CN117146854B - Method for configuring moving track of vehicle and related device thereof - Google Patents
Method for configuring moving track of vehicle and related device thereof Download PDFInfo
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- CN117146854B CN117146854B CN202311401282.1A CN202311401282A CN117146854B CN 117146854 B CN117146854 B CN 117146854B CN 202311401282 A CN202311401282 A CN 202311401282A CN 117146854 B CN117146854 B CN 117146854B
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 239000011159 matrix material Substances 0.000 claims description 47
- 238000012545 processing Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 5
- 238000012876 topography Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
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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
- G01C21/34—Route searching; Route guidance
Abstract
The application provides a method for configuring a vehicle movement track and a related device thereof, wherein the method comprises the following steps: obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map; obtaining an elevation map file corresponding to a three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data; obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space; and configuring a vehicle movement track according to the elevation chart list.
Description
Technical Field
The present invention relates to the field of information processing, and more particularly, to a method for configuring a vehicle movement track and a related apparatus thereof.
Background
The existing three-dimensional terrain design is generally made by view software, and the moving track of a vehicle of the view is controlled in real time through CGair software.
Wherein, when the moving track of the vehicle with the view is controlled in real time by, for example, CGair software, the road surface has fluctuation. The three-dimensional terrain design of the pavement is fixed in view software, and the planning of the moving track of the vehicle is executed in CGair software. It is therefore necessary to send the vehicle's position and attitude data to the vision software in real time via the GCAir software to control the movement of the vehicle in the vision.
Because the view software and the CGair software are in different coordinate systems, the data of the moving track can only be planned according to the data of some key points on the terrain, but in the prior art, the road gradient of a road formed by connecting every two key points and small fluctuation data on the road cannot be estimated in the GCair, so that the moving track is matched by changing the fluctuation of the three-dimensional terrain, and the gradient change between the two key points is directly taken as a smooth change straight line, so that the generated moving track is unsuitable and the configuration effect is poor.
Disclosure of Invention
In view of this, the present application provides a method for configuring a movement track of a vehicle and a related device thereof, as follows:
a method of configuring a vehicle movement trajectory, comprising:
obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map;
obtaining an elevation map file corresponding to a three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data;
obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises a position parameter and an elevation parameter of each pixel corresponding to the simulated geographic space;
And configuring a vehicle movement track according to the elevation chart list.
Optionally, in the method for configuring a moving track of a vehicle, the obtaining an elevation map file corresponding to a three-dimensional topographic map includes:
obtaining a resolution setting value of a setting elevation map file;
determining a pixel matrix in the elevation map file corresponding to the three-dimensional topographic map according to the resolution setting value;
according to the corresponding relation between the three-dimensional topographic map and the elevation map coordinate system, in the sequence of the three-dimensional topographic map serialization processing, the position parameters and the gray values of all pixels in the pixel matrix are obtained, an elevation map file is obtained, and the gray values represent the heights of the corresponding areas of the pixels in the three-dimensional topographic map.
Optionally, in the method for configuring a moving track of a vehicle, the obtaining, according to the setting parameters and the elevation file, an elevation list corresponding to the simulated geographic space includes:
determining the height parameter corresponding to each pixel in the elevation map file according to the height value of the setting parameter, the height upper limit value of the elevation map file and the height data corresponding to each pixel in the elevation map file;
and combining the height parameters of a plurality of pixels in the elevation map file according to the pixel matrix of the elevation map file to obtain an elevation map list.
Optionally, in the method for configuring a moving track of a vehicle, the determining, according to the height value of the setting parameter, the height upper limit value of the altitude map file, and the height data corresponding to each pixel in the altitude map file, the height parameter corresponding to each pixel in the altitude map file includes:
starting with the first pixel determined in the elevation chart, determining the height parameter corresponding to the gray value of each pixel in sequence according to the height value of the setting parameter and the height upper limit value of the elevation chart file.
Optionally, in the method for configuring a vehicle movement track, the configuring the vehicle movement track according to the elevation list includes:
determining a corresponding target position of a key point position of vehicle movement in a three-dimensional topographic map;
and configuring a vehicle moving track according to the target position and the elevation list.
An apparatus for configuring a movement track of a vehicle, comprising:
the first obtaining module is used for obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map;
the second obtaining module is used for obtaining an elevation map file corresponding to the three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data;
The obtaining module is used for obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space;
and the configuration module is used for configuring the vehicle movement track according to the elevation chart list.
Optionally, in the above device for configuring a movement track of a vehicle, the second obtaining module includes:
a first obtaining unit configured to obtain a resolution setting value of a setting elevation map file;
the first determining unit is used for determining a pixel matrix in the elevation chart file corresponding to the three-dimensional topographic map according to the resolution setting value;
the second obtaining unit is used for obtaining the position parameters and gray values of each pixel in the pixel matrix in the sequence of three-dimensional topographic map serialization processing according to the corresponding relation between the three-dimensional topographic map and the coordinate system of the elevation map, so as to obtain an elevation map file, wherein the gray values represent the heights of the corresponding areas of the pixels in the three-dimensional topographic map.
Optionally, the device for configuring a moving track of a vehicle includes:
the second determining unit is used for determining a target position corresponding to the position of the key point of the vehicle movement in the three-dimensional topographic map;
And the configuration unit is used for configuring the moving track of the vehicle according to the target position and the elevation chart list.
An electronic device, comprising: a memory, a processor;
wherein the memory stores a processing program;
the processor is configured to load and execute the processing program stored in the memory, so as to implement the steps of the method for configuring a vehicle movement track according to any one of the above.
A readable storage medium having stored thereon a computer program which is invoked and executed by a processor to implement the steps of the method of configuring a vehicle movement trajectory as set forth in any one of the preceding claims.
In summary, the present application provides a method for configuring a movement track of a vehicle and a related device thereof, where the method includes: obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map; obtaining an elevation map file corresponding to a three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data; obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space; and configuring a vehicle movement track according to the elevation chart list. In this embodiment, a height map list corresponding to a simulated geographic space is determined based on a height map file corresponding to a three-dimensional topographic map and setting parameters of the simulated geographic space for setting the three-dimensional topographic map, where the height map list includes height parameters of the simulated geographic space corresponding to each pixel in the height map file, and the height map list can be called as a list, on which height and position parameters of each position in the simulated geographic space are recorded, and based on the height parameters of the simulated geographic space recorded in the height map list, a movement track can be accurately generated, and the configuration effect is better.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an embodiment 1 of a method for configuring a vehicle movement track provided in the present application;
FIG. 2 is a flowchart of an embodiment 2 of a method of configuring a vehicle movement trajectory provided herein;
FIG. 3 is a three-dimensional topographical illustration of a method embodiment 2 of configuring a vehicle movement trajectory provided herein;
FIG. 4 is a high Cheng Tushi intent of method embodiment 2 of configuring a vehicle movement trajectory provided herein;
FIG. 5 is a flowchart of an embodiment 3 of a method of configuring a vehicle movement trajectory provided herein;
FIG. 6 is a schematic view of a portion of an area of an elevation list in method embodiment 3 of a method for configuring a movement track of a vehicle according to the present application;
FIG. 7 is a flowchart of an embodiment 4 of a method of configuring a vehicle movement trajectory provided herein;
Fig. 8 is a schematic structural view of an embodiment of a device for configuring a movement track of a vehicle provided in the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
As shown in fig. 1, a flowchart of an embodiment 1 of a method for configuring a moving track of a vehicle is provided, where the method is applied to an electronic device, and the method includes the following steps:
step S101: obtaining a three-dimensional topographic map and setting parameters for setting a simulated geographic space of the three-dimensional topographic map;
it should be noted that, the embodiment is applied to GCAir software, which controls the movement of the vehicle based on the three-dimensional topographic map, and completes drawing the movement track of the vehicle.
The three-dimensional topographic map is made in view software (such as Unity3D, abbreviated as U3D), and the relief and the shape of each position are drawn.
Wherein the setting parameter is a parameter that sets a geospatial of the three-dimensional topographic map simulation.
Specifically, the setting parameters may include a length, width, and height of the simulated geographic space, where the length, width, and height may be set by a common length measurement unit, and the length, width may also be set by a longitude range and a latitude range.
For example, the three-dimensional topography simulates geospatial setup parameters including a length of 1000 meters, a width of 1000 meters, and a height of 10 meters.
Step S102: obtaining an elevation map file corresponding to a three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data;
after the three-dimensional topographic map is built, generating an elevation map corresponding to the three-dimensional topographic map, and obtaining an elevation map file, wherein the elevation map consists of a plurality of pixels.
The height map corresponds to the length, width and height of the three-dimensional topographic map respectively.
It should be noted that, in the following embodiments, the process of obtaining the elevation file will be described in detail, which will not be described in detail in this embodiment.
Step S103: obtaining an elevation map list corresponding to the simulated geographic space of the three-dimensional topographic map according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space;
The setting parameters are parameters for setting the simulated geographic space of the three-dimensional topographic map, the simulated geographic space corresponding to the three-dimensional topographic map is set based on the setting parameters, and the vehicle moves in the simulated geographic space to form a moving track.
Wherein the elevation map file is a file capable of characterizing topographical information in a three-dimensional topographical map.
The elevation map file is composed of a plurality of pixels, each pixel corresponds to one area in the three-dimensional topographic map, the size of the corresponding area of the pixels is determined according to the number of the pixels, the more the number of the pixels is, the smaller the corresponding area of each pixel is, and the finer the elevation map file is.
The elevation map file contains the height parameters and the position parameters of the areas corresponding to the pixels of the three-dimensional topographic map.
Wherein, based on the setting parameters and the elevation map file, an elevation map list corresponding to the simulated geographic space of the three-dimensional topographic map can be obtained.
The elevation list is an elevation parameter and a position parameter of each pixel corresponding to the simulated geographic space.
Specifically, since the elevation map file corresponds to the three-dimensional topographic map, and correspondingly, each pixel in the elevation map file also has a corresponding relationship with the three-dimensional topographic map, and each height parameter of the elevation map list determined based on the elevation map file corresponds to a pixel in the elevation map file.
Wherein each height parameter in the elevation list corresponds to a pixel.
Specifically, the elevation list is based on a pixel matrix arrangement of the elevation file.
For example, the pixels of the elevation map file are 33×33 matrices, and correspondingly, the elevation map list is also a 33×33 data list, each data being the height of its corresponding pixel.
In particular, the elevation list may take the form of a txt text file.
In the following embodiments, the process of obtaining the elevation map file is described in detail, which is not described in detail in this embodiment.
Step S104: and configuring a vehicle movement track according to the elevation chart list.
After the elevation map list is determined, when the vehicle moving track is configured, a pixel corresponding to the track can be determined based on the elevation map list, and the height of the simulated geographic space can be determined based on the height parameter corresponding to the pixel.
Accordingly, the vehicle movement track can be configured based on the road surface gradient and small fluctuation on the road based on the height parameters of each pixel related to the vehicle movement track, and the vehicle movement track can be accurately configured.
Specifically, the vehicle movement track is configured by calling the height parameter corresponding to the pixel in the txt text file.
In the following embodiments, a process of configuring a movement track of a vehicle will be described in detail, and the description of the process will not be described in detail in this embodiment.
In summary, the method for configuring a movement track of a vehicle provided in this embodiment includes: obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map; obtaining an elevation map file corresponding to a three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data; obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space; and configuring a vehicle movement track according to the elevation chart list. In this embodiment, a height map list corresponding to a simulated geographic space is determined based on a height map file corresponding to a three-dimensional topographic map and setting parameters of the simulated geographic space for setting the three-dimensional topographic map, where the height map list includes height parameters of the simulated geographic space corresponding to each pixel in the height map file, and the height map list can be called as a list, on which height and position parameters of each position in the simulated geographic space are recorded, and based on the height parameters of the simulated geographic space recorded in the height map list, a movement track can be accurately generated, and the configuration effect is better.
As shown in fig. 2, a flowchart of a method embodiment 2 for configuring a moving track of a vehicle provided in the present application includes the following steps:
step S201: obtaining a three-dimensional topographic map and setting parameters for setting a simulated geographic space of the three-dimensional topographic map;
step S201 is identical to the corresponding steps in embodiment 1, and is not described in detail in this embodiment.
Step S202: obtaining a resolution setting value of a setting elevation map file;
the resolution setting value of the elevation map file can be input by simulation technicians or can be automatically determined according to the display proportion of the three-dimensional topographic map.
The larger the display scale of the three-dimensional topographic map is, the larger the resolution setting value is, so that more details are correspondingly contained in the elevation map file.
Wherein the setting of the value of the resolution setting depends on the amount of detail on the road, the more detail the more data points are needed to express the relief change of the three-dimensional terrain.
In specific implementation, the corresponding resolution setting value can be determined according to the display proportion of the three-dimensional topographic map, so that the corresponding resolution setting value can be automatically obtained according to the display proportion of the three-dimensional topographic map.
For example, the three-dimensional topography is displayed at 1:100, and the corresponding resolution setting may be 100×100; if the three-dimensional topography is displayed at 1:500, the corresponding resolution setting is 33×33.
Of course, the specific correspondence relation between the display scale of the three-dimensional topographic map and the set value of the resolution is not limited in this application, and the set value of the resolution is not limited to the above example.
Step S203: determining a pixel matrix in the elevation map file corresponding to the three-dimensional topographic map according to the resolution setting value;
wherein the resolution setting value is set for the resolution of the elevation map file.
The elevation map file is composed of a plurality of pixels, and the number of rows and columns in the pixel matrix is set based on the resolution setting value.
For example, if the resolution setting value is 33×33, the height map file includes 33×33 pixels, and the length and width in the height map file are 33 pixels, respectively.
Step S204: according to the corresponding relation between the three-dimensional topographic map and an elevation map coordinate system, in a sequence of three-dimensional topographic map serialization processing, position parameters and gray values of all pixels in the pixel matrix are obtained, an elevation map file is obtained, and the gray values represent the heights of the corresponding areas of the pixels in the three-dimensional topographic map;
And constructing a corresponding relation between the three-dimensional topographic map and an elevation map coordinate system, wherein the three-dimensional topographic map and the elevation map correspond to each other in height and length and width of a plane.
Specifically, the three-dimensional topography uses an XYZ three-dimensional coordinate system, the X-axis represents the left-right direction, the Y-axis represents the height direction, and the Z-axis represents the front-back direction, and the elevation coordinate system is a two-dimensional coordinate system.
Specifically, the X-axis of the three-dimensional topography corresponds to the X-axis of the elevation map, the Z-axis of the three-dimensional topography corresponds to the Y-axis of the elevation map, and the Y-axis of the three-dimensional topography corresponds to the gray level of the pixels in the elevation map.
As shown in fig. 3, a three-dimensional topographical map is illustrated, wherein the upper map is a three-dimensional topographical map of one angle and the lower map is a three-dimensional topographical map of another angle. The XYZ coordinate system of the three-dimensional topography belongs to the left-hand coordinate system, and the origin position is in the lower left corner. Wherein, a small block of positions on the X axis and the Z axis of the lower left corner are convex, namely the position of the small block is high, and the height is larger than 0 in the Y axis.
As shown in fig. 4, which is an elevation view, in which the horizontal axis corresponds to the X-axis of the three-dimensional topography, the vertical axis corresponds to the Z-axis of the three-dimensional topography, the upper left corner corresponds to the intersection position of the XZ-axis in fig. 4, i.e. the lower left corner of the three-dimensional topography corresponds to the upper left corner of the elevation,
In fig. 3, the protrusions are provided at only one corner, and the other positions are flat, corresponding to fig. 4, in which only this corner is not black, and the other positions are all black.
In fig. 3, only the X-axis and the Z-axis are considered, and as can be seen in fig. 3, the length of the section with the height in the X-axis is longer than the length of the section with the height in the Z-axis. In fig. 4, 3 pixels on the horizontal axis are not black, that is, the 3 pixels on the horizontal axis are high in correspondence with the three-dimensional topography, and 2 pixels on the vertical axis are not black, that is, the block of only 2 pixels on the vertical axis is high. As can be seen from a comparison of fig. 3 and 4, the horizontal axis in fig. 4 matches the X-axis of fig. 3, and the vertical axis matches the Z-axis of fig. 3.
Specifically, the three-dimensional topographic map is subjected to serialization processing, so as to obtain an elevation map of fig. 4, wherein the rows in the data table obtained by the serialization processing represent the number of rows of pixels, and the columns represent the number of columns of pixels.
And sequentially determining the position of the three-dimensional topographic map corresponding to each pixel of the elevation map based on the corresponding relation between the three-dimensional topographic map and the elevation map coordinate system.
And obtaining a gray value of each pixel in the elevation map file, wherein the gray value is used for representing the height of the corresponding position of the pixel in the three-dimensional topographic map.
Specifically, the elevation map is described by a specific type of array, which is essentially a data matrix, the data in the matrix representing gray values within a certain range, each element in the matrix corresponding to a pixel of the elevation map, typically 0 representing black, and the upper limit of the range of values of the data matrix representing white.
Specifically, the data type may be a unit8, a unit16, a single precision type, or a double precision type.
For example, if the type takes unit8, the upper limit of the value range is 255, and if the type takes unit16, the upper limit of the value range is 65535.
And obtaining the position coordinates of each pixel in the pixel matrix according to the corresponding relation between the three-dimensional topographic map and the elevation map coordinate system.
Specifically, according to the length and width of the three-dimensional topographic map and the arrangement position of each pixel in the length and width of the matrix, the position coordinate of each pixel, specifically the x value and the z value, is calculated, and the position of each pixel is represented by the x value and the z value.
In a specific implementation, in order to reduce the data size of the elevation map file, instead of recording the position of the pixel by using the x value and the z value as coordinates in the elevation map file, the determined height parameter of the pixel is recorded corresponding to the element in the pixel matrix, and when the height parameter is recorded, the position of the pixel corresponding to the height parameter is also recorded.
Wherein the pixel matrix comprises a plurality of rows and columns of pixels, and the height data of each pixel can be determined by taking the row/column as a reference.
In this embodiment, a behavior example will be described. The determination is made once for the gray value of the pixel for each row in the pixel matrix.
Wherein the height of the corresponding region of each pixel in the three-dimensional topographic map is fixed, and accordingly, the gray value of the pixel is determined.
The gray value is used as the height data of the corresponding pixel in the pixel matrix.
For example, the gray scale value range is 0-65535, and accordingly, the gray scale value of the pixel is any value in the range of 0-65535.
Specifically, according to the length and width of the three-dimensional topographic map and the arrangement position of each pixel in the length and width of the matrix, the position coordinate of each pixel, specifically the x value and the z value, is calculated, and the position of each pixel is represented by the x value and the z value.
In a specific implementation, in order to reduce the data size of the elevation map file, instead of using the x value and the z value as coordinates to record the position of the pixel in the elevation map file, the determined height parameter of the pixel is recorded corresponding to the element in the pixel matrix, and when the height parameter is recorded, the position of the pixel corresponding to the height parameter is also recorded, so as to obtain the elevation map file.
In an embodiment, the elevation map is obtained in the form of a picture.
Specifically, a numpy class library is imported into the Python, a data format is defined, a from file function is called through the numpy class library, meanwhile, a storage path of a storage space of an elevation chart is imported, and a file is read based on the storage path, so that picture data imgData is obtained.
In this embodiment, the determining height is performed by corresponding the determining of the horizontal and vertical ranges in the elevation map file to the XZ axis of the simulated geographic space, and in a specific implementation, the coordinates in the horizontal axis and the vertical axis directions of each pixel may be determined by knowing the height parameters of each pixel in the elevation map file.
Step S205: obtaining an elevation map list corresponding to the three-dimensional topographic map according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters of each pixel and height parameters of a simulation geographic space corresponding to the pixels;
step S206: and configuring a vehicle movement track according to the elevation chart list.
Steps S205-206 are identical to the corresponding steps in embodiment 1, and are not described in detail in this embodiment.
In summary, the method for configuring a movement track of a vehicle provided in this embodiment includes: obtaining a resolution setting value of a setting elevation map file; determining a pixel matrix in the elevation map file corresponding to the three-dimensional topographic map according to the resolution setting value; according to the corresponding relation between the three-dimensional topographic map and the elevation map coordinate system, in a sequence of three-dimensional topographic map serialization processing, gray values of all pixels in the pixel matrix are obtained, and the gray values represent the heights of the corresponding areas of the pixels in the three-dimensional topographic map; and determining the height data of each pixel in the pixel matrix based on the gray value of the pixel in any row/column in the pixel matrix in sequence to obtain an elevation map file. In this embodiment, the pixel matrix included in the elevation map file is determined according to the set resolution setting value of the elevation map file, and further, based on the correspondence between the three-dimensional topographic map and the elevation map coordinate system, the gray value of each pixel is obtained in the sequence of the three-dimensional topographic map processed in a serialization manner, and the gray value represents the height data of the corresponding pixel, thereby achieving the purpose of obtaining the elevation map file.
As shown in fig. 5, a flowchart of a method embodiment 3 of configuring a moving track of a vehicle provided in the present application includes the following steps:
step S501: obtaining a three-dimensional topographic map and setting parameters for setting a simulated geographic space of the three-dimensional topographic map;
step S502: obtaining a resolution setting value of the setting elevation map;
step S503: determining a pixel matrix in the elevation map corresponding to the three-dimensional topographic map according to the resolution setting value;
step S504: according to the corresponding relation between the three-dimensional topographic map and an elevation map coordinate system, in a sequence of three-dimensional topographic map serialization processing, position parameters and gray values of all pixels in the pixel matrix are obtained, an elevation map file is obtained, and the gray values represent the heights of the corresponding areas of the pixels in the three-dimensional topographic map;
steps S501-504 are identical to the corresponding steps in embodiment 2, and are not described in detail in this embodiment.
Step S505: determining the height parameter corresponding to each pixel in the elevation map file according to the height value of the setting parameter, the height upper limit value of the elevation map file and the height data corresponding to each pixel in the elevation map file;
the height data are heights of corresponding positions in the three-dimensional topographic map corresponding to the elevation map, and the height parameters are heights of corresponding positions in the simulated geographic space.
The setting parameters include a height value for setting the simulated geographic space, the height Cheng Tuwen piece has a height upper limit value, a proportional relation between the height of the simulated geographic space and the height of the elevation map can be determined based on the height value and the height upper limit value, and further, based on the proportional relation, the corresponding height parameters of the height data corresponding to each pixel in the elevation map in the simulated geographic space can be determined.
The altitude parameter calculation formula of the simulated geographic space corresponding to the pixel is as follows:
h/h=height value of setting parameter/height upper limit value of height map file
Where H is the altitude parameter of the simulated geospatial and H is the altitude data (gray value) of the pixels in the elevation map.
For example, if the height value of the setting parameter is 100 meters and the upper height limit value is 65535, the calculation formula is as follows:
H=h×（100/65535）
specifically, based on the formula, the gray value of each pixel determined according to the steps is calculated in sequence to obtain the height parameter corresponding to each pixel.
Specifically, starting with the first pixel determined in the elevation map file, determining the elevation parameter corresponding to the gray value of each pixel in sequence according to the elevation value of the setting parameter and the elevation upper limit value of the elevation map file.
And determining one of the pixels of the elevation map as a first pixel, for example, determining the height parameter corresponding to the gray value of each pixel from the pixel of which the origin corresponding to the horizontal axis and the vertical axis is located as the first pixel, wherein the determined height parameters are smoothly and sequentially arranged.
For example, if the pixel matrix in the elevation chart is 33×33, the height parameters corresponding to the pixels of each row are sequentially determined for each row, and the obtained 1089 data are sequentially arranged.
Step S506: combining the height parameters of a plurality of pixels in the elevation map file according to the pixel matrix of the elevation map file to obtain an elevation map list;
the elevation map file comprises a pixel matrix formed by a plurality of pixels.
After determining the height parameter corresponding to each pixel in the height map file, the height parameters are sequentially arranged, and the height parameters need to be arranged according to the arrangement mode of the pixel matrix of the height map file, so as to obtain a height map list corresponding to the Cheng Tuwen height map file.
In a specific implementation, when determining the height parameter corresponding to each pixel, sequentially putting the determined height parameter values into a list corresponding to the height parameter one by one, wherein the total number of the height parameter values is 33x33 = 1089 pixels, and the obtained height parameter is 0-1088 from 0.
And when the elevation map list is determined, sequentially determining pixels corresponding to the elevation parameters.
Specifically, the height parameter is represented by a sequence number, the pixel matrix is a 33×33 matrix, the sequence number is divided by the number of rows 33, the row where the current data is located is obtained by rounding, and the column where the current data is located is obtained by taking the remainder. Every 33 data are stored in one small array, so that 33 small arrays are obtained, each small array corresponds to one row, and the 33 small arrays are added to the data list in sequence. Thus, each data is added to the data list at a position corresponding to the row and column thereof, and finally, the resulting data list is a 33-length (corresponding to the column of the elevation data) list, and 33 data (corresponding to the row of the elevation data) are contained in each length, and the data list is an elevation map list.
As shown in fig. 6, there is a schematic view of a partial area of the elevation list, in which 33 data are present in one row, and a total of 33 rows, only a partial area is shown in the schematic view. Each numerical value in the elevation list is a height parameter of a corresponding pixel, and the position of the numerical value is in the position of the corresponding pixel in the pixel matrix.
Step S507: and configuring a vehicle movement track according to the elevation chart list.
Step 507 is identical to the corresponding step in embodiment 2, and is not described in detail in this embodiment.
In summary, the method for configuring a movement track of a vehicle provided in this embodiment includes: determining the height parameter corresponding to each pixel in the elevation map file according to the height value of the setting parameter, the height upper limit value of the elevation map file and the height data corresponding to each pixel in the elevation map; and combining the height parameters of a plurality of pixels in the elevation chart according to the pixel matrix of the elevation chart to obtain an elevation chart list. In this embodiment, according to the height value in the simulated geographic space and the height upper limit value of the elevation map file, in combination with the height data corresponding to each pixel in the elevation map, the height parameters of the simulated geographic space corresponding to each pixel in the elevation map file can be determined, and according to the arrangement mode of the pixel matrix in the elevation map file, the height parameters of the pixels are combined to obtain an elevation map list, each height parameter in the elevation map list corresponds to a corresponding position pixel in the elevation map file, the elevation map list is more easily called relative to the three-dimensional topographic map, and the vehicle moving track can be quickly and accurately formed by utilizing the data in the elevation map list.
As shown in fig. 7, a flowchart of a method embodiment 4 of configuring a moving track of a vehicle provided in the present application includes the following steps:
step S701: obtaining a three-dimensional topographic map and setting parameters for setting a simulated geographic space of the three-dimensional topographic map;
step S702: obtaining an elevation map file corresponding to a three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data;
step S703: obtaining an elevation map list corresponding to the three-dimensional topographic map according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters of each pixel and height parameters of a simulation geographic space corresponding to the pixels;
steps S701-703 are identical to the corresponding steps in embodiment 1, and are not described in detail in this embodiment.
Step S704: determining a corresponding target position of a key point position of vehicle movement in a three-dimensional topographic map;
wherein, the key point position for setting the moving track of the vehicle is obtained.
Specifically, the key point positions may be a start point and an end point of a vehicle movement track.
The key point positions comprise at least two, and the target positions of the key points corresponding to the three-dimensional topographic map are determined.
Specifically, the key point position may include a position of XZ axis coordinates in the three-dimensional topographic map, and may also include a position of XYZ axis coordinates.
Step S705: and configuring a vehicle moving track according to the target position and the elevation list.
After determining the target position in the three-dimensional topographic map, determining the moving track of the vehicle based on the pixel positions and the height parameters in the elevation map list.
Based on the target position in the three-dimensional topographic map, the corresponding pixel in the elevation map file can be determined, and further the corresponding pixel point and the height parameter in the elevation map list can be determined.
Specifically, when planning the running track of the vehicle, the height parameters of each pixel point in the elevation chart list are referred to determine which points are connected to form a road which can be walked.
Wherein the position of each height parameter in the elevation list in the data matrix characterizes the position thereof in the pixel matrix, and whether the vehicle can be connected to a road or not is determined based on the adjacent height parameters.
For example, whether the height difference between any two adjacent pixels is smaller than the highest height at which the vehicle can travel, if so, it may be determined that the areas corresponding to the two pixels can constitute a portion of the movement track, and if so, the areas corresponding to the two pixels cannot constitute a portion of the movement track.
Specifically, after a starting point and an ending point of the vehicle movement are determined in the three-dimensional topographic map, the two points are used as targets, and a route which the vehicle can travel is planned in the three-dimensional topographic map according to the height data between the two points, so that a vehicle movement track is obtained.
In summary, the method for configuring a movement track of a vehicle provided in this embodiment includes: determining a corresponding target position of a key point position of vehicle movement in a three-dimensional topographic map; and determining the moving track of the vehicle according to the target position and the elevation chart list. In this embodiment, the determined key point positions of the vehicle movement determine corresponding target positions in the three-dimensional topographic map, and further, based on the target positions and the elevation map list, the detailed altitude change condition between the target positions can be determined, so as to implement a detailed and accurate vehicle movement track.
Corresponding to the embodiment of the method for configuring the vehicle movement track provided by the application, the application also provides an embodiment of a device applying the method for configuring the vehicle movement track.
Fig. 8 is a schematic structural diagram of an embodiment of a device for a moving track of a vehicle provided in the present application, where the device includes the following structures: a first obtaining module 801, a second obtaining module 802, an obtaining module 803, and a configuring module 804;
The first obtaining module 801 is configured to obtain a three-dimensional topographic map and setting parameters, where the setting parameters are used to set a simulated geographic space of the three-dimensional topographic map;
the second obtaining module 802 is configured to obtain an elevation map file corresponding to the three-dimensional topographic map, where the elevation map file includes elevation data of a plurality of pixels that form the elevation map, and each pixel corresponds to one of the elevation data;
the obtaining module 803 is configured to obtain an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map, where the elevation map list includes a location parameter and an elevation parameter corresponding to each pixel in the simulated geographic space;
the configuration module 804 is configured to configure a vehicle movement track according to the elevation list.
Optionally, the second obtaining module includes:
a first obtaining unit configured to obtain a resolution setting value of a setting elevation map file;
the first determining unit is used for determining a pixel matrix in the elevation chart file corresponding to the three-dimensional topographic map according to the resolution setting value;
the second obtaining unit is used for obtaining the position parameters and gray values of each pixel in the pixel matrix in the sequence of three-dimensional topographic map serialization processing according to the corresponding relation between the three-dimensional topographic map and the coordinate system of the elevation map, so as to obtain an elevation map file, wherein the gray values represent the heights of the corresponding areas of the pixels in the three-dimensional topographic map.
Optionally, the configuration module includes:
the second determining unit is used for determining a target position corresponding to the position of the key point of the vehicle movement in the three-dimensional topographic map;
and the configuration unit is used for configuring the moving track of the vehicle according to the target position and the elevation chart list.
Optionally, the obtaining module includes:
a third determining unit, configured to determine a height parameter corresponding to each pixel in the elevation map file according to the height value of the setting parameter, the height upper limit value of the elevation map file, and the height data corresponding to each pixel in the elevation map file;
and the obtaining unit is used for combining the height parameters of a plurality of pixels in the elevation chart file according to the pixel matrix of the elevation chart file to obtain an elevation chart list.
Optionally, the third determining module is specifically configured to:
starting with the first pixel determined in the elevation chart file, determining the height parameter corresponding to the gray value of each pixel in sequence according to the height value of the setting parameter and the height upper limit value of the elevation chart file.
It should be noted that, for explanation of the functions of each component structure of the device for configuring a moving track of a vehicle provided in this embodiment, please refer to the foregoing method embodiment, and details are not described in this embodiment.
To sum up, the apparatus for configuring a movement track of a vehicle provided in this embodiment includes: the first obtaining module is used for obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map; the second obtaining module is used for obtaining an elevation map file corresponding to the three-dimensional topographic map, wherein the elevation map file comprises height data of a plurality of pixels forming the elevation map, and each pixel corresponds to one height data; the obtaining module is used for obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space; and the configuration module is used for configuring the vehicle movement track according to the elevation chart list. In this embodiment, a height map list corresponding to a simulated geographic space is determined based on a height map file corresponding to a three-dimensional topographic map and setting parameters of the simulated geographic space for setting the three-dimensional topographic map, where the height map list includes height parameters of the simulated geographic space corresponding to each pixel in the height map file, and the height map list can be called as a list, on which height and position parameters of each position in the simulated geographic space are recorded, and based on the height parameters of the simulated geographic space recorded in the height map list, a movement track can be accurately generated, and the configuration effect is better.
Corresponding to the embodiment of the method for configuring the vehicle moving track provided by the application, the application also provides the electronic equipment and the readable storage medium corresponding to the method for configuring the vehicle moving track.
Wherein, this electronic equipment includes: a memory, a processor;
wherein the memory stores a processing program;
the processor is configured to load and execute the processing program stored in the memory, so as to implement the steps of the method for configuring a vehicle movement track according to any one of the above.
The method for configuring the vehicle movement track by the electronic device is realized by referring to the embodiment of the method for configuring the vehicle movement track.
Wherein the readable storage medium has stored thereon a computer program which is invoked and executed by a processor to implement the steps of the method of configuring a vehicle movement trajectory as set forth in any one of the preceding claims.
The computer program stored in the readable storage medium may be executed to implement a method for configuring a vehicle movement track, and reference the foregoing method embodiment for configuring a vehicle movement track.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The device provided in the embodiment corresponds to the method provided in the embodiment, so that the description is simpler, and the relevant points refer to the description of the method.
The previous description of the provided embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features provided herein.
Claims (8)
1. A method of configuring a vehicle movement trajectory, comprising:
obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map;
obtaining a resolution setting value of a setting elevation map file;
determining a pixel matrix in the elevation map file corresponding to the three-dimensional topographic map according to the resolution setting value;
according to the corresponding relation between the three-dimensional topographic map and an elevation map coordinate system, in a sequence of three-dimensional topographic map serialization processing, position parameters and gray values of all pixels in the pixel matrix are obtained, an elevation map file is obtained, the gray values represent the heights of areas corresponding to the pixels in the three-dimensional topographic map, the elevation map file comprises height data of a plurality of pixels forming an elevation map, and each pixel corresponds to one height data;
Obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises a position parameter and an elevation parameter of each pixel corresponding to the simulated geographic space;
and configuring a vehicle movement track according to the elevation chart list.
2. The method according to claim 1, wherein the step of obtaining an elevation map list corresponding to the simulated geospatial space according to the setting parameters and the elevation map comprises:
determining the height parameter corresponding to each pixel in the elevation map file according to the height value of the setting parameter, the height upper limit value of the elevation map file and the height data corresponding to each pixel in the elevation map file;
and combining the height parameters of a plurality of pixels in the elevation map file according to the pixel matrix of the elevation map file to obtain an elevation map list.
3. The method according to claim 2, wherein determining the height parameter corresponding to each pixel in the elevation map file according to the height value of the setting parameter and the height upper limit value of the elevation map file and the height data corresponding to each pixel in the elevation map file comprises:
Starting with the first pixel determined in the elevation chart file, determining the height parameter corresponding to the gray value of each pixel in sequence according to the height value of the setting parameter and the height upper limit value of the elevation chart file.
4. The method of configuring a vehicle movement track according to claim 1, wherein said configuring a vehicle movement track according to said elevation map list comprises:
determining a corresponding target position of a key point position of vehicle movement in a three-dimensional topographic map;
and configuring a vehicle moving track according to the target position and the elevation list.
5. An apparatus for configuring a movement track of a vehicle, comprising:
the first obtaining module is used for obtaining a three-dimensional topographic map and setting parameters, wherein the setting parameters are used for setting a simulated geographic space of the three-dimensional topographic map;
the second obtaining module is used for obtaining a resolution setting value of the setting elevation chart file; determining a pixel matrix in the elevation map file corresponding to the three-dimensional topographic map according to the resolution setting value; according to the corresponding relation between the three-dimensional topographic map and an elevation map coordinate system, in a sequence of three-dimensional topographic map serialization processing, position parameters and gray values of all pixels in the pixel matrix are obtained, an elevation map file is obtained, the gray values represent the heights of areas corresponding to the pixels in the three-dimensional topographic map, the elevation map file comprises height data of a plurality of pixels forming an elevation map, and each pixel corresponds to one height data;
The obtaining module is used for obtaining an elevation map list corresponding to the simulated geographic space according to the setting parameters and the elevation map file, wherein the elevation map list comprises position parameters and elevation parameters of each pixel corresponding to the simulated geographic space;
and the configuration module is used for configuring the vehicle movement track according to the elevation chart list.
6. The apparatus for configuring a vehicle movement trajectory of claim 5, wherein the configuration module comprises:
the second determining unit is used for determining a target position corresponding to the position of the key point of the vehicle movement in the three-dimensional topographic map;
and the configuration unit is used for configuring the moving track of the vehicle according to the target position and the elevation chart list.
7. An electronic device, comprising: a memory, a processor;
wherein the memory stores a processing program;
the processor is configured to load and execute the processing program stored in the memory to implement the steps of the method of configuring a vehicle movement track as claimed in any one of claims 1 to 4.
8. A readable storage medium, having stored thereon a computer program, the computer program being invoked and executed by a processor, implementing the steps of the method of configuring a vehicle movement trajectory as claimed in any one of claims 1-4.
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