CN115841527A - High-precision map, parking space thereof and manufacturing method - Google Patents
High-precision map, parking space thereof and manufacturing method Download PDFInfo
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- CN115841527A CN115841527A CN202211576367.9A CN202211576367A CN115841527A CN 115841527 A CN115841527 A CN 115841527A CN 202211576367 A CN202211576367 A CN 202211576367A CN 115841527 A CN115841527 A CN 115841527A
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Abstract
The invention discloses a high-precision map, a parking space and a manufacturing method thereof, and the manufacturing method of the parking space in the high-precision map provided by the invention comprises the following steps: searching the position of a first vertex A1 on a lane boundary line where a parking space is located; obtaining a vector A1b1 according to the first vertex A1 and a positioning point b1 on the lane boundary line; obtaining a second vertex B1 according to the first vertex A1, the vector A1B1 and the length of the parking space in the first direction; obtaining a third vertex C1 and a fourth vertex D1 according to the length of the parking space in the second direction and the included angle between the parking space in the second direction and the boundary line of the lane; and manufacturing the parking space according to the first vertex A1 to the fourth vertex D1. The invention can improve the efficiency and the precision of obtaining the parking space. The high-precision map and the parking space thereof obtained by the invention have the advantages of high parking space accuracy, high map precision and high map manufacturing efficiency.
Description
Technical Field
The invention relates to the technical field of high-precision maps, in particular to a high-precision map, a parking space and a manufacturing method thereof.
Background
In the existing map parking space manufacturing, two vertex positions of a lane where a parking space is located are obtained according to positioning points of a lane boundary line, if the interval precision between adjacent positioning points is thick, for example 0.5m, the length and width precision of the parking space is too thick, and the problem that the parking space with millimeter-level precision cannot be manufactured according to the length and width of a given parking space exists. In addition, because the curvatures of position curves of different positioning points of a lane boundary line are different, in the existing parking space manufacturing method, the directions taken by the vertex positions of adjacent parking spaces are also different, and the problem that the parking space lines are not parallel can occur, as shown in fig. 1. In addition, the manufacturing method in the prior art is not intelligent enough, is purely manual, and is time-consuming and labor-consuming.
Disclosure of Invention
The invention mainly aims to provide a high-precision map, a parking space and a manufacturing method thereof, so that the parking space can be automatically and accurately manufactured, and a more accurate high-precision map can be obtained.
According to a first aspect of the invention, a method for manufacturing parking spaces in a high-precision map is provided, which comprises the following steps:
searching the position of a first vertex A1 on a lane boundary line where a parking space is located;
obtaining a vector A1b1 according to the first vertex A1 and a positioning point b1 on the lane boundary line;
obtaining a second vertex B1 according to the first vertex A1, the vector A1B1 and the length of the parking space in the first direction;
obtaining a third vertex C1 and a fourth vertex D1 according to the length of the parking space in the second direction and the included angle between the parking space in the second direction and the boundary line of the lane; and
and manufacturing the parking space according to the first vertex A1 to the fourth vertex D1.
Further, the first vertex A1 is determined according to the ID of the lane boundary line and the ID of the anchor point on the lane boundary line.
Further, the positioning point b1 is the closest point which is approximately equal to the length of the parking space in the first direction from the first vertex A1.
Further, the process of obtaining the third vertex C1 includes: and obtaining the third vertex C1 according to the length of the parking space in the second direction, a vector B1A1 formed by the second vertex B1 and the first vertex A1, and an included angle alpha between the parking space in the second direction and the vector B1A 1.
Further, the process of obtaining the fourth vertex D1 includes: and obtaining the fourth vertex D1 according to the length of the parking space in the second direction, a vector A1B1 formed by the first vertex A1 and the second vertex B1 and an included angle theta between the parking space in the second direction and the vector A1B1, wherein the theta = pi-alpha.
Further, the lane boundary line is formed by connecting a plurality of positioning points at the same interval.
Further, the parking spaces include vertical parking spaces and inclined parking spaces.
According to a second aspect of the present invention, there is provided a high-precision map parking space made according to the method of the first aspect.
According to a third aspect of the invention there is provided a high-precision map comprising a parking space as described in the second aspect.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to perform the method for making parking spaces in high-precision maps according to the first aspect.
Compared with the prior art, the method for manufacturing the parking space in the high-precision map comprises the steps of searching the position of a first vertex A1 on a lane boundary line where the parking space is located; obtaining a vector A1b1 according to the first vertex A1 and a positioning point b1 on the lane boundary line; obtaining a second vertex B1 according to the first vertex A1, the vector A1B1 and the length of the parking space in the first direction; obtaining a third vertex C1 and a fourth vertex D1 according to the length of the parking space in the second direction and the included angle between the parking space in the second direction and the boundary line of the lane; and manufacturing the parking space according to the first vertex A1 to the fourth vertex D1. Therefore, the method can realize automatic processing, and avoids the form of manual processing, thereby greatly improving the efficiency. In addition, the method of the invention obtains the vector based on the lane line, and can greatly improve the precision of obtaining the parking space by means of the size and the inclination angle of the parking space.
Furthermore, the high-precision map and the parking space thereof obtained based on the method have the advantages of high parking space accuracy, high map precision and high map manufacturing efficiency.
Drawings
FIG. 1 is a schematic illustration of a parking space available in the prior art;
FIG. 2 is a flow chart of a parking space manufacturing method in high-precision mapping according to an embodiment of the present invention;
fig. 3 is a first process schematic diagram of the parking space manufacturing method in high-precision mapping according to the embodiment of the invention;
FIG. 4 is a schematic process diagram of a parking space manufacturing method in high-precision map manufacturing according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a parking space obtained in high-precision mapping according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 2, in an embodiment of the present invention, a method for manufacturing parking slots in a high-precision map is provided, including:
s101, finding the position of a first vertex A1 on a lane boundary line where a parking space is located;
s102, obtaining a vector A1b1 according to the first vertex A1 and a positioning point b1 on the lane boundary line;
s103, obtaining a second vertex B1 according to the first vertex A1, the vector A1B1 and the length of the parking space in the first direction;
s104, obtaining a third vertex C1 and a fourth vertex D1 according to the length of the parking space in the second direction and the included angle between the parking space in the second direction and the lane boundary line; and
s105, manufacturing the parking space according to the first vertex A1 to the fourth vertex D1.
By the method, the automatic parking space processing process can be realized, and the processing efficiency is greatly improved.
In addition, the method of the invention has better precision.
The method of the present invention is explained in detail below.
Referring to fig. 3, in step S101, a position of a vertex on a lane boundary line where a parking space is located is found in an automated manner, and the found vertex can be used as a first vertex A1. It should be noted that each line is composed of a plurality of Lane segments, each Lane segment having corresponding Lane boundary lines (i.e., the left boundary line and the right boundary line of the Lane segment) from ID to ID (1 to N), and each Lane boundary line is formed by a plurality of point segments arranged from ID to ID (1 to M). The parking space can be on the left boundary line of the lane and also can be on the right boundary line, and is determined according to the actual situation during drawing. The method for positioning the first top point of the parking space is to give the ID of the lane so as to obtain the ID of the corresponding lane boundary line, and then the first top point A1 can be determined by combining the ID of the positioning point on the lane boundary line. Two vertexes of a parking space exist on the lane boundary line at the same time, so that the automatic searching of one vertex is not difficult.
Referring to fig. 3, in step S102, the lane boundary lines are formed by connecting anchor points at the same interval according to the characteristics of the lane boundary lines. For example, the interval between adjacent positioning points is 0.2-0.8 m, or other values, generally speaking, the smaller the interval between adjacent positioning points, the smaller the error of the length and width of the parking space. For example, if the interval is 0.5m, the error is less than 0.5m, and if the anchor point interval is 0.1m, it is more accurate. The distance between the small cars is generally not more than 1m, otherwise, the length and width precision of the required parking space is too thick; and no strict limitation is imposed on large buses and large trucks. In addition, the minimum value of the interval does not typically reach the millimeter level, since this would result in too many anchor points and too large an index calculation. As an example, the interval between adjacent anchor points is taken to be 0.5m. The position of the first peak A1 of the parking space is arranged on the lane boundary line, and the position b1 of the nearest positioning point, which is approximately equal to the length of the parking space and is away from the first peak A1 of the parking space, on the lane boundary line can be obtained according to the length of the first direction of the parking space and the interval before the positioning point. The first direction may be, for example, a direction parallel to the lane boundary line. Correspondingly, please refer to fig. 4, the parking space further has a second direction, and the second direction has an included angle with the first direction, for example, the included angle θ between the first direction and the second direction may be perpendicular, or may be at other angles.
In addition, the anchor point b1 may also be selected in other manners, for example, when the lane boundary line is a straight line, one point different from the anchor point A1 on the current lane boundary line may be arbitrarily selected as the anchor point b1. Furthermore, it should be noted that the direction of the vector formed by the anchor points A1 and b1, i.e. the direction of the vector, should be directed towards the parking space, rather than away from it.
As in fig. 3, the anchor point b1 is obtained, and then a vector A1b1 can be obtained.
Thus, in step S103, a second vertex B1 may be obtained based on the vector A1B1 and the length of the parking space in the first direction, with the first vertex A1 as a reference.
Therefore, the second vertex B1 obtained in the embodiment of the invention is accurate in the direction, and positioning is directly carried out by using the length, so that errors caused by the precision problem of the positioning point when the positioning point is selected are avoided, and the accuracy of selecting the second vertex B1 is greatly improved.
With a similar process, the third vertex C1 and the fourth vertex D1 of the parking space are further obtained in the embodiment of the present invention.
In one example, the process of obtaining the third vertex C1 includes: and obtaining a third vertex C1 according to the length of the parking space in the second direction, a vector B1A1 formed by the second vertex B1 and the first vertex A1, and an included angle alpha between the parking space in the second direction and the vector B1A1, wherein alpha = pi-theta.
In one example, the process of obtaining the fourth vertex D1 includes: and obtaining the fourth vertex D1 according to the length of the parking space in the second direction, a vector A1B1 formed by the first vertex A1 and the second vertex B1 and an included angle theta between the parking space in the second direction and the vector A1B1, wherein the theta = pi-alpha.
Referring to fig. 4, through the above steps, four vertexes A1, B1, C1, and D1 of one parking space may be obtained.
Since the remaining conditions, such as the angle θ, the vectors A1B1 and B1A1, and the lengths of the first and second directions, are precisely confirmed after the first vertex A1 is obtained, the third vertex C1 and the fourth vertex D1 are also precisely obtained. In addition, the method can effectively ensure that the B1C1 and the A1D1 are equal in length and are parallel to each other. In the following manufacturing methods of parking spaces such as A2B2C2D2 and the like, the vertex positions of the same parking space form vectors which are parallel vectors, and referring to fig. 4 and 5, the situation that the boundary lines of the parking spaces in fig. 1 are not parallel does not occur in the parking spaces obtained by the method of the present invention.
In the embodiment of the invention, the parking spaces comprise vertical parking spaces and inclined parking spaces.
In another embodiment of the invention, a parking space with a high-precision map is further provided, and the parking space can be manufactured according to the method in any one of the above aspects.
In another embodiment of the present invention, there is also provided a high-precision map including a parking space as described above.
The high-precision map and the parking space thereof obtained by the invention have the advantages of high parking space accuracy, high map precision and high map manufacturing efficiency.
In another embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to execute the method for making parking spaces in high-precision maps.
Computer-readable storage media include permanent and non-permanent, removable and non-removable media and may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and various changes and modifications can be made to the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and the present invention is covered thereby. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for manufacturing parking spaces in high-precision maps is characterized by comprising the following steps:
searching the position of a first vertex A1 on a lane boundary line where a parking space is located;
obtaining a vector A1b1 according to the first vertex A1 and a positioning point b1 on the lane boundary line;
obtaining a second vertex B1 according to the first vertex A1, the vector A1B1 and the length of the parking space in the first direction;
obtaining a third vertex C1 and a fourth vertex D1 according to the length of the parking space in the second direction and the included angle between the parking space in the second direction and the boundary line of the lane; and
and manufacturing the parking space according to the first vertex A1 to the fourth vertex D1.
2. The method for making parking spaces in high-precision map according to claim 1, wherein the first vertex A1 is determined according to the ID of the lane boundary line and the ID of the anchor point on the lane boundary line.
3. The method as claimed in claim 1, wherein said anchor point b1 is the closest point whose distance from said first vertex A1 is approximately equal to the first direction length of said parking space.
4. The method for making parking spaces in high-precision map according to claim 1, wherein the process of obtaining the third vertex C1 includes: and obtaining the third vertex C1 according to the length of the parking space in the second direction, a vector B1A1 formed by the second vertex B1 and the first vertex A1, and an included angle alpha between the parking space in the second direction and the vector B1A 1.
5. The method for making parking spaces in high-precision map according to claim 4, wherein the process of obtaining the fourth vertex D1 includes: and obtaining the fourth vertex D1 according to the length of the parking space in the second direction, a vector A1B1 formed by the first vertex A1 and the second vertex B1 and an included angle theta between the parking space in the second direction and the vector A1B1, wherein the theta = pi-alpha.
6. The method for making parking spaces in high-precision map as claimed in claim 1, wherein said lane boundary line is formed by connecting a plurality of positioning points at the same interval.
7. The method for making parking spaces in high-precision map as claimed in claim 1, wherein said parking spaces include vertical parking spaces and inclined parking spaces.
8. A high-precision map parking space, made according to the method of any one of claims 1-7.
9. A high-precision map, comprising a parking space as claimed in claim 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs a method for parking space creation in a high precision map according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211576367.9A CN115841527A (en) | 2022-12-09 | 2022-12-09 | High-precision map, parking space thereof and manufacturing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211576367.9A CN115841527A (en) | 2022-12-09 | 2022-12-09 | High-precision map, parking space thereof and manufacturing method |
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| CN115841527A true CN115841527A (en) | 2023-03-24 |
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| CN202211576367.9A Pending CN115841527A (en) | 2022-12-09 | 2022-12-09 | High-precision map, parking space thereof and manufacturing method |
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