JP2009205584A - Method and apparatus for creating three dimensional road data - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate creation and modification of three-dimensional road data without any trained technique. <P>SOLUTION: A center-line-of-road data storage portion stores a center line of a road to be simulated. The center line of the road having parameters defining a plane shape and a longitudinal sectional shape of the road and its gradient with the traveling direction of the road as the axis is divided into line segments of a prescribed length for linear approximation, and the center line of the road having the parameters on a line segment Vi connecting the starting point Pis and the end point Pie of the divided center line of the road, and the gradient of the road at the end of the line segment is stored. A cross-section-of-road data storage portion stores a polygon of road unit data to simulate a road of a prescribed length. A road editing means pastes the road unit data on each line segment of the center line of the road in sequence and deforms the pasted road unit data according to the parameters. A means of calculating road position, shape, and texture pastes a texture for simulating a road surface to the surface of the polygon pasted by the road editing means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a method and apparatus for creating three-dimensional road data used for a three-dimensional city model using a computer.

  Here, the 3D city model is a polygon with 3D coordinate values representing buildings, topography, etc., textures to be pasted on the polygon, various information forming the city function such as road centerline and signal control information, Means data consisting of these three elements. Since this three-dimensional city model simulates a virtual city or a real city, it is created for use in a simulation field such as a driving simulator or a flood simulator.

  In the three-dimensional city model, three-dimensional road data is generated as a part of the configuration. Conventionally, it has been necessary to manually create all the polygons composing the three-dimensional road and paste the texture onto this. In this case, it takes time to create the data, and there is a problem that it is difficult to reuse the data before correction even when the data is corrected.

  The problem to be solved is that it takes time and skill to manually create all polygons and paste images when creating 3D road data. However, it is not easy to reuse the data before correction.

  In order to solve the above-described problem, a method for generating three-dimensional road data according to claim 1 is a road center line that simulates a centerline of a road to be simulated, and that defines parameters that define a planar shape and a longitudinal shape and a traveling direction of the road. A road center line having a parameter is divided into a predetermined length and linearly approximated, and has the above parameters on the line segment Vi connecting the starting point Pis and the end point Pie of the divided road center line and has a road gradient at the end point Using the center line data and polygon road unit data that simulates the road of the predetermined length, the first process of calculating the direction angle Ri from each line segment Vi, and the roll of the direction angle R1 for the first line segment V1 The road unit data between the starting point P1s and the end point P1e and the second process of rotating by R1s as the crossing gradient of the starting point P1s and rotating by R1e as the crossing gradient of the end point P1e. A third process of generating a polygon and pasting a texture simulating the road surface on the polygon onto the line segment V1 and the line segment Vi in turn to the line segment Vi with the roll at the direction angle Ri as the transverse gradient of the starting point Pis The line segment V (i-1) is rotated by R (i-1) e as the transverse gradient of the end point P (i-1) e of the line segment V (i-1) and placed next to the line segment V (i-1). At the same time, it is rotated by Rie as the transverse gradient of the end point Pie, a polygon as road unit data is generated between the start point Pis and the end point Pie, and a texture simulating the road surface is pasted on the line segment Vi on the polygon. , And a fourth process that repeats until the final segment is obtained.

  In order to solve the above problems, a three-dimensional road data generation device according to claim 2 is a road center line that simulates a center line of a road to be simulated, and that defines a parameter that defines a planar shape and a longitudinal shape and a traveling direction of the road. A road center line having a parameter is divided into a predetermined length and linearly approximated, and has the above parameters on the line segment Vi connecting the starting point Pis and the end point Pie of the divided road center line and has a road gradient at the end point A road centerline data storage unit for storing the centerline, a road cross-sectional shape data storage unit for storing polygonal road unit data for simulating a road of a predetermined length, and calculating the direction angle Ri from each line segment Vi, For the line segment V1, the roll of the direction angle R1 is rotated by R1s having the crossing gradient of the starting point P1s, and the roll is rotated by R1e having the crossing gradient of the end point P1e. Only R (i-1) e is defined as the transverse gradient of the end point P (i-1) e of the line segment V (i-1) preceded by the roll of the direction angle Ri as the transverse gradient of the start point Pis. The road editing means which rotates and arranges next to the line segment V (i−1) and rotates by Rie having the crossing gradient of the end point Pie, and the starting point P1s and the end point P1e. A polygon that is road unit data is generated in between, a texture that simulates the road surface is pasted on the line segment V1, and a texture that simulates the road surface is created by creating a polygon between the start point P1s and the end point P1e. For the line segment Vi, the road position is repeated until the final segment segment is created by creating a polygon as road unit data between the start point Pis and the end point Pie and pasting the texture simulating the road surface. And it is characterized in that a shape and texture calculation unit.

  According to the method for generating three-dimensional road data according to claim 1, road unit data can be arranged on a predetermined road center line by sequentially arranging the road unit data on a line segment that is the center line of the road center line data. By deforming the polygon road unit data according to the parameters, the three-dimensional shape can be simulated as one continuous road, and the texture simulating the road surface can be pasted on the surface of the road unit data. Road centerline data can be corrected, and polygons and textures arranged there can be corrected.

  According to the three-dimensional road data generating apparatus according to claim 2, the road editing means sequentially arranges the road unit data on the line segment that is the center line of the road centerline data, thereby to make the road unit data a predetermined road center. By arranging the road unit data according to the parameters, the three-dimensional shape can be simulated as one continuous road, and the road position, shape and texture calculation means can add the road surface to the surface of the road unit data. A texture to be simulated can be pasted. Road centerline data that has been placed and modified by road editing means and road unit data can be corrected, and polygons and textures arranged there are corrected by road position and shape and texture calculation means can do.

FIG. 1 is a functional block diagram illustrating creation of three-dimensional road data. FIG. 2 is a flowchart for explaining a method of creating three-dimensional road data.
In FIG. 1, 101 is a road centerline data storage unit, 102 is a road section shape data storage unit, 103 is a road editing unit, 104 is a data storage unit, 105 is a road position and shape and texture calculation unit, and 106 is an image generation unit. 107 is a display device, and 108 is a three-dimensional road data generating device.

The road centerline data storage unit 101 stores centerline data (road centerline data) of each road to be simulated. The road centerline data includes parameters that define the geometrical characteristics of the road, that is, a plane alignment, a vertical alignment, and a crossing gradient. FIG. 3 is a schematic diagram for explaining the configuration of the three-dimensional road centerline data.
Planar alignment refers to a road center line viewed from above, and is composed of a combination of figures such as straight lines, arcs, and clothoids. Each figure has parameters such as an origin direction angle, a length, and a radius, and the coordinates (x, y) of the point in the plane linear length l can be calculated using these parameters.
The vertical alignment is a representation of the height (for example, elevation) given on the plane alignment by a figure such as a straight line and a parabola, and the horizontal axis is the plane linear length and the vertical axis is the altitude. It can also be said that the horizontal axis of the road centerline as seen from the lateral direction is further transformed by the planar linear length. Each figure has parameters such as an origin direction angle, a length, a radius, and the like, and the altitude z of the point in the plane linear length l can be calculated using these parameters.
The transverse gradient is a straight line representing the gradient of the road surface with the traveling direction of the road as an axis, the horizontal axis representing the plane linear length and the vertical axis representing the gradient.
A combination of the above-described plane alignment, longitudinal alignment, and crossing gradient is a three-dimensional road center line, and three-dimensional road data is generated using this and road unit data described later. The coordinates (x, y, z) of the three-dimensional point with the plane linear length l on the three-dimensional road center line and the cross gradient i can be calculated using the parameters of the plane alignment, the vertical alignment, and the cross gradient. By this calculation, the road centerline can be thinned out at regular intervals in the plane linear length, and the straight line approximate data of the road centerline can be generated.
The road section shape data storage unit 102 stores various road unit data. The road unit data is a unit of road repetition, and is composed of a polygon representing a shape and a texture representing surface information thereof. A schematic diagram for explaining the configuration of road unit data is shown in FIG.
As shown in FIG. 5, the road centerline data and the road unit data do not have a fixed one-to-one relationship and can be associated with different road unit data. It can be combined with unit data and vice versa.

When it is determined what kind of road is to be generated, the operator selects the road center data of the route shape matching the road from the road centerline data storage unit 101 and inputs it to the road editing means 103, and the road cross-section shape data Road unit data for the road is selected from the storage unit 102 and input to the road editing means 103. The road editing means 103 divides the road represented by the input road center data at regular intervals, and approximates the divided area with a straight line. Here, the i-th line segment of the approximate straight line is Vi, and the two vertices constituting Vi are Pis and Pie. However, Pis is a starting point and Pie is an end point. Assume that each vertex of each line segment has information on coordinates (x, y, z) and cross gradient.
A direction angle Ri (roll, pitch, yaw) is calculated from each line segment Vi. However, the first roll is 0.
The road section data is arranged at the coordinates of the starting point P1s, and the first line segment V1 is rotated by R1s with the roll at the direction angle R1 as the transverse gradient of the starting point P1s.
Next, the road cross-section data is arranged at the coordinates of the end point P1e, and the roll of R1 is rotated by R1e with the Pie crossing gradient. The data edited by the road editing unit 103 as described above is stored in the data storage unit 104.
The road position / shape / texture calculating means 105 generates a polygon as road unit data between the starting point P1s and the ending point P1e, and arranges the texture to simulate the road surface on the line segment V1. The polygon is deformed so as to rotate in accordance with the rotation of the crossing gradients R1s and R1e of the starting point P1s and the ending point P1e. Examples of the texture include an image showing the state of the road asphalt, a road sign such as a center separation line of the road, and an image showing the surface of the guardrail. The texture is pasted on the polygon of the corresponding three-dimensional road after a standard of a certain distance is planned with respect to the road center line.
In the second and subsequent steps, the next procedure is repeated up to the final segment. The road editing means 103 sequentially traverses the end point P (i-1) e of the line segment V (i-1) preceding the line segment Vi with the roll of the direction angle Ri as the crossing gradient of the start point Pis for the line segment Vi. It is rotated by R (i-1) e as the gradient, arranged next to the line segment V (i-1), and rotated by Rie as the transverse gradient of the end point Pie. The data edited by the road editing unit 103 as described above is stored in the data storage unit 104. The road position / shape / texture calculating means 105 generates a polygon as road unit data between the starting point Pis and the ending point Pie, and pastes a texture simulating the road surface onto the line segment Vi. This is shown in FIG.
Therefore, each polygon is rotated continuously by R (i-1) e, where the starting point Pis is the transverse gradient of the end point P (i-1) e of the preceding line segment V (i-1), and is continuous with the previous polygon. It is deformed so as to be continuous with the polygon arranged at the starting point P (i + 1) s of the line segment V (i + 1) to be post-rotated by rotating in the same manner as the rotation of R1e having the transverse gradient of the end point Pie. . In this way, the polygons are sequentially deformed and arranged so as to be continuously pasted.
Based on the road position and shape and the result of the texture calculation unit 105, the image generation unit 106 generates an image corresponding to the change in the viewpoint in the simulated scene viewed from the viewpoint assuming the road to which the texture is pasted. This image is displayed by the display device 107.

  When the data edited by the road editing unit 103 and the polygon data with texture created by the road position and shape and texture calculating unit 105 are to be corrected later, the road data to be corrected is stored in the data storage unit 104. The polygon is corrected by correcting only the road centerline data, stored in the data storage unit 104, and when the texture needs to be corrected, the road position and shape and texture calculation means 105 The correction data can be read from the data storage unit 104 and the texture can be corrected.

It is a functional block diagram explaining preparation of three-dimensional road data. It is a flowchart explaining the production method of three-dimensional road data. It is a schematic diagram explaining the structure of road centerline data. It is a schematic diagram explaining the structure of road unit data. It is a figure explaining the combination of road centerline data and road unit data. It is a figure explaining a mode that road unit data is stuck on road centerline data.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 101 ... Road centerline data storage part, 102 ... Road cross-sectional shape data storage part, 103 ... Road edit means, 104 ... Data storage part, 105 ... Road position and shape and texture calculation means, 106 ... Image generation means, 107 ... Display 108, a three-dimensional road data generating device.

Claims (2)

A road centerline that simulates a road centerline that has a road gradient centered on a parameter that defines a planar shape and a longitudinal shape and a road traveling direction as an axis, is approximated by a straight line, and is divided. Road centerline data having the parameter and a road gradient at the end point of the line Vi connecting the starting point Pis and the ending point Pie of the road centerline, and polygon road unit data simulating the road of the predetermined length. Use
A first step of calculating a direction angle Ri from each line segment Vi;
A second process of rotating the roll of the direction angle R1 about the first line segment V1 by R1s having a transverse gradient of the starting point P1s and rotating by R1e having the transverse gradient of the end point P1e;
A third step of generating a polygon as road unit data between the starting point P1s and the ending point P1e and pasting a texture simulating the road surface on the polygon on the line segment V1;
For the line segment Vi, the roll of the direction angle Ri is set as the transverse gradient of the starting point Pis as the transverse gradient of the end point P (i-1) e of the line segment V (i-1) preceding the line segment Vi. -1) Rotate by e and place it next to the line segment V (i-1), rotate by Rie as the crossing gradient of the end point Pie, and set a polygon which is road unit data between the start point Pis and the end point Pie A method for generating three-dimensional road data, comprising: a fourth step of repeating the generation and pasting of a texture simulating a road surface on the polygon onto the line segment Vi until the final divided line segment. A road centerline that simulates a road centerline that has a road gradient centered on a parameter that defines a planar shape and a longitudinal shape and a road traveling direction as an axis, is approximated by a straight line, and is divided. A road centerline data storage unit for storing a road centerline having the parameter and having a road gradient at the end point thereof on a line segment Vi connecting the start point Pis and the end point Pie of the road centerline;
A road section shape data storage unit for storing polygonal road unit data for simulating a road of a predetermined length;
The direction angle Ri is calculated from each line segment Vi, and the roll of the direction angle R1 is rotated about the first line segment V1 by R1s having the crossing gradient of the starting point P1s, and is rotated by R1e having the crossing gradient of the end point P1e. Sequentially about Vi, the roll of the direction angle Ri is set as the transverse gradient of the end point P (i-1) e of the line segment V (i-1) preceding the line segment Vi as the transverse gradient of the start point Pis. A road editing means that rotates by e, arranges it next to the line segment V (i-1), and repeats rotation by Rie as the crossing gradient of the end point Pie, until the final line segment is divided;
A polygon which is road unit data is generated between the start point P1s and the end point P1e, a texture simulating the road surface is pasted on the polygon V1 and a polygon is created between the start point P1s and the end point P1e to simulate the road surface. The position of the road where it repeats until the final line segment is created by pasting the texture to be created and creating a polygon that is road unit data between the start point Pis and the end point Pie and pasting the texture that simulates the road surface for the line segment Vi And a shape and texture calculating means.

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