CN116465392A - Method for grouping crossing lines, storage medium and device - Google Patents

Abstract

The invention provides a grouping method, storage medium and equipment for crossing lines. Wherein the method comprises the following steps: acquiring an intersection line set to be grouped; selecting a target intersection line from the intersection line set as a first initial line; sequentially searching intersection lines closest to the set direction according to the set direction of the first initial line and the opposite direction of the set direction to obtain two groups of intersection lines to be confirmed; the intersection line groups to be confirmed are connected end to end according to the minimum paths to generate polygons; under the condition that the two groups of polygons do not have self-intersection, the to-be-confirmed intersection line group meeting a third preset condition is stored as a correct intersection line group, wherein the third preset condition is one group with the largest number of intersection lines in the two groups of to-be-confirmed intersection line groups. By the method, the intersection lines of a plurality of intersections which are mistakenly identified as one intersection can be thinned and grouped, so that the accuracy of intersection identification is improved, and more accurate data support is provided for the manufacture of an electronic map.

Description

Method for grouping crossing lines, storage medium and device

Technical Field

The invention relates to the field of map navigation and automatic driving, in particular to a grouping method, storage medium and equipment for crossing lines.

Background

In the field of map navigation and autopilot, an autopilot vehicle travels along a preset travel route, wherein the preset travel route is generated by an autopilot system according to a high-precision electronic map (also called an autopilot map or an auxiliary driving map) which is manufactured in advance, and is reasonably adjusted according to information collected by the autopilot vehicle in an actual traveling process, so that the manufacture of the high-precision electronic map is particularly important.

In the process of manufacturing a high-precision electronic map, the electronic map manufacturing system is required to perform road construction according to road data acquired in real time, wherein road construction is an important component of road construction, and the precondition of road construction is required to accurately identify the real situation of a road.

In face of the need for intersection identification, an alternative approach is to group intersections by distance, but this approach has problems: a part of intersections with a relatively close distance are divided into a group, so that abnormal conditions that a plurality of intersections are identified as one intersection appear, and the accuracy of intersection identification is reduced. The method can divide the intersection line set of the abnormal situation into a plurality of intersections, thereby providing more accurate data support for electronic map making.

Disclosure of Invention

It is an object of the present invention to provide a reasonable grouping of existing crossing lines.

It is a further object of the present invention to exclude invalid ones of the intersection lines.

In particular, the present invention provides a grouping method of crossing lines, which includes:

acquiring an intersection line set to be grouped, wherein the intersection line set meets a first preset condition;

selecting a target intersection line from the intersection line set as a first initial line, wherein the target intersection line meets a second preset condition;

sequentially searching intersection lines closest to the set direction according to the set direction of the first initial line and the opposite direction of the set direction to obtain two groups of intersection lines to be confirmed;

the intersection line groups to be confirmed are connected end to end according to the minimum paths to generate polygons;

under the condition that the two groups of polygons do not have self-intersection, the to-be-confirmed intersection line group meeting a third preset condition is stored as a correct intersection line group, and the third preset condition is one group with the largest number of intersection lines in the two groups of to-be-confirmed intersection line groups.

Optionally, the first preset condition includes: the number of the road junction arcs in the road junction line set is larger than a preset threshold value;

the second preset condition includes: the sum of the horizontal and vertical coordinates of the target intersection line in the electronic map coordinate system is the maximum value.

Optionally, the step of sequentially searching for the intersection line closest to the first starting line according to the set direction of the first starting line includes:

determining the direction of the first initial line according to the starting point, the ending point and the concave direction of the arc line of the first initial line;

searching adjacent points of the intersection lines closest to the first initial line end point in the intersection line set according to the direction;

judging whether the adjacent point is the starting point of the intersection line or not;

if the adjacent point is the starting point of the intersection line, judging whether the direction of the intersection line is consistent with the direction of the first starting line;

if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line and continuously searching for an adjacent point;

if the direction of the intersection line is consistent with the direction of the first initial line, adding the intersection line as an adjacent line into the target intersection group;

and searching for the next adjacent line by taking the adjacent line as a second initial line, stopping until the first initial line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of crossing lines to be confirmed.

Optionally, the step of determining whether the neighboring point is the origin of the intersection line further includes:

if the adjacent point is not the starting point of the intersection line, reversing the intersection line, and judging whether the direction of the reversed intersection line is consistent with the direction of the first starting line;

if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line and continuously searching for an adjacent point;

if the direction of the intersection line is consistent with the direction of the first initial line, adding the intersection line as an adjacent line into the target intersection group;

and searching for the next adjacent line by taking the adjacent line as the second initial line, stopping until the first initial line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of crossing lines to be confirmed.

Optionally, the step of sequentially searching for the intersection line closest to the set direction of the first initial line includes:

and reversing the first initial line, namely sequentially searching the intersection lines closest to the first initial line according to the reverse direction of the first initial line, and generating a group of intersection lines to be confirmed in the reverse direction.

Optionally, after the step of generating the polygon by end-to-end connection of the to-be-confirmed intersection line groups according to the minimum paths, the method further includes:

if the self-intersecting condition of one group of polygons exists in the two groups of polygons, the self-intersecting polygons are regarded as invalid, and the other group of polygons which do not have the self-intersecting is saved as correct intersection lines.

Optionally, after the step of generating the polygon by end-to-end connection of the to-be-confirmed intersection line groups according to the minimum paths, the method further includes:

under the condition that self-intersection occurs in both groups of polygons, both the two groups of polygons are regarded as invalid, a first initial line is eliminated from the intersection line set, and another intersection line meeting a second preset condition is searched to serve as the first initial line.

Optionally, after the step of storing the to-be-confirmed intersection line group meeting the third preset condition as a correct intersection line group, the method further includes:

and continuously searching the intersection lines meeting the second preset condition as the first initial line in the remaining intersection lines of the intersection line set, and sequentially searching and grouping the intersection lines closest to the first initial line until all the intersection lines in the intersection line set are grouped or ignored.

Optionally, after the step of storing the to-be-confirmed intersection line group meeting the third preset condition as a correct intersection line group, the method further includes:

submitting the crossing lines to the system in groups;

the system generates an accurate crossing map according to crossing lines;

in the actual running process of the vehicle, the automatic driving vehicle can acquire road condition information in real time through the acquisition device;

consistency comparison is carried out on road condition information and an intersection map;

if the consistency is greater than a preset threshold value, generating an intersection driving route according to an intersection map;

if the consistency is smaller than the preset threshold value, uploading the road condition information to the system, generating a latest road junction driving route, and updating the driving information about the road junction in the system.

According to another aspect of the present invention, there is also provided a machine-readable storage medium having stored thereon a machine-executable program which, when executed by a processor, implements a method of grouping crossing lines of any one of the above.

According to the method for grouping intersection lines, an intersection line set to be grouped is obtained, and intersection lines with the sum of the horizontal coordinates and the vertical coordinates in an electronic map coordinate system being the maximum value are searched in the intersection line set meeting a first preset condition and used as first initial lines; sequentially searching intersection lines closest to the set direction according to the set direction of the first initial line and the opposite direction of the set direction to obtain two groups of intersection lines to be confirmed; the two groups of crossing lines to be confirmed are connected end to end according to the minimum path to generate polygons; under the condition that the two groups of polygons do not have self-intersection, storing one group with the largest number of intersection lines in the two groups of intersection lines to be confirmed as the correct intersection line, and circulating the operation until all lines in the intersection line set are grouped. By the method, the road line sets can be finely grouped again, so that the road lines of a plurality of road junctions are prevented from being grouped in the same road line group, and more accurate data support is provided for manufacturing a high-precision electronic map.

Further, according to the intersection line grouping method, when the intersection line closest to the intersection line is sequentially searched according to the set direction of the initial line, the direction of the first initial line is determined according to the starting point and the end point of the first initial line and the concave direction of the arc line; searching adjacent points of the intersection lines closest to the initial line end point in the intersection line set according to the direction; judging whether the adjacent point is the starting point of the intersection line or not; if the adjacent point is the starting point of the intersection line, judging whether the direction of the intersection line is consistent with the direction of the first starting line; if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line and continuously searching for an adjacent point; if the direction of the intersection line is consistent with the direction of the first initial line, adding the intersection line as an adjacent line into the target intersection group; and searching for the next adjacent line by taking the adjacent line as a second initial line, stopping until the first initial line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of crossing lines to be confirmed. Reversing the initial line after a group of crossing lines to be confirmed are generated, searching the adjacent line in the opposite direction according to the same method, and finally generating the crossing lines to be confirmed in the opposite direction; after two groups of intersection lines to be confirmed are connected end to generate polygons, if the two polygons are self-intersected, the first initial line is eliminated from the intersection line set, and the other intersection line positioned in the set azimuth in the electronic map coordinate system is searched to serve as the initial line. By the method, the intersection line sets are grouped, and intersection lines which cannot be grouped in the intersection line sets are eliminated.

The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.

Drawings

Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:

FIG. 1 is a flow diagram of a method of grouping crossing lines according to one embodiment of the invention;

FIG. 2 is a schematic diagram of route direction identification of a method of grouping intersection lines according to one embodiment of the present invention;

FIG. 3 is an illustration of an intersection line of a grouping method of intersection lines according to one embodiment of the present invention;

FIG. 4 is a schematic diagram of a polygon self-intersecting case of a grouping method of intersection lines according to another embodiment of the present invention;

FIG. 5 is an illustration of an intersection line of a grouping method of intersection lines according to another embodiment of the present invention;

FIG. 6 is a schematic diagram of a machine-readable storage medium in a method of grouping crossing lines according to one embodiment of the invention; and

fig. 7 is a schematic diagram of a computer device in a method of grouping crossing lines according to an embodiment of the present invention.

Detailed Description

It should be understood by those skilled in the art that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention, and the some embodiments are intended to explain the technical principles of the present invention and are not intended to limit the scope of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive effort, based on the embodiments provided by the present invention, shall still fall within the scope of protection of the present invention.

Fig. 1 is a flow chart of a grouping method of crossing lines according to an embodiment of the present invention. The process may include:

step S101, acquiring an intersection line set to be grouped. Wherein, the intersection line set meets a first preset condition, and the first preset condition may include: the number of the road junction arcs in the road junction line set is larger than a preset threshold value. The intersection line set comprises lines such as an intersection line arc line, a stop line, a compensation stop line and the like, and different marks are respectively arranged for distinguishing. An alternative example for the first preset condition is as follows: judging whether the number of the intersection lines and the arcs in the intersection line set is larger than 4, if the number of the intersection lines and the arcs is larger than 4, indicating that the intersection line set possibly contains a plurality of intersections, distinguishing the intersection line set by using the method, and setting a first preset condition according to actual conditions by a person skilled in the art.

Step S102, selecting a target intersection line from the intersection line set as a first initial line. The target intersection line meets a second preset condition. The second preset condition includes: the sum of the horizontal and vertical coordinates of the target intersection line in the electronic map coordinate system is the maximum value. In the electronic map where the intersection line set is located, a map coordinate system is preset, so an optional example for this step is as follows: the line with the maximum value of the sum of the abscissas and the ordinates in the map coordinate system can be used as the first starting line, and a person skilled in the art can determine the selection mode of the starting line according to actual conditions.

In some embodiments of the present application, the electronic map may be vector map data. And the electronic map area can be divided according to the rule (Tile), administrative area and road mileage.

Step S103, sequentially searching the intersection lines closest to the set direction of the first initial line and the opposite direction of the set direction to obtain two groups of intersection lines to be confirmed.

In the intersection line set, each line has a direction indication. Thus, this step includes; determining the direction of the first initial line according to the starting point, the ending point and the concave direction of the arc line of the first initial line; searching adjacent points of the intersection lines closest to the first initial line end point in the intersection line set according to the direction; judging whether the adjacent point is the starting point of the intersection line or not; if the adjacent point is the starting point of the intersection line, judging whether the direction of the intersection line is consistent with the direction of the first starting line; if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line and continuously searching for the next adjacent point; if the direction of the intersection line is consistent with the direction of the first initial line, adding the intersection line as an adjacent line into the target intersection group; and searching for the next adjacent line by taking the adjacent line as a second initial line, stopping until the first initial line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of intersection lines to be confirmed.

Meanwhile, the step of judging whether the adjacent point is the starting point of the intersection line further comprises the following steps: if the adjacent point is not the starting point of the intersection line, reversing the intersection line, and judging whether the direction of the reversed intersection line is consistent with the direction of the first starting line; if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line and continuously searching for the next adjacent point; if the direction of the intersection line is consistent with the direction of the first initial line, adding the intersection line as an adjacent line into the target intersection group; and searching for the next adjacent line by taking the adjacent line as a second initial line, stopping until the first initial line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of crossing lines to be confirmed.

Step S104, connecting two groups of crossing lines to be confirmed end to end according to the minimum path to generate polygons.

Step S105, under the condition that the two groups of polygons do not have self-intersection, the to-be-confirmed intersection line group meeting a third preset condition is saved as a correct intersection line group, wherein the third preset condition is one group with the largest number of intersection lines in the two groups of to-be-confirmed intersection line groups.

The self-intersection means that the generated polygon of the intersection line and the intersection line have other intersection points except for two end points, and the occurrence of the self-intersection indicates that the grouped intersection line is not an intersection, so that the self-intersecting polygon is excluded.

The method further comprises the following steps: when one group of the two groups of polygons has self-intersection and one group of polygons does not have self-intersection, the two groups of intersection lines which do not have self-intersection are used as correct intersection lines for storage; when the self-intersecting condition of the two groups of polygons occurs, the starting line for generating the two groups of intersection lines is not included in the intersection, the first starting line is eliminated, and other lines are continuously selected as the starting line to be grouped.

And repeatedly executing the steps, and finally, ending the method after grouping or eliminating all lines in the intersection line set.

By the method, the intersection line set can be subjected to more accurate intersection division, so that more accurate data support is provided for subsequent high-precision map construction.

In some embodiments of the present application, after the intersection lines are grouped, it may be convenient for the system to add a center line, where the center line is a virtual line, so that the intelligent network vehicle or the automatic driving vehicle can travel on the center line; the automatic deceleration or parking can be realized when the intersection is detected; some dynamic information may also be added, such as traffic light time and status information. Thus, the accurate identification of the intersection line is a key step for realizing the functions.

In the embodiment of the application, after the correct intersection line is identified, the intersection line can be connected with the identified lane line information to form a complete auxiliary driving map so as to realize the auxiliary driving function.

The method is described in detail below by way of a number of examples:

fig. 2 is a schematic diagram of route direction recognition of a grouping method of crossing lines according to an embodiment of the present invention. The schematic diagram shows the following:

in the roadmap generated by the map making system, all the lane lines are provided with direction indication marks as shown by 21, in this embodiment, as can be seen from the figure, the direction of the lane line 22 is shown by the identifier 21, the concave direction of the lane line 22 is shown by the arrow 23, and the direction of the lane line 22 is anticlockwise as shown by the arc 24 by combining the two.

It should be noted that this direction identifier is only a specific embodiment, and those skilled in the art may select an identifier representing the direction according to the actual situation.

Fig. 3 is an illustration of an intersection line of a grouping method of intersection lines according to an embodiment of the present invention. The schematic diagram shows the following:

in fig. 3, the broken line is an intersection line set, as shown in fig. 3, three intersections divide intersection lines into one intersection line set due to distance reasons, and in order to solve such problems, the method is proposed to accurately divide the intersection line set which needs to be grouped again into a plurality of intersections.

For the embodiment of fig. 3, the implementation flow of the method includes:

acquiring an intersection line set shown in fig. 3, and judging whether an intersection line arc line in the intersection line set is larger than a preset threshold value, wherein the preset threshold value is an optional example in the embodiment, such as 4, and a person skilled in the art can determine the size of the preset threshold value according to actual conditions; in the intersection line set, the number of the intersection line arcs is greater than a preset threshold value and meets the condition of intersection grouping because the number of the intersection line arcs is 301, 303, 305, 306, 311, 315, 317, 320, 331, 333 and 341;

searching intersection lines meeting a second preset condition as first initial lines; an optional example of the second preset condition in this embodiment is that the sum of the horizontal and vertical coordinates of the midpoint of the intersection line in the map coordinate system is the largest, and a person skilled in the art can determine the second preset condition according to the actual situation; finding the intersection line arc 301 with the maximum sum of the middle point abscissa and the middle point ordinate through a map coordinate system as a first initial line;

sequentially searching intersection lines closest to the set direction of the first initial intersection line arc 301 according to the set direction, so as to obtain two groups of intersection lines to be confirmed; in this step, the setting direction may be determined according to the intersection line 301 arc: according to the advancing direction and the sinking direction of the arc line of the intersection line 301, the direction of the arc line 301 of the intersection line can be obtained to be anticlockwise, so the arc line 301 of the intersection line is taken as a first initial line to be added into a first road group, an adjacent point closest to the end point of the arc line 301 of the intersection line is searched according to anticlockwise beginning, then the end point of the stop line 302 is found, in the method, the stop line is generally a straight line, and directions are not distinguished, so the stop line 302 is added into the first road group, then the stop line 302 is taken as a second initial line, and an adjacent point closest to the other end point of the stop line 302 is searched;

then finding the starting point of the intersection line arc 303, and judging that the direction of the intersection line arc 303 is anticlockwise according to the method for judging the direction of the intersection line, and adding the intersection line arc 303 into a first intersection group; taking the intersection line arc 303 as a third initial line, and searching for an adjacent point nearest to the end point of the intersection line arc 303;

then find the end point of the stop line 304, because the stop line does not distinguish the direction, so add the stop line 304 into the first road port grouping directly, then regard stop line 304 as the fourth starting line, find the nearest adjacent point to another end point of the stop line 304;

then finding the starting point of the intersection line arc 305, and judging that the direction of the intersection line arc 305 is anticlockwise by the same method, judging that the search is a correct search, and adding the intersection line arc 305 into a first intersection group; taking the intersection line arc 305 as a fifth initial line, and searching for an adjacent point nearest to the end point of the intersection line arc 305;

similarly, the intersection line arc 306 and the stop line 307 are added into the first intersection group, and finally the intersection line 301 is found, and the searching is stopped.

After the first searching is finished, reversing the intersection line arc 301 to start the reverse searching operation;

adding a second intersection group by taking the inverted intersection line arc 301 as a first initial line, searching for an end point of the inverted intersection line arc 301 according to a clockwise direction to obtain a stop line 307, and adding the stop line 307 into the second intersection group in a similar way;

continuing to perform searching operation, finding out the end point of the intersection line arc 306, reversing the start point and the end point of the intersection line arc 306, and re-judging the direction of the reversed intersection line arc 306 to be clockwise, judging that the searching is one-time correct searching, and adding the intersection line arc 306 into a second intersection group; taking the reversed intersection line arc 306 as a third starting line, and searching for an adjacent point nearest to the end point of the reversed intersection line arc 306;

after the above operations are performed, the intersection lines in the first intersection group finally include intersection line arcs 301, 303, 305, 306 and stop lines 302, 304, 307, the intersection lines in the second intersection group include inverted intersection line arcs 301, 303, 305, 306 and stop lines 302, 304, 307, the intersection lines in the two groups are connected end to make external polygons, and through judgment, the two external polygons have no self-intersecting condition, so that the intersection group with the largest line in the two intersection groups is selected as the correct intersection line, and any one of the intersection lines can be selected because the line numbers in the two intersection groups are equal.

After the grouping is finished, the intersection line arcs 301, 303, 305 and 306 and the stop lines 302, 304 and 307 are removed from the intersection line set, and the line with the largest sum of the middle point abscissa and the ordinate in the graph in FIG. 3 is continuously searched, namely the intersection line arc 311 is used as a first initial line;

sequentially searching intersection lines closest to the set direction of the first initial intersection line arc 311 according to the set direction to obtain two groups of intersection lines to be confirmed; similarly, a third port group can be obtained, and the intersection lines in the third port group comprise intersection line arcs 311, 315, 317 and 320 and stop lines 312 to 314, 316, 318, 319 and 321; then, reversing the intersection line arc 311 to continue searching operation, and similarly obtaining a fourth intersection group, wherein the intersection lines in the fourth intersection group comprise reversed intersection line arcs 311, 315, 317 and 320 and stop lines 312 to 314, 316, 318, 319 and 321; the intersection lines in the two groups are connected end to form polygons, and through judgment, the two polygons are not subjected to self-intersection, so that the intersection group with the largest lines in the two intersection groups is selected as the correct intersection line, and any one of the intersection lines can be selected because the lines in the two intersection groups are equal in quantity.

After the grouping is finished, the intersection line arcs 311, 315, 317 and 320 and the stop lines 312 to 314, 316, 318, 319 and 321 are removed from the intersection line set, and the line on the upper right in fig. 3, namely the intersection line arc 331 is continuously searched as a first initial line;

sequentially searching intersection lines closest to the set direction of the first initial intersection line arc 331 according to the set direction to obtain two groups of intersection lines to be confirmed; similarly, a fifth intersection group can be obtained, wherein an intersection line in the fifth intersection group comprises intersection line arcs 331 and 333 and a lane line 332, then the intersection line arc 331 is reversed to continue searching operation, and similarly, a sixth intersection group is obtained, and the intersection line in the sixth intersection group comprises the reversed intersection line arcs 331 and 333 and the lane line 332; the intersection lines in the two groups are connected end to form an external polygon, and through judgment, the condition that the two external polygons are not intersected by themselves is not generated, so that the intersection group with the largest lines in the two intersection groups is selected as the correct intersection line, and any one of the intersection lines can be selected because the lines in the two intersection groups are equal in quantity.

After the grouping is finished, the intersection line arcs 331 and 333 and the lane line 332 are removed from the intersection line set, and the line on the upper right in fig. 3, namely the intersection line arc 341 is continuously searched as a first initial line; similarly, only the intersection line arcs 341 and the stop lines 342 are included in the intersection group after the operation, so that the number of the intersection line arcs in the intersection group is smaller than a preset threshold value, no intersection is generated, and for an optional example of the preset threshold value, for example, the preset threshold value is set to be 2, only the intersection group with the number of the intersection line arcs being greater than or equal to 2 can generate the intersection, and the intersection can be set according to actual conditions by a person skilled in the art.

By the method, the intersection line set is accurately divided into three intersections, so that accurate data support is provided for subsequent high-precision map construction.

Fig. 4 is a schematic diagram of a polygon self-intersecting case of a grouping method of intersection lines according to another embodiment of the present invention. The present schematic diagram shows the following:

intersection line arcs 401 to 403;

after the method is applied, the intersection line arc 401 is used as a first initial line to execute the searching operation, after the execution is finished, the intersection line arcs 401 to 403 are divided into one intersection group, at this time, after the intersection line arcs 401 to 403 are connected end to generate polygons, as shown in the figure, the intersection line arc 403 and polygon edge line have intersection points 404, at this time, the situation that the polygons generated by the intersection lines in the intersection group are self-intersected is judged, and similarly, the situation that the polygons generated by the intersection group generated in the opposite direction are self-intersected is judged, so that the first initial line 401 is judged to not have the situation of the corresponding intersection, the intersection line arc 401 is eliminated in the intersection line set, and the searching operation is continuously executed by taking other intersection lines as the first initial line.

By applying the method, lines which do not belong to the intersections in the intersection line set can be screened, so that the intersection line identification grouping function is accurately realized.

Fig. 5 is an illustration of an intersection line according to another embodiment of the present invention. The present schematic shows the following:

acquiring a road junction line set in the embodiment, wherein the road junction line set comprises road junction line arcs 501 to 504; the number of the road-line arcs in the road-line set is larger than a preset threshold value, so that the condition of executing the grouping method is met;

searching intersection lines meeting a second preset condition as first initial lines; in this embodiment, an optional example of the second preset condition is that the midpoint of the intersection line has the largest sum of the horizontal coordinates and the vertical coordinates in the map coordinate system, and a person skilled in the art can determine the second preset condition according to the actual situation, and finally select the intersection line arc 501 as the first initial line and add the first initial line into the first intersection group;

determining the anticlockwise direction according to the travelling direction of the intersection line arc 501 and the arc sinking direction, so that searching for an adjacent point nearest to the end point of the intersection line arc 501 according to anticlockwise direction, and then searching for a starting point of the intersection line arc 502;

determining that the direction is clockwise according to the advancing direction of the intersection line arc 502 and the arc sinking direction, and not consistent with the direction of the searching operation, so that the intersection line arc 502 is ignored to continuously search the adjacent point closest to the end point of the intersection line arc 501, and then the starting point of the intersection line arc 503 is found;

determining that the direction is anticlockwise according to the travelling direction of the intersection line arc 503 and the arc sinking direction, so that the intersection line arc 503 is selected as a second starting line and added into the first intersection group, searching for an adjacent point closest to the end point of the intersection line arc 503 according to anticlockwise starting, and then finding out the starting point of the intersection line arc 504;

similarly, selecting an intersection line arc line 504 as a third initial line and adding the third initial line into the first intersection group, searching an adjacent point closest to the end point of the intersection line arc line 504 according to the anticlockwise start, then searching the intersection line arc line 501, and stopping searching operation;

performing searching operation in the opposite direction according to the steps, taking the reversed intersection line arc 501 as a first initial line and adding the first initial line into a first road port group, starting to search an adjacent point closest to the end point of the intersection line arc 501 according to the clockwise direction, and then finding the end point of the intersection line arc 504;

reversing the intersection line arc 504, judging the direction of the reversed intersection line arc 504 to be clockwise, selecting the reversed intersection line arc 504 as a second starting line and adding the second starting line into a second intersection group, starting to search an adjacent point closest to the end point of the intersection line arc 504 according to the clockwise direction, and then finding the end point of the intersection line arc 503;

reversing the road entrance line arc 503 in the same way, judging the direction of the reversed road entrance line arc 503 to be clockwise, selecting the reversed road entrance line arc 503 as a third starting line and adding the third starting line into a second road entrance group, searching an adjacent point closest to the end point of the road entrance line arc 503 according to the clockwise, and then finding the end point of the road entrance line arc 502;

the road junction arc 502 is reversed in the same way, and the direction of the reversed road junction arc 503 is anticlockwise and does not accord with the searching direction, so that the reversed road junction arc 502 is eliminated, searching is continued, and finally the reversed road junction arc 501 is found, and searching operation is stopped.

Through searching twice, the intersection lines in the first intersection group are as follows: intersection line arcs 501, 503, and 504; the intersection lines in the second intersection group are: inverted intersection line arcs 501, 503, and 504; the intersection lines in the two groups are connected end to form an external polygon, and through judgment, the condition that the two external polygons are not intersected by themselves is not generated, so that the intersection group with the largest lines in the two intersection groups is selected as the correct intersection line, and any one of the intersection lines can be selected because the lines in the two intersection groups are equal in quantity.

By the method, the intersection lines which do not belong to the same intersection in the intersection line set can be filtered, so that the intersection line of each intersection is accurately generated, and accurate data support is provided for subsequent high-precision map construction.

The present implementation also provides a machine-readable storage medium and a computer device. Fig. 6 is a schematic diagram of a machine-readable storage medium 601 according to one embodiment of the invention, and fig. 7 is a schematic diagram of a computer device 703 according to one embodiment of the invention.

The machine-readable storage medium 601 has stored thereon a machine-executable program 602, which when executed by a processor, implements the intersection line grouping method of any of the above embodiments.

The computer device 703 may include a memory 701, a processor 702, and a machine executable program 602 stored on the memory 701 and running on the processor 702, and the processor 702 implements the intersection line grouping method of any of the above embodiments when executing the machine executable program 602.

It should be noted that the logic and/or steps represented in the flow diagrams or otherwise described herein, e.g., performing the seeking operation, may be embodied in any machine-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

For the purposes of this description of embodiments, a machine-readable storage medium 601 can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the machine-readable storage medium 601 include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the machine-readable storage medium 601 may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.

The computer device 703 may be, for example, a server, a desktop computer, a notebook computer, a tablet computer, or a smart phone. In some examples, the computer device 703 may be a cloud computing node. The computer device 703 may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer device 703 may be implemented in a distributed cloud computing environment where remote processing devices that are linked through a communications network perform tasks. In a distributed cloud computing environment, program modules may be located in both local and remote computing system storage media including memory storage devices.

The computer device 703 may comprise a processor 702 adapted to execute stored instructions, a memory 701 providing temporary storage for the operation of said instructions during operation. Processor 702 may be a single-core processor, a multi-core processor, a computing cluster, or any number of other configurations. Memory 701 may include Random Access Memory (RAM), read only memory, flash memory, or any other suitable storage system.

The processor 702 may be connected through a system interconnect (e.g., PCI-Express, etc.) to an I/O interface (input/output interface) adapted to connect the computer device 703 to one or more I/O devices (input/output devices). The I/O devices may include, for example, a keyboard and a pointing device, which may include a touch pad or touch screen, among others. The I/O device may be a built-in component of the computer device 703 or may be a device externally connected to the computing device.

The processor 702 may also be linked through a system interconnect to a display interface suitable for connecting the computer device 703 to a display device. The display device may include a display screen as a built-in component of the computer device 703. The display device may also include a computer monitor, television, projector, or the like, which is externally connected to the computer device 703. In addition, a network interface controller (network interface controller, NIC) may be adapted to connect the computer device 703 to a network through a system interconnect. In some embodiments, the NIC may use any suitable interface or protocol (such as an internet small computer system interface, etc.) to transfer data. The network may be a cellular network, a radio network, a Wide Area Network (WAN), a Local Area Network (LAN), or the internet, among others. The remote device may be connected to the computing device through a network.

The flowcharts provided by this embodiment are not intended to indicate that the operations of the method are to be performed in any particular order, or that all of the operations of the method are included in all of each case. Furthermore, the method may include additional operations. Additional variations may be made to the above-described methods within the scope of the technical ideas provided by the methods of the present embodiments.

By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications of the invention consistent with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (10)

1. A method of grouping intersection lines, comprising:

acquiring an intersection line set to be grouped, wherein the intersection line set meets a first preset condition;

selecting a target intersection line from the intersection line set as a first initial line, wherein the target intersection line meets a second preset condition;

sequentially searching intersection lines closest to the first starting line according to the set direction of the first starting line and the opposite direction of the set direction to obtain two groups of intersection lines to be confirmed;

the intersection line groups to be confirmed are connected end to end according to the minimum path to generate polygons;

and under the condition that the two groups of polygons are not intersected, storing the to-be-confirmed intersection line groups meeting a third preset condition as correct intersection line groups, wherein the third preset condition is one group with the largest number of intersection lines in the two groups of to-be-confirmed intersection line groups.

2. The method for grouping intersection lines according to claim 1, wherein,

the first preset condition includes: the number of the intersection arcs in the intersection line set is larger than a preset threshold value;

the second preset condition includes: and the sum of the horizontal coordinates and the vertical coordinates of the target intersection line in the electronic map coordinate system is the maximum value.

3. The method for grouping intersection lines according to claim 1, wherein the step of sequentially finding the intersection line closest to the first starting line according to the set direction thereof comprises:

determining the direction of the first initial line according to the starting point and the ending point of the first initial line and the concave direction of the arc line;

searching adjacent points of intersection lines closest to the first initial line end point in the intersection line set according to the direction;

judging whether the adjacent point is the starting point of the intersection line or not;

if the adjacent point is the starting point of the intersection line, judging whether the direction of the intersection line is consistent with the direction of the first starting line or not;

if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line, and continuously searching the adjacent point;

if the direction of the intersection line is consistent with the direction of the first initial line, the intersection line is added into a target intersection group as an adjacent line;

and searching for the next adjacent line by taking the adjacent line as a second starting line, stopping until the first starting line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of crossing lines to be confirmed.

4. The method of grouping intersection lines according to claim 3, wherein the step of determining whether the adjacent point is a start point of the intersection line further comprises:

if the adjacent point is not the starting point of the intersection line, reversing the intersection line, and judging whether the direction of the reversed intersection line is consistent with the direction of the first starting line;

if the direction of the intersection line is inconsistent with the direction of the first initial line, ignoring the intersection line, and continuously searching the adjacent point;

if the direction of the intersection line is consistent with the direction of the first initial line, the intersection line is added into a target intersection group as an adjacent line;

and searching for the next adjacent line by taking the adjacent line as a second initial line, stopping until the first initial line is found or the adjacent line with the consistent direction cannot be found, and finally generating a group of crossing lines to be confirmed.

5. The method of grouping intersection lines according to claim 1, wherein the step of sequentially finding the intersection line closest to the opposite direction of the set direction of the first start line comprises:

and reversing the first initial line, namely sequentially searching the intersection lines closest to the first initial line according to the reverse direction of the first initial line, and generating a group of intersection lines to be confirmed in the reverse direction.

6. The method for grouping intersection lines according to claim 1, wherein after the step of generating polygons by end-to-end connection of the intersection lines to be confirmed according to minimum paths, the method further comprises:

and if the self-intersecting condition of one group of the polygons exists in the two groups of the polygons, the self-intersecting polygons are regarded as invalid, and the other group of the polygons which do not have the self-intersecting is saved as correct intersection lines.

7. The method for grouping intersection lines according to claim 1, wherein after the step of generating polygons by end-to-end connection of the intersection lines to be confirmed according to minimum paths, the method further comprises:

under the condition that self-intersection occurs in the two groups of polygons, the two groups of polygons are regarded as invalid, the first initial line is eliminated from the intersection line set, and the other intersection line meeting the second preset condition is searched to serve as the first initial line.

8. The method for grouping intersection lines according to claim 1, wherein the step of storing the intersection line group to be confirmed, which meets a third preset condition, as a correct intersection line group further comprises:

and continuously searching the intersection lines meeting the second preset condition as the first initial line in the remaining intersection lines of the intersection line set, and sequentially searching and grouping the intersection lines closest to the first initial line until the intersection lines in the intersection line set are grouped or ignored.

9. The method for grouping intersection lines according to claim 1, wherein the step of storing the intersection line group to be confirmed, which meets a third preset condition, as a correct intersection line group further comprises:

submitting the crossing line groups to a system;

the system generates an accurate crossing map according to the crossing line;

in the actual running process of the vehicle, the automatic driving vehicle can acquire road condition information in real time through the acquisition device;

consistency comparison is carried out between the road condition information and the intersection map;

if the consistency is greater than a preset threshold value, generating an intersection driving route according to the intersection map;

if the consistency is smaller than a preset threshold value, uploading the road condition information to the system, generating a latest road junction driving route, and updating driving information about the road junction in the system.

10. A machine-readable storage medium having stored thereon a machine-executable program which, when executed by a processor, implements the method of grouping crossing lines according to any one of claims 1 to 9.