lines, lane side lines and lane center lines. When the method is applied to a road, the preset height is added to the height on the side line or the center line of the other lanes, which is not on the side line of the road, and the preset height value can be set by a developer, for example, 3 cm.
It can be understood that after the preset height is added to the heights of other lane side lines or lane center lines other than the lane side lines, a lane line type point row with the middle lane line higher than the lane side line can be obtained, and after the lane line type point row is rendered, a road model with the middle lane line higher than the lane side line can be obtained.
Referring to fig. 5 again, taking a position p of a set f= { (p, z) |0< p <1} as an example, firstly, taking a two-dimensional point p (x, y) of the position p on the road side, combining the position height z of the two-dimensional point (x, y), judging that the road side does not need to be increased by a preset height, thereby forming a three-dimensional point (x, y, z) of the position p, repeating the operation of forming a line-type point on the road side, and obtaining an effect schematic diagram of the line-type point row { (x, y, z) }, as shown in fig. 5.
In this way, after the three-dimensional type points of the vehicle line corresponding to the positions and the height sets of the type point columns are extracted, the three-dimensional type points of the vehicle line positioned on the non-road side line are increased by a preset height, and the side line type point columns are generated to complete the type point uniform processing process.
Referring to fig. 16, step 03 includes:
030: generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt;
031: and triangulating the road drawing object.
The processor is used for generating a road drawing object according to the uniform processing result of the model points, the vehicle line, the induced arrow and the diversion belt, and is used for triangulating the road drawing object.
Specifically, the vehicle lines may be obtained from map metadata, and the guidance tape and the guidance arrows on the lanes may be prepared from the obtained map metadata. The road drawing objects can be generated according to the shape point homogenization treatment to obtain the shape point column, the vehicle line, the induced arrow and the guide belt, and after the triangular treatment is carried out on the drawing objects, the unit road surface can be obtained, so that a road model is formed, the road surface of the road model is flat, no inclination occurs, no collision with other drawing objects on the road surface occurs, and no covering phenomenon occurs. Meanwhile, the center line can be synchronously applied to all lane center lines, so that all lane side lines and the shape points on the lane center lines are distributed uniformly, the local lane center lines and the lane side lines on the road are ensured to be on the road surface, and the integrity of the drawing object on the road surface is ensured.
Thus, after the road drawing object is generated according to the shape point uniform processing result, the vehicle line, the induced arrow and the guide belt, the road drawing object is triangulated to obtain a complete road model of the road drawing object, wherein the road surface is smooth.
Referring to fig. 17, embodiments of the present application also provide a non-transitory computer readable storage medium 100 containing a computer program 101. The computer program 101, when executed by one or more processors 200, causes the one or more processors 200 to perform the processing methods of any of the embodiments described above.
In the description of the present specification, reference to the terms "certain embodiments," "in one example," "illustratively," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples described in this specification and the features of the various embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the present application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present application.
Claims (9)
1. A map data processing method, characterized in that the method comprises:
acquiring road metadata of a road to be processed, wherein the road metadata comprises a lane, a lane line and left and right side lines of the lane;
the method comprises the steps of obtaining midpoints of the same position type points of left and right side lines of a lane by utilizing road metadata, extracting a central line, performing thinning treatment on the central line to obtain a position and height set of a type point column, and applying the position and height set of the type point column to all lanes and lane side lines to complete a type point uniform treatment process;
generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt;
packaging a road drawing object result into binary data in a specified format, outputting the binary data to a rendering engine of a vehicle-mounted system for modeling to obtain a three-dimensional high-precision map, wherein the model points are points of a geometric structure of elements forming a road, the vehicle line comprises a lane side line and a lane center line, and the model point uniform processing process comprises the following steps:
extracting three-dimensional points of the vehicle line corresponding to the positions and the heights of the point columns;
and adding a preset height to the three-dimensional points of the vehicle line positioned on the non-road side line to generate a vehicle line type point row so as to complete the uniform processing process of the points.
2. The processing method according to claim 1, wherein the obtaining the midpoint of the same-position type point of the left and right side lines of the lane using the road metadata comprises:
combining the shape point position of the left line of the lane and the shape point position of the right line of the lane obtained by using the road metadata to obtain a shape point position aggregation set;
and in the point position combination set, determining the same position type points of the left line and the right line of the lane as the middle points.
3. The processing method according to claim 1, wherein the extracting the center line and thinning the center line to obtain the position and height set of the shaped point array comprises:
extracting a central line, and performing two-dimensional thinning treatment on the central line to obtain a position and height set of the point column which reserves the two-dimensional topological relation of the road.
4. The processing method according to claim 3, wherein the extracting the center line and performing two-dimensional thinning processing on the center line to obtain a set of positions and heights of the model point rows retaining the two-dimensional topological relation of the road comprises:
performing two-dimensional thinning treatment on the central line to obtain a point column retaining the two-dimensional topological relation of the road and filtered points;
and inserting the filtered model points meeting the preset conditions back into the model point column to obtain the position and height set of the model point column.
5. The processing method according to claim 4, wherein inserting the filtered shaped points meeting the preset condition back into the shaped point column to obtain the set of positions and heights of the shaped point column comprises:
inserting the filtered model points back into the model point column;
judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which meet the preset condition relation, and removing the filtered type points which do not meet the preset condition relation to obtain the position and height set of the type point row.
6. The processing method according to claim 5, wherein the determining the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points meeting the preset condition relation, and removing the filtered type points not meeting the preset condition relation to obtain the position and the height set of the type point row, includes:
judging the relation between the filtered type points and the adjacent type points in the type point row, reserving the filtered type points which accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference, and removing the filtered type points which do not accord with the relation of the preset front-back distance, the preset gradient change and the preset height difference so as to obtain the position and the height set of the type point row.
7. The processing method according to claim 1, wherein the generating the road drawing object based on the shape point uniformity processing result, the vehicle line, the induced arrow, and the guide belt comprises:
generating a road drawing object according to the uniform point processing result, the vehicle line, the induced arrow and the guide belt;
and triangulating the road drawing object.
8. A server comprising a processor and a memory, wherein the memory has stored therein a computer program which, when executed by the processor, implements the processing method of any of claims 1-7.
9. A non-transitory computer readable storage medium comprising a computer program which, when executed by a processor, causes the processor to perform the processing method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744991.9A CN115171376B (en) | 2022-06-27 | 2022-06-27 | Map data processing method, server, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744991.9A CN115171376B (en) | 2022-06-27 | 2022-06-27 | Map data processing method, server, and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115171376A CN115171376A (en) | 2022-10-11 |
| CN115171376B true CN115171376B (en) | 2024-01-05 |
Family
ID=83489339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210744991.9A Active CN115171376B (en) | 2022-06-27 | 2022-06-27 | Map data processing method, server, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115171376B (en) |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107341453A (en) * | 2017-06-20 | 2017-11-10 | 北京建筑大学 | A kind of lane line extracting method and device |
| CN107657636A (en) * | 2017-10-16 | 2018-02-02 | 南京市测绘勘察研究院股份有限公司 | A kind of method that route topography figure elevational point is automatically extracted based on mobile lidar data |
| CN107679498A (en) * | 2017-10-11 | 2018-02-09 | 防灾科技学院 | A kind of airborne laser point cloud downtown roads recognition methods |
| CN109753841A (en) * | 2017-11-01 | 2019-05-14 | 比亚迪股份有限公司 | Lane detection method and apparatus |
| JP2020013351A (en) * | 2018-07-18 | 2020-01-23 | 株式会社パスコ | Three-dimensional map generation device and program |
| CN110749329A (en) * | 2019-10-26 | 2020-02-04 | 武汉中海庭数据技术有限公司 | Lane level topology construction method and device based on structured road |
| CN111238500A (en) * | 2018-11-29 | 2020-06-05 | 沈阳美行科技有限公司 | Map generation method, device and system for road segments of road map area |
| CN111238503A (en) * | 2018-11-29 | 2020-06-05 | 沈阳美行科技有限公司 | Road segment map generation method, device and related system |
| CN111696153A (en) * | 2020-06-03 | 2020-09-22 | 杭州市勘测设计研究院 | Method, equipment and system for extracting road center line |
| CN112560747A (en) * | 2020-12-23 | 2021-03-26 | 苏州工业园区测绘地理信息有限公司 | Vehicle-mounted point cloud data-based lane boundary interactive extraction method |
| CN112634297A (en) * | 2020-12-14 | 2021-04-09 | 深兰人工智能(深圳)有限公司 | High-precision map making method and device, electronic equipment and storage medium |
| KR102244236B1 (en) * | 2020-10-22 | 2021-04-26 | 주식회사 그린블루 | Precise road map system for acquiring road line using mobile mapping system |
| CN112762947A (en) * | 2020-12-28 | 2021-05-07 | 上海汽车集团股份有限公司 | Map data calibration method and device and computer equipment |
| CN113393580A (en) * | 2021-08-18 | 2021-09-14 | 腾讯科技（深圳）有限公司 | Map road drawing method and device and related products |
| CN114162140A (en) * | 2021-12-08 | 2022-03-11 | 武汉中海庭数据技术有限公司 | Optimal lane matching method and system |
| CN114255163A (en) * | 2020-09-22 | 2022-03-29 | 北京四维图新科技股份有限公司 | Map data thinning method, device and storage medium |
| WO2022083178A1 (en) * | 2020-10-21 | 2022-04-28 | 湖北亿咖通科技有限公司 | Laser point cloud processing method, electronic apparatus and storage medium |
| CN114419145A (en) * | 2022-03-29 | 2022-04-29 | 腾讯科技（深圳）有限公司 | Road element labeling method, device, equipment and storage medium |
| CN114485688A (en) * | 2021-12-27 | 2022-05-13 | 中智行(苏州)科技有限公司 | Map lane data generation method and device |
| CN114580574A (en) * | 2022-04-27 | 2022-06-03 | 新石器慧通（北京）科技有限公司 | Method and device for constructing high-precision map |
-
2022
- 2022-06-27 CN CN202210744991.9A patent/CN115171376B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107341453A (en) * | 2017-06-20 | 2017-11-10 | 北京建筑大学 | A kind of lane line extracting method and device |
| CN107679498A (en) * | 2017-10-11 | 2018-02-09 | 防灾科技学院 | A kind of airborne laser point cloud downtown roads recognition methods |
| CN107657636A (en) * | 2017-10-16 | 2018-02-02 | 南京市测绘勘察研究院股份有限公司 | A kind of method that route topography figure elevational point is automatically extracted based on mobile lidar data |
| CN109753841A (en) * | 2017-11-01 | 2019-05-14 | 比亚迪股份有限公司 | Lane detection method and apparatus |
| JP2020013351A (en) * | 2018-07-18 | 2020-01-23 | 株式会社パスコ | Three-dimensional map generation device and program |
| CN111238500A (en) * | 2018-11-29 | 2020-06-05 | 沈阳美行科技有限公司 | Map generation method, device and system for road segments of road map area |
| CN111238503A (en) * | 2018-11-29 | 2020-06-05 | 沈阳美行科技有限公司 | Road segment map generation method, device and related system |
| CN110749329A (en) * | 2019-10-26 | 2020-02-04 | 武汉中海庭数据技术有限公司 | Lane level topology construction method and device based on structured road |
| CN111696153A (en) * | 2020-06-03 | 2020-09-22 | 杭州市勘测设计研究院 | Method, equipment and system for extracting road center line |
| CN114255163A (en) * | 2020-09-22 | 2022-03-29 | 北京四维图新科技股份有限公司 | Map data thinning method, device and storage medium |
| WO2022083178A1 (en) * | 2020-10-21 | 2022-04-28 | 湖北亿咖通科技有限公司 | Laser point cloud processing method, electronic apparatus and storage medium |
| KR102244236B1 (en) * | 2020-10-22 | 2021-04-26 | 주식회사 그린블루 | Precise road map system for acquiring road line using mobile mapping system |
| CN112634297A (en) * | 2020-12-14 | 2021-04-09 | 深兰人工智能(深圳)有限公司 | High-precision map making method and device, electronic equipment and storage medium |
| CN112560747A (en) * | 2020-12-23 | 2021-03-26 | 苏州工业园区测绘地理信息有限公司 | Vehicle-mounted point cloud data-based lane boundary interactive extraction method |
| CN112762947A (en) * | 2020-12-28 | 2021-05-07 | 上海汽车集团股份有限公司 | Map data calibration method and device and computer equipment |
| CN113393580A (en) * | 2021-08-18 | 2021-09-14 | 腾讯科技（深圳）有限公司 | Map road drawing method and device and related products |
| CN114162140A (en) * | 2021-12-08 | 2022-03-11 | 武汉中海庭数据技术有限公司 | Optimal lane matching method and system |
| CN114485688A (en) * | 2021-12-27 | 2022-05-13 | 中智行(苏州)科技有限公司 | Map lane data generation method and device |
| CN114419145A (en) * | 2022-03-29 | 2022-04-29 | 腾讯科技（深圳）有限公司 | Road element labeling method, device, equipment and storage medium |
| CN114580574A (en) * | 2022-04-27 | 2022-06-03 | 新石器慧通（北京）科技有限公司 | Method and device for constructing high-precision map |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115171376A (en) | 2022-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104063903B (en) | The tetrahedral grid of three-dimensional entity model generates method and apparatus | |
| CN109658509B (en) | Long and narrow pattern spot partitioning method and device, computer equipment and storage medium | |
| CN110039186B (en) | Curved surface model path planning method applied to laser surface etching | |
| US20150109290A1 (en) | Device and method for removing noise points in point clouds | |
| CN110555266B (en) | Simulation road network data random generation method and system for simulation test | |
| CN103279989A (en) | Three-dimensional laser imaging system planar point cloud data triangularization processing method | |
| EP1242978B1 (en) | Mesh generator for and method of generating meshes in an extrusion process | |
| CN111047682B (en) | Three-dimensional lane model generation method and system | |
| US11935193B2 (en) | Automated mesh generation | |
| CN110598358A (en) | Additive manufacturing stress deformation simulation method, device, equipment and storage medium | |
| CN115171376B (en) | Map data processing method, server, and storage medium | |
| CN110991534A (en) | Point cloud data processing method, device, equipment and computer readable storage medium | |
| CN108983763B (en) | Path planning method and device and vehicle-mounted terminal | |
| CN114290660A (en) | Curved surface layered 3D printing method and system | |
| CN110001066B (en) | Method for determining filling direction of minimum partition in three-dimensional printing | |
| CN112560126B (en) | Data processing method, system and storage medium for 3D printing | |
| JP2004102402A (en) | Partition data creating method and device | |
| CN114839976A (en) | Path planning method for farmland with complex boundary and farmland machine operating system | |
| JP2022547873A (en) | Point cloud data processing method and device | |
| CN112711231A (en) | Method and device for planning additive manufacturing processing path | |
| CN103761744A (en) | General type two-dimensional point cloud grouping method | |
| CN114255163A (en) | Map data thinning method, device and storage medium | |
| CN106033620A (en) | Point clouds model restoration method, point clouds model restoration device and calculation device | |
| CN115937454B (en) | Method and device for automatically placing tree models in large-scale city scene | |
| JP6889656B2 (en) | Image generator and image generation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231207 Address after: Room 708, Room 406, No.1 Yichuang Street, Huangpu District (Zhongxin Guangzhou Knowledge City), Guangzhou City, Guangdong Province, 510000 Applicant after: Zhaoqing Xiaopeng New Energy Investment Co.,Ltd. Guangzhou Branch Address before: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |