CN115235484A - Method and device for generating high-precision map stop line - Google Patents
Method and device for generating high-precision map stop line Download PDFInfo
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- CN115235484A CN115235484A CN202210709786.9A CN202210709786A CN115235484A CN 115235484 A CN115235484 A CN 115235484A CN 202210709786 A CN202210709786 A CN 202210709786A CN 115235484 A CN115235484 A CN 115235484A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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Abstract
The application relates to a method and a device for generating a high-precision map stop line. The method comprises the following steps: responding to a stop line generation request to frame a lane line area in the high-precision map, wherein the frame lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main lane line or an auxiliary lane line; classifying the lane lines in the frame-selected lane line area according to the attribute of the lane lines to generate a first type of lane lines and a second type of lane lines, wherein the number of the lane lines of the first type of lane lines is greater than that of the second type of frame-selected lane line area; respectively selecting a first lane line and a second lane line from the first lane line and the second lane line according to a preset rule; and judging the directions of the first lane line and the second lane line, and if the directions of the first lane line and the second lane line are the same, generating a stop line of the frame-selected lane line area according to the tail point of the first lane line and the tail point of the second lane line. The scheme provided by the application can improve the accuracy and efficiency of generating the high-precision map stop line.
Description
Technical Field
The application relates to the technical field of computers, in particular to the technical field of electronic maps, and particularly relates to a method and a device for generating a stop line of a high-precision map.
Background
Stop lines for high-precision maps are typically generated by a technician driving a map-acquisition vehicle to acquire environmental data around the vehicle. The map acquisition vehicle is provided with acquisition equipment such as a laser radar, an industrial camera, a global positioning receiver, an inertia measurement unit and the like, and generates an electronic map with a marked image by acquiring the environmental information of a passing area of the vehicle and fusing the acquired environmental information. The existing method for generating the stop line of the high-precision map needs a large amount of marked images, the steps are complex in the using process, and the method for generating the stop line of the high-precision map is not accurate enough due to marking errors.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method and a device for generating a high-precision map stop line, which can improve the accuracy and efficiency of generating the high-precision map stop line.
The application provides a method for generating a high-precision map stop line in a first aspect, which includes:
generating a frame-selected lane line area in the high-precision map in response to the stop line generation request, wherein the frame-selected lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main lane line or an auxiliary lane line;
classifying the lane lines in the framed lane line area according to the attribute of the lane lines to generate a first type of lane lines and a second type of lane lines, wherein the attribute of the lane lines of each type of lane lines is the same, and the number of the lane lines of the first type of lane lines is greater than that of the second type of framed lane line area;
respectively selecting a first lane line from the first type lane lines according to a preset rule, and selecting a second lane line from the second type lane, wherein the first lane line is the lane line in the first type lane line far away from the middle line direction of the main lane line, and the second lane line is the lane line in the second type lane line far away from the middle line direction of the main lane line;
judging whether the direction of the first lane line is the same as that of the second lane line, and if the direction of the first lane line is the same as that of the second lane line, generating a stop line of the frame-selected lane line area according to a tail point of the first lane line and a tail point of the second lane line;
and if the direction of the first lane line is opposite to that of the second lane line, generating a stop line of the frame-selected lane line area according to the tail point of the first lane line and the head point of the second lane line.
Preferably, the method further comprises:
identifying lane lines in the high-definition map, dividing the lane lines into main lane lines or auxiliary lane lines according to the attribute of the lane lines, and marking the lane lines with corresponding attribute marks of the lane lines;
setting the serial numbers of the intermediate lines of all main road lane lines on a road to be zero, setting the serial numbers of the main road lane lines in the direction far away from the intermediate lines of the main road lane lines, wherein the serial numbers of the main road lane lines are equidistant descending serial numbers;
and setting the serial number of the lane line of the auxiliary road close to the main road direction as zero, setting the serial number of the lane line of the auxiliary road in the direction far away from the main road lane line, and setting the serial number of the lane line of the auxiliary road as an equidistant descending serial number.
Preferably, the method of selecting a first lane line from the first type lane lines and a second lane line from the second type lane lines according to a preset rule includes:
respectively sorting the lane lines of the first type lane line and the second type lane line according to a descending order;
and selecting the line with the minimum number from the first type of lane lines as a first lane line, and selecting the line with the minimum number from the second type of lane lines as a second lane line.
Preferably, the determining whether the direction of the first lane line and the direction of the second lane line are the same includes:
acquiring a direction vector of a first lane line and a direction vector of a second lane line;
determining a vector included angle between a direction vector of the first lane line and a direction vector of the second lane line;
and calculating whether the direction of the first lane line is the same as the direction of the second lane line according to the vector included angle.
Preferably, the method for generating the first type lane line and the second type lane line includes:
and dividing all the lane lines in the lane line selection area into a first type of lane lines, and adding any key value pair into a second type of lane lines to generate a second type of lane lines.
Preferably, the method further comprises:
according to descending order, selecting the lane line with the minimum number from the first type of lane lines as a first lane line, and selecting the zero line of the first type of lane line as a second lane line;
and generating a stop line of the area according to the tail point of the first lane line and the tail point of the second lane line.
Preferably, the method further comprises:
and after the stop line is generated, marking a corresponding stop line mark on the stop line, wherein the stop line mark comprises the attribute of the lane line corresponding to the first type of lane line and the number signal information of each lane line corresponding to the stop line.
The second aspect of the present application provides an apparatus for generating a high-precision map stop line, including:
the response module is used for responding to the stop line request to generate a frame-selected lane line area in the high-precision map, the frame-selected lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main road lane line or an auxiliary road lane line;
the first analysis module is used for classifying the lane lines in the frame-selected lane line area according to the lane line attributes to generate a first type of lane lines and a second type of lane lines, wherein the number of the lane lines of the first type of lane lines is greater than that of the second type of frame-selected lane line area;
the second analysis module is used for selecting a first lane line and a second lane line from the first lane line and the second lane line respectively according to a preset rule;
the first generating module is used for judging the directions of the first lane line and the second lane line, and if the directions of the first lane line and the second lane line are the same, generating a stop line of the frame-selected lane line area according to a tail point of the first lane line and a tail point of the second lane line;
and the second generation module is used for generating a stop line of the frame-selected lane line area according to the tail point of the first lane line and the head point of the second lane line if the directions of the first lane line and the second lane line are opposite.
A third aspect of the present application provides a computing device comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon executable code, which, when executed by a processor of a computing device, causes the processor to perform the method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
the method provided by the application comprises the steps that a stop line generation request is responded, a frame-selected lane line area is generated in a high-precision map, the frame-selected lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main lane line or an auxiliary lane line; classifying the lane lines in the frame-selected lane line area according to the attribute of the lane lines to generate a first type of lane lines and a second type of lane lines, wherein the number of the lane lines of the first type of lane lines is greater than that of the second type of frame-selected lane line area; respectively selecting a first lane line and a second lane line from the first lane line and the second lane line according to a preset rule; judging the directions of the first lane line and the second lane line, if the directions of the first lane line and the second lane line are the same, generating a stop line of a framed lane line area according to the tail point of the first lane line and the tail point of the second lane line, shortening the time of drawing the stop line by an operator, ensuring more accurate drawing position and attribute assignment, and greatly improving the quality of data.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the application.
Fig. 1 is a flowchart illustrating a method for generating a high-precision map stop line according to an embodiment of the present application;
FIG. 2 is a lane line schematic diagram of a high-precision map shown in an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating stop-line generation in accordance with an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating yet another stop-line generation shown in an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating yet another stop-line generation in accordance with an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating yet another stop-line generation shown in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a method for generating a high-precision map stop line according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Stop lines for high-precision maps are typically generated by a technician driving a map-acquisition vehicle to acquire environmental data around the vehicle. For example, a map collecting vehicle is provided with collecting equipment such as a laser radar, an industrial camera, a global positioning receiver, an inertia measuring unit and the like, and the map collecting vehicle collects surrounding environment information of a passing area through the collecting equipment and generates an electronic map with a labeled image after fusion processing is carried out on the collected various information. The existing method for generating the stop line of the high-precision map needs a large amount of marked images, the steps are complex in the using process, and the method for generating the stop line of the high-precision map is not accurate enough due to marking errors.
In order to solve the above problem, embodiments of the present application provide a method and an apparatus for generating a high-precision map stop line, which can improve accuracy and efficiency of generating a high-precision map stop line. The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for generating a high-precision map stop line according to an embodiment of the present application.
Referring to fig. 1, the method includes:
step S101, responding to a stop line generation request, and generating a frame selection lane line area in the high-precision map, wherein the frame selection lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main lane line or an auxiliary lane line.
Stop-lines are solid white lines across the front of a road intersection (primarily a traffic light intersection) that represent the position of the vehicle waiting to release the traffic signal and the vehicle cannot pass over or depress the stop-line. When the red light is on, the motor vehicle should stop behind the stop line, and the motor vehicle stops beyond the stop line, so that the motor vehicle is easy to be penalized, does not run according to the traffic indication and can be penalized; when the light is green, the vehicle can directly go through the stop line to continue driving. The stop lines include a stop line between the main road lane line and the main road lane line, a stop line between the auxiliary road lane line and the auxiliary road lane line, and a stop line between the main road lane line and the auxiliary lane line.
In step S101, the lane line selection areas are all frame selection group lane lines, and the group lane lines include all auxiliary lane lines, all main lane lines, or include at least one auxiliary lane line group and at least one main lane line group.
In an embodiment, in order to distinguish the main road lane line from the auxiliary road lane line, before step S101, the method further needs to process a high-precision map, which specifically includes: identifying the lane lines in the high-definition map, dividing the lane lines into main lane lines and auxiliary lane lines according to the attribute of the lane lines, and marking the lane lines with corresponding attribute marks of the lane lines; setting the serial numbers of the intermediate lines of all main road lane lines on a road to be zero, setting sequence numbers of the main road lane lines in the direction far away from the intermediate lines of the main road lane lines, wherein the sequence numbers of the main road lane lines are equidistant descending sequence numbers; and setting the serial number of the lane line of the auxiliary road close to the main road direction to be zero, setting the serial number of the lane line of the auxiliary road in the direction far away from the main road lane line, and setting the serial number of the lane line of the auxiliary road to be an equidistant descending serial number. In this embodiment, the lane lines framed in the layer 0 are taken, and the lane line attributes corresponding to these lane lines are classified by road _ id and stored in a dictionary; and numbering the sequence numbers of each lane line by lane _ no, and storing the sequence numbers into a dictionary. For example, the middle line of the main road lane line on the left side has a road _ id of 1 and a lane \uno number of 0, and the middle line of the main road lane line is stored in the corresponding dictionary in a way of the road _1 and the lane \uno 0.
In this embodiment, the lane line attribute further includes a lane line direction in addition to the main lane line and the sub-lane line attribute, that is, the main lane line is further divided into a left main lane line and a right main lane line, and the sub-lane line further includes a left sub-lane line and a right sub-lane line.
Specifically, as shown in fig. 2, fig. 2 is a schematic lane line diagram of a high-precision map in the embodiment of the present invention. The road traffic control system specifically comprises a left main road lane line area A, a right main road lane line area B, a left auxiliary road lane line area C and a right auxiliary road lane line area D. In one embodiment, the main road lane lines are sequentially numbered as-1 and-2 in the left main road lane line area a and the right main road lane line area B as shown in fig. 2, wherein the number of the middle of the left main road lane line area a and the right main road lane line area B is set to be 0, and the number of the main road lane lines in the middle of the left main road lane line area a and the right main road lane line area B is set to be 1 at an interval and is respectively set to be in the left main road lane line area a and the right main road lane line area B in a direction away from the middle line. In the left auxiliary road lane line area C, the lane lines closest to the left auxiliary road lane line area C and the left lane line area A are taken as the zero line of the left auxiliary road lane line area C, the number is 0, 1 is taken as an interval, the auxiliary road lane lines are sorted in a descending order, and the lane line which is close to the zero line and far away from the main road is taken as the number-1. Alternatively, in reality, the zero line of the left main lane line region a and the zero line of the right main lane line region B may be the same or may be spaced in parallel.
And S102, classifying the lane lines in the frame selection lane line area according to the lane line attributes to generate a first type of lane lines and a second type of lane lines, wherein the lane line attributes of each type of lane lines are the same, and the number of the lane lines of the first type of lane lines is larger than that of the second type of frame selection lane line area.
In this step, the lane lines are classified to select the lane lines with more lane line attributes, and the lane lines in the first type of lane lines are taken as starting points, so that the first type of lane lines are named after convenience. Comparing the number of the two road _ ids, the first type lane line is named as group1, and the second type lane line is named as group2.
Step S103, respectively selecting a first lane line from the first type lane lines according to a preset rule, and selecting a second lane line from the second type lane lines, wherein the first lane line is the lane line in the first type lane line far away from the middle line direction of the main lane line, and the second lane line is the lane line in the second type lane line far away from the middle line direction of the main lane line.
In step S103, a first lane line is selected from the first category lane lines and a second lane line is selected from the second category lane lines according to a preset rule, including: respectively sorting the lane lines of the first type lane line and the second type lane line according to a descending order; and selecting the line with the minimum number from the first type of lane lines as a first lane line, and selecting the line with the minimum number from the second type of lane lines as a second lane line.
In this step, the lane line with the smallest number is selected, which can be understood as that when there are two types of lane line attributes, the lane line with the farthest interval between the two types of lane lines is framed.
Specifically, all elements of group1 are arranged in descending order according to lane _ no, the element with the smallest lane _ no is found, and the tail point of the element is taken and recorded as point1.
In an embodiment, in steps S101 to S103, the lane lines may be named according to a zero line ascending difference method, so that in step S103, the most numbered line should be selected from the first type of lane lines as the first lane line, and the least numbered line should be selected from the second type of lane lines as the second lane line.
And S204, judging whether the direction of the first lane line is the same as that of the second lane line, and if so, generating a stop line of the frame-selected lane line area according to the tail point of the first lane line and the tail point of the second lane line.
In one embodiment, the method for determining the first lane line and the second lane line in step S204 includes: acquiring a direction vector of a first lane line and a direction vector of a second lane line; and determining a vector included angle between the direction vector of the first lane line and the direction vector of the second lane line, and calculating whether the direction of the first lane line is the same as the direction of the second lane line according to the vector included angle.
Specifically, in this embodiment, two-dimensional coordinates of the high-precision map are established, two-dimensional coordinates of any two points on the first lane line are acquired, and a direction vector of the first lane line is calculated according to the two-dimensional coordinates of any two points on the first lane line; acquiring two-dimensional coordinates of any two points on a second lane line, calculating a direction vector of the second lane line according to the two-dimensional coordinates of any two points on the second lane line, and calculating a vector included angle between the direction vector of the first lane line and the direction vector of the second lane line, wherein if the vector included angle is 0, the directions of the first lane line and the second lane line are the same, and if the vector included angle is 180, the direction of the second lane line and the direction of the first lane line are the same.
Fig. 3 is a schematic diagram of an embodiment of stop line generation, and a dashed box in fig. 3 is represented by a select lane line region selected according to fig. 2 (the select lane line region includes a lane line of a right select lane line region B and a set of right side auxiliary lane lines D). Because the number of the first type of lane lines is greater than that of the second type of lane lines, the first type of lane lines comprise two main lane lines of the right auxiliary road, and the second type of lane lines comprise one auxiliary road lane line with the number of-2. According to the preset rule, the first lane line is a right auxiliary lane line with the number of-1, and the second lane line is a main lane line with the number of-2. And judging that the direction of the first lane line is the same as that of the second lane line, selecting the tail point of the first lane line as point1, and the tail point of the second lane line as point2, and connecting point1 and point2 to generate a stop line between the main road B and the auxiliary road D.
And S205, if the direction of the first lane line is opposite to that of the second lane line, generating a stop line of the frame-selected lane line area according to the tail point of the first lane line and the head point of the second lane line.
As shown in fig. 4, which is a schematic diagram of an embodiment of stop line generation, the dotted frame portion of fig. 4 is a frame of a lane line selection area selected according to fig. 2 (the frame of the lane line selection area includes a lane line of a left main lane line area a (one left main lane line is numbered 0) and a group of right main lane lines B (all lane lines of three right main lanes)). The first type of lane lines include all lane lines of a right main road, the second type of lane lines include a main road lane line of a left main road A with the number of 0, the first lane line is the right main road lane line with the number of-2, and the second lane line is the main road lane line of a left main road area with the number of 0 according to a preset rule. And judging that the directions of the first lane line and the second lane line are opposite, selecting the tail point of the first lane line as point1, and the head point of the second lane line as point2, and connecting point1 and point2 to generate a stop line between the main road A and the auxiliary road B.
In one embodiment, the framed lane line region includes only main lane lines or only auxiliary lane lines, and the lane lines in the framed lane line region are classified according to the attribute of the lane lines to generate a first type lane line and a second type lane line. Classifying the lane lines in the framed lane line area according to the attribute of the lane lines to generate a first type of lane lines and a second type of lane lines, comprising the following steps: and dividing all the lane lines in the lane line selection area into a first type of lane lines, and adding any key value pair into a second type of lane lines to generate a second type of lane lines.
In this embodiment, the method of acquiring the first lane line and the second lane line includes: according to descending order, selecting the lane line with the minimum number from the first type of lane lines as a first lane line, and selecting the zero line of the first type of lane line as a second lane line; and generating a stop line of the area according to the tail point of the first lane line and the tail point of the second lane line.
In this embodiment, the key value pairs are added to the second type lane lines to facilitate calculation of the subsequent lane lines, and the key value pairs are added to the second type lane lines for representation, where the second type lane lines are empty.
In this embodiment, two cases including only a main road and only a side road are included, and fig. 5 shows a method for generating a stop line in a main road lane line region; fig. 6 shows a stop line generation method for a side road lane area.
In one embodiment, as shown in fig. 5, the dashed box in fig. 5 is represented as the boxed lane line region generated according to fig. 2 (the boxed lane line region includes all the lane lines of the right main lane line region B). The first type of lane lines comprise all lane lines in a right main road lane line area, and the second type of lane lines are empty sets generated by any key value pairs. According to the preset rule, the first lane line is the right main road lane line with the number-2, and the second lane line is the main road lane line with the number 0. And judging that the direction of the first lane line is the same as the direction between the second lane lines, selecting the tail point of the first lane line as point1, and the tail point of the second lane line as point2, and connecting the point1 and the point2 to generate a stop line of the main road area B.
In one embodiment, as shown in fig. 6, the dashed box in fig. 6 is represented as the boxed lane line region generated according to fig. 2 (the boxed lane line region includes all lane lines of the right auxiliary lane line region D). Since only one lane line attribute is framed, fig. 6 only has one type of lane line, where the first type of lane line includes all lane lines in the right auxiliary road area, and the second type of lane line is empty, and any key value pair is selected to fill the second type of lane line, which is convenient for subsequent calculation. According to a preset rule, the first lane line is a right auxiliary lane line with the number of-1, and the second lane line is an auxiliary lane line with the number of 0. And judging that the directions of the first lane line and the second lane line are the same, selecting a tail point of the first lane line as point1, and a tail point of the second lane line as point2, and connecting the point1 and the point2 to generate a stop line of the right auxiliary road area D.
After the stop line is generated in step S105, the stop line needs to be marked with a corresponding stop line identifier, where the stop line identifier includes the attribute of the lane line corresponding to the first type of lane line and the number signal information of each lane line corresponding to the stop line.
The method specifically comprises the following steps: generating a line segment geo by two points of point1 and point2, creating an element f, assigning a road _ id and a tile _ id in group1 to corresponding fields of f, assigning a type field and a color field of f to 1, assigning a minimum value from-1 to lane _ no in group1, assigning the minimum value to the lane _ no field of f by taking 1 as an interval, adding the element f into a layer 1, finishing drawing, and taking the layer of the high-precision map before generating the stop line as a layer 0.
In the application, the stop lines totally include four types, the first type is the stop line with the coincident zero line and the same main road lane line direction, the second type is the stop line with the coincident zero line and the opposite main road lane line direction, and the third type is only the stop line between the main road lane lines; the fourth type is a stop line between only the secondary lane lines. This application is through categorised serial number between to the lane line, through the stop line that accurately generates the lane line to the type and the direction between the lane line.
Fig. 7 is a schematic configuration diagram of a high-precision map stop line generation device according to an embodiment of the present application.
Referring to fig. 7, a high-precision map stop line generation apparatus 70 includes: a response module 710, a first analysis module 720, a second analysis module 730, a first generation module 740, a second generation module 750.
The response module 710 is configured to generate a frame-selected lane line region in the high-precision map in response to the stop line generation request, where the frame-selected lane line region includes at least one group of lane lines, and the lane line attribute of each group of lane lines is a main lane line or a sub-lane line;
the first analysis module 720 is configured to classify the lane lines in the frame-selected lane line region according to the lane line attributes, and generate a first type of lane line and a second type of lane line, where the lane line attributes of each type of lane line are the same, and the number of lane lines of the first type of lane line is greater than that of the second type of frame-selected lane line region;
the second analysis module 730 is configured to select a first lane line from the first category lane lines and a second lane line from the second category lane lines according to a preset rule, where the first lane line is a lane line in the first category lane line in a direction away from a middle line of the main lane line, and the second lane line is a lane line in the second category lane line in a direction away from the middle line of the main lane line;
the first generating module 740 is configured to determine whether the direction of the first lane line is the same as the direction of the second lane line, and if the direction of the first lane line is the same as the direction of the second lane line, generate a stop line of the frame-selected lane line region according to a tail point of the first lane line and a tail point of the second lane line;
the second generating module 750 is configured to generate a stop line of the frame-selected lane line area according to a tail point of the first lane line and a head point of the second lane line if the direction of the first lane line is opposite to the direction of the second lane line.
The device further comprises a processing module, a processing module and a display module, wherein the processing module is used for identifying the lane lines in the high-definition map, dividing the lane lines into main lane lines and auxiliary lane lines according to the attribute of the lane lines, and marking the lane lines with corresponding attribute marks of the lane lines; setting a middle line of a main road lane line as a zero line, and setting sequence numbers for the main road lane line in a direction far away from the middle line of the main road lane line, wherein the sequence numbers of the main road lane line are equidistant descending sequence numbers; setting a lane line of a secondary road lane line close to the main road direction as a zero line, setting sequence numbers for the secondary road lane line in a direction far away from the main road lane line, wherein the sequence numbers of the secondary road lane line are equidistant descending sequence numbers.
Further, the second analysis module 730 is configured to sort the lane lines of the first type lane line and the lane lines of the second type lane line in a descending order, respectively; and selecting the line with the minimum number from the first type of lane lines as a first lane line, and selecting the line with the minimum number from the second type of lane lines as a second lane line.
Further, the first generating module 740 is configured to obtain a direction vector of the first lane line and a direction vector of the second lane line; and determining a vector included angle between the direction vector of the first lane line and the direction vector of the second lane line, and judging the directions of the first lane line and the second lane line according to the vector included angle.
Further, the apparatus includes a third generating module, where the third generating module is configured to enable the frame-selected lane line region to include a type of lane line attribute lane line, and classify lane lines in the frame-selected lane line region according to the lane line attribute to generate a first type of lane line and a second type of lane line, and the generating module includes: and dividing the lane lines into a first type of lane lines, and adding any key value pair into the second type of lane lines. The third generation module is further used for selecting the lane line with the smallest number from the first type of lane lines as a first lane line and selecting the zero line of the first type of lane line as the second lane line according to descending order; and generating a stop line of the area according to the tail point of the first lane line and the tail point of the second lane line.
The device further comprises a marking module, wherein the marking module is used for marking a corresponding stop line mark on the stop line after the stop line is generated, and the stop line mark comprises the attribute of the lane line corresponding to the first type of lane line and the number signal information of each lane line corresponding to the stop line.
Fig. 8 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 8, an electronic device 800 includes a memory 802 and a processor 804.
The processor 804 may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 802 may include various types of storage units such as system memory, read Only Memory (ROM), and permanent storage. The ROM may store, among other things, static data or instructions for processor 804 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 802 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, as well. In some embodiments, memory 802 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 802 has stored thereon executable code that, when processed by the processor 804, causes the processor 804 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method for generating a high-precision map stop line is characterized by comprising the following steps:
generating a frame-selected lane line area in the high-precision map in response to a stop line generation request, wherein the frame-selected lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main lane line or an auxiliary lane line;
classifying the lane lines in the frame-selected lane line area according to the lane line attributes to generate a first type of lane lines and a second type of lane lines, wherein the lane line attributes of each type of lane lines are the same, and the number of the lane lines of the first type of lane lines is larger than that of the second type of frame-selected lane line area;
respectively selecting a first lane line from the first type lane lines according to a preset rule, and selecting a second lane line from the second type lane lines, wherein the first lane line is the lane line in the first type lane line far away from the middle line direction of the main lane line, and the second lane line is the lane line in the second type lane line far away from the middle line direction of the main lane line;
judging whether the direction of the first lane line is the same as that of the second lane line, if so, generating a stop line of the frame-selected lane line area according to a tail point of the first lane line and a tail point of the second lane line;
and if the direction of the first lane line is opposite to that of the second lane line, generating a stop line of the frame-selected lane line area according to the tail point of the first lane line and the head point of the second lane line.
2. The method of claim 1, further comprising:
identifying a lane line in a high-definition map, dividing the lane line into a main lane line or an auxiliary lane line according to the attribute of the lane line, and marking the lane line with a corresponding attribute mark of the lane line;
setting the serial numbers of the middle lines of all main road lane lines on a road to be zero, setting the serial numbers of the main road lane lines in the direction far away from the middle lines of the main road lane lines, wherein the serial numbers of the main road lane lines are equidistant descending serial numbers;
and setting the serial number of a lane line of a secondary road, which is close to the main road direction, to be zero, setting the serial number of the lane line of the secondary road, which is far away from the main road direction, wherein the serial number of the lane line of the secondary road is an equidistant descending serial number.
3. The method of claim 2, wherein the selecting a first lane line from the first type of lane lines and a second lane line from the second type of lane lines according to a predetermined rule comprises:
respectively sorting the lane lines of the first type lane lines and the lane lines of the second type lane lines according to a descending order;
and selecting the line with the minimum number from the first type of lane lines as a first lane line, and selecting the line with the minimum number from the second type of lane lines as a second lane line.
4. The method of claim 1, wherein the determining whether the direction of the first lane line and the direction of the second lane line are the same comprises:
acquiring a direction vector of a first lane line and a direction vector of a second lane line;
determining a vector included angle between the direction vector of the first lane line and the direction vector of the second lane line;
and calculating whether the direction of the first lane line is the same as the direction of the second lane line according to the vector included angle.
5. The method of claim 2, wherein the boxed lane line region includes only main lane lines or only auxiliary lane lines, and wherein classifying the lane lines in the boxed lane line region according to lane line attributes to generate a first type of lane lines and a second type of lane lines comprises:
and dividing all lane lines in the frame-selected lane line area into a first type of lane lines, and adding any key value pair into the second type of lane lines to generate a second type of lane lines.
6. The method of claim 5, further comprising:
according to descending order, selecting the lane line with the minimum number from the first type of lane lines as a first lane line, and selecting the zero line of the first type of lane line as a second lane line;
and generating a stop line of the area according to the tail point of the first lane line and the tail point of the second lane line.
7. The method of claim 1, further comprising:
and after the stop line is generated, marking a corresponding stop line mark on the stop line, wherein the stop line mark comprises the attribute of the lane line corresponding to the first type of lane line and the number information of each lane line corresponding to the stop line.
8. An apparatus for generating a high-precision map stop line, comprising:
the response module is used for responding to the stop line request and generating a frame selection lane line area in the high-precision map, wherein the frame selection lane line area comprises at least one group of lane lines, and the attribute of the lane line of each group of lane lines is a main lane line or an auxiliary lane line;
the first analysis module is used for classifying the lane lines in the frame-selected lane line area according to lane line attributes to generate a first type of lane lines and a second type of lane lines, the lane line attributes of each type of lane lines are the same, and the number of the lane lines of the first type of lane lines is larger than that of the second type of frame-selected lane line area;
the second analysis module is used for respectively selecting a first lane line from the first type lane lines according to a preset rule and selecting a second lane line from the second type lane, wherein the first lane line is the lane line in the middle line direction of the first type lane line far away from the main lane line, and the second lane line is the lane line in the middle line direction of the second type lane line far away from the main lane line;
a first generating module, configured to determine whether a direction of the first lane line is the same as a direction of the second lane line, and if the direction of the first lane line is the same as the direction of the second lane line, generate a stop line of the frame-selected lane line area according to a tail point of the first lane line and a tail point of the second lane line;
and the second generating module is used for generating a stop line of the framed lane line area according to the tail point of the first lane line and the head point of the second lane line if the direction of the first lane line is opposite to that of the second lane line.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1-7.
10. A computer-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any one of claims 1-7.
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| CN202210709786.9A CN115235484A (en) | 2022-06-22 | 2022-06-22 | Method and device for generating high-precision map stop line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117115773A (en) * | 2023-10-23 | 2023-11-24 | 腾讯科技（深圳）有限公司 | Stop line generation method, apparatus, electronic device, medium, and program product |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117115773A (en) * | 2023-10-23 | 2023-11-24 | 腾讯科技（深圳）有限公司 | Stop line generation method, apparatus, electronic device, medium, and program product |
| CN117115773B (en) * | 2023-10-23 | 2024-04-09 | 腾讯科技（深圳）有限公司 | Stop line generation method, apparatus, electronic device, medium, and program product |
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