KR20130096012A - Method for calculating the curve radius and the longitudinal/transverse gradient of the road using the lidar data - Google Patents

Abstract

PURPOSE: A method for calculating a radius of curvature, longitudinal and transverse gradients of a road is provided to calculate the respective radii of curvature of one or more lanes. CONSTITUTION: A method for calculating a radius of curvature, longitudinal and transverse gradients of a road comprises the steps of: generating LAS data by using MMS (Mobile Mapping System) (S100); classifying points in the region of a road and points in the region of a lane by using the LAS data (S200); extracting a lane and the centerline of the lane by using the points in the region of the lane, and generating a DEM (Digital Elevation Model) by using the points in the region of the road (S300); acquiring the height value of the centerline (S400); and calculating one or more out of a radius of curvature, longitudinal and transverse gradients of the lane (S500). [Reference numerals] (AA) Start; (BB) End; (S100) Generating LAS data by using MMS; (S200) Classifying points in the region of a road and points in the region of a lane by using the LAS data; (S300) Extracting a lane and the centerline of the lane by using the points in the region of the lane, and generating a DEM by using the points in the region of the road; (S400) Acquiring the height value of the centerline; (S500) Calculating one or more out of a radius of curvature, longitudinal and transverse gradients of the lane

Description

Method for calculating the curve radius and the longitudinal / transverse gradient of the road using the lidar data}

The present invention relates to a method for calculating the radius of curvature, longitudinal and cross slope of a road using lidar data, classifying road and lane area points using LAS data obtained from a laser scanner of a vehicle MMS (Mobile Mapping System), By using this, the road area DEM (Digital Elevation Model) and lanes are generated, and the center line of each lane with three-dimensional coordinate information is calculated from the generated DEMs and lanes. The present invention relates to a method for calculating the radius of curvature, the longitudinal and the cross slope of a road using Lidar data that can calculate the radius of the curve, the longitudinal and the cross slope.

In general, the road is composed of not only a straight line but also a curved surface, and is formed to have a predetermined inclination in order to smooth drainage of rainwater and the like. In order to provide an accurate road shape to a vehicle driving such a road, it is necessary to provide linear information and slope of the road.

In order to acquire such road information, conventionally, the plane and height coordinates are acquired and calculated through road linear surveying operation using a surveying device such as GPS or total station, or the GPS / INS obtained by attaching the GPS / INS device to the vehicle. The work was performed using three-dimensional coordinates or attitude information of INS data.

However, the method using actual surveying has caused the loss of accuracy of road linear information due to the decrease of the acquisition density of the station data and the time / cost loss due to surveying. Since the result is calculated based on the driving route line, it is difficult to obtain accurate road linear information that is different from the driving state of the vehicle (lane change, etc.).

In order to solve the problems of the prior art, the present invention extracts roads and lanes using laser point data (LAS data) acquired using a mobile mapping system (MMS), and a digital elevation model. The purpose is to create a.

In addition, the present invention generates a lane center line using lane area points classified in the LAS data, and by using the plane coordinates (X, Y) of the nodes constituting the generated lane center line, the difference for one or more lanes There is another purpose for calculating the selection curve radius.

In addition, the present invention has another object of obtaining the height value of the center line for each lane in the numerical elevation model generated by using the LAS data and using the same to calculate the longitudinal slope and the cross slope for each lane.

In addition, the present invention has another object to perform the position correction to a more accurate position using the data measured in the GPS and the INS measured in the GPS included in the mobile mapping system.

In addition, the present invention using the data generated using GPS, INS, DMI and lidar included in the mobile mapping system curves that can generate or calculate the numerical elevation model, the lane radius of the lane, longitudinal slope and cross slope Another object is to provide a radius, longitudinal and transverse tilt measurement system.

According to an aspect of the present invention, there is provided a method for calculating a lane radius, a longitudinal curve, and a cross slope, using a first step of generating LAS data using a mobile mapping system (MMS) and using the LAS data. Classifying the points of the road area and classifying the points of the lane area and extracting the lane and the center line of the lane using the points of the lane area, and using the points of the road area, the road numerical elevation model (DEM) And a fourth step of generating a digital elevation model, a fourth step of obtaining a height value of the center line, and a fifth step of calculating at least one of curve radius, longitudinal slope, or transverse slope of the lane. It is achieved by the method of calculating the radius of curvature, longitudinal and cross slope of the road using data.

Accordingly, the method of calculating the radius of curvature, the longitudinal and the cross slope of the road using the lidar data of the present invention generates a lane and a center line by using the LAS data generated by using the mobile mapping system, thereby using one or more lanes. There is an effect that can calculate the radius of the curve for each lane.

In addition, the present invention is another effect that can calculate the longitudinal slope and cross slope for each lane by using the height value of the vertex constituting the lane center line in the road area numerical elevation model generated using the LAS data There is.

In addition, the present invention has another effect of performing a position correction to a more accurate position using the data measured in the GPS and the INS measured in the GPS included in the mobile mapping system.

In addition, the present invention using the data generated using GPS, INS, DMI and lidar included in the mobile mapping system curves that can generate or calculate the numerical elevation model, the lane radius of the lane, longitudinal slope and cross slope By providing a radius, longitudinal and cross slope measurement system, there is another effect of calculating various road formation information in one system.

1 is an overall flow chart of the method for extracting the radius of curvature, longitudinal and transverse slope of the road according to the invention,
2 is a flowchart illustrating a road / lane area point classification method according to the present invention;
3 is a schematic diagram showing a method for generating a center line for each lane according to the present invention;
4 is a flowchart showing a method for generating a digital elevation model according to the present invention;
5 is a schematic diagram showing a method for calculating the radius of curve according to the present invention;
6 is a flowchart showing a method of calculating the longitudinal gradient according to the present invention;
7 is a flowchart illustrating a method of calculating a transverse slope according to the present invention;
8 is an overall configuration diagram of a mobile mapping system and a curve radius, longitudinal and cross slope measurement system according to the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a flow chart illustrating a curve radius, longitudinal and cross-slope extraction method of the road according to the invention, Figure 2 is a flow chart showing a road / lane area point classification method according to the present invention, Figure 3 is a center line for each lane according to the present invention 4 is a flowchart showing a method for generating a numerical elevation model according to the present invention, FIG. 5 is a schematic diagram showing a method for calculating a radius of curve according to the present invention, and FIG. 6 is a longitudinal gradient according to the present invention. 7 is a flowchart illustrating a method of calculating a transverse slope according to the present invention, and FIG. 8 is an overall configuration diagram of a mobile mapping system and a curve radius, a longitudinal and cross slope measurement system according to the present invention. .

As shown in FIG. 8, a mobile mapping system (MMS) 100 acquires laser point data using a mounted lidar 140, and the obtained laser point data is easily processed. The data is converted into LAS data in the form of a file and stored in the database 210 of the curve radius, longitudinal and transverse gradient measurement system 200.

The mobile mapping system 100 acquires geographic information of an area mounted on a vehicle and to which the vehicle is moved. In order to acquire such geographic information, a global positioning system (GPS) 110, an inertial navigation system (INS) 120, And a distance measurement indicator (DMI) 130 and a LiDAR 140.

In addition, the curve radius, longitudinal and transverse slope measurement system 200 is a database 210 for storing the generated LAS file acquired from the lidar 140, to calculate the curve radius and longitudinal or transverse gradient for each lane of the road A data processing and generation unit 220 for generating data necessary for the purpose, a curve radius calculation unit 230 for calculating a curve radius of a lane, and an end / cross slope inclination calculator 240 for calculating an end or crossing slope of a lane. It is configured to include).

The mobile mapping system 100 measures, in real time, the movement path and the location information of the LiDAR 140, which is a spatial geographic information acquisition device mounted on a vehicle, using the location information received from the GPS 110, and the mobile mapping system ( The INS 120 and the DMI 130 mounted in the 100 are integrated with the position information measured by the GPS 110 to more precise three-dimensional position information of the lidar 140 and high-precision three-dimensional point data using the same (LAS data). )

The data processing and generation unit 220 classifies the points corresponding to the ground and road area points and the lane area in the LAS data measured from the lidar 140 and stored in the database 210, and uses the points classified in the road area. Then, the road digital elevation model (DEM) is generated, and lane extraction and lane centerline are generated using the points classified in the lane area.

The curve radius calculator 230 calculates a curve radius of individual nodes constituting the lane center line, and the vertical / cross slope gradient calculator 240 calculates a numerical elevation model and lane center line and lane linear data stored in the database 210. Calculate longitudinal slope and cross slope for each node of lane centerline.

As shown in FIG. 1, the mobile mapping system 100 generates LAS data using a lidar 140 mounted on a vehicle (S100), and the generated LAS data is a curve radius and a longitudinal / cross slope gradient extraction system. Stored in database 210 within 200.

The data processing and generation unit 220 of the curve radius and the vertical / cross slope gradient extraction system 200 classifies the road area points using the LAS data stored in the database 210 and classifies the lane area points (S200).

After that, the center line for each lane and lanes are extracted using the classified lane area points, a numerical elevation model is generated using the road area points (S300), and the height value of the lane center line is obtained using the generated numerical elevation model. (S400).

The curve radius calculation unit 230 in the curve radius and vertical / cross slope gradient extraction system 200 calculates the curve radius of the corresponding lane using the lane center line generated by the data processing and generation unit 200, and terminates / crosses the curve. The slope calculator 240 calculates a vertical / crossed slope of the corresponding lane using the lane center line (S500).

That is, in step S200, as shown in FIG. 2, the points corresponding to the ground and the road area are classified using the LAS data stored in the database 210 (S210), and the lane area points are classified (S220). S230).

Extracting the center line for each lane and lane using the lane area point in step S300 is the height information and the line information of the point in the LAS data classified as roads and lanes (a) as shown in FIG. First, the points corresponding to the road area are classified by using the angles scanned at, and the points having the reflection intensity values corresponding to the lanes from the classified road area points are classified into the lane areas. Representative points are extracted at random intervals, and individual lane lines are extracted by connecting each representative point as shown in (b). Then, as shown in (c), adjacent nodes of opposite lanes are connected to the vertices of both lanes, and bisections of each connection line are calculated and connected to generate centerline for each lane, and then extracted as shown in (d). For each lane centerline, linear simplification is performed using a linear generalization algorithm (such as the Douglas-Peucker algorithm).

In addition, the generation of the digital elevation model using the road area point in step S300, as shown in Figure 4, using a point corresponding to the classified road area (S310), TIN (Triangular Lrregular Network) for the point Model, irregular triangular network), Natural Neighbor, Kringing and the like to interpolate (S320), and finally generates a numerical elevation model of the desired grid spacing (0.5m or less) (S330). On the other hand, the generated digital elevation model is preferably stored in the database (210).

FIG. 5 is a schematic diagram illustrating a method for calculating a radius of a curve. As shown in FIG. 5, the radius of a curve of a lane is determined by the curve radius calculation unit 230 for individual nodes constituting the lane centerline in the following order. The curve radius is calculated, and for this, the target point P _n to calculate the curve radius for the nodes constituting the lane center line generated earlier and the other two nodes before and after the target point P _{n- 1} , P _{n + 1} ) and select the coordinates of a total of three points, and solve the simultaneous equations for the three equations created by substituting the coordinates of the selected three nodes into the curve equation of the circle. The radius of curvature of the target point is obtained by calculating the center point coordinates and calculating the distance between the calculated center point and the target point P _n .

FIG. 6 is a flowchart illustrating a method of calculating the longitudinal slope, and as shown in FIG. 6, the method of calculating the longitudinal slope of the lane is a road numerical elevation model in the terminal / cross slope gradient calculation unit 240 as in step S400. Obtain the height value for the node of the lane center line using (S511), select the next node (P _{n + 1} ) adjacent to the target node (P _n ) for calculating the longitudinal slope (S512), and then select the two selected points. The plane distance w and the height difference h between the two points are calculated by using the plane coordinates, and the vertical gradient is calculated by dividing the height difference h by the plane distance w using the plane distance w (S513).

FIG. 7 is a flowchart illustrating a method of calculating a cross slope, and as illustrated in FIG. 7, a method of calculating a cross slope of a lane includes a direction in which a center line travels at a target node P _n of a lane center line to calculate a cross slope. After generating the vertical line and the vertical intersection with the generated vertical line and the previously extracted lane linear data vertically and using the digital elevation model to obtain the plane coordinates and height coordinates at each intersection (S522), the target The plane distance (lane width, w) (S523) and the height difference (h) between the lane intersections generated on both sides based on the node (P _n ) are calculated (S524), and the calculated height difference (h) is calculated as the lane width. Dividing by (w) to calculate the transverse slope with respect to the target point (S525).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, Various changes and modifications will be possible.

100: Mobile Mapping System (MMS) 110: GPS (Global Positioning System)
120: INS (Inertial Navigation System)
130: distance measurement indicator (DMI)
140: LiDAR 200: curved radius, longitudinal / transverse gradient extraction system
210: database 220: data processing and generation unit
230: curve radius calculation unit 240: longitudinal / transverse slope calculation unit

Claims (8)

In the method for calculating the radius of curvature of the lane, the longitudinal and the cross slope,
A first step of generating LAS data using a mobile mapping system (MMS);
Classifying a point of a road area and a point of a lane area by using the LAS data;
Extracting a lane and a centerline of the lane using the points of the lane area, and generating a road digital elevation model (DEM) using the points of the road area;
A fourth step of obtaining a height value of the center line; And
A fifth step of calculating any one or more of the radius of curvature, the longitudinal slope, or the cross slope of the lane
Curve radius, longitudinal and transverse slope calculation method of the road using the lidar data comprising a.
The method of claim 1,
In the second step, classifying the points of the lane area uses a reflection intensity and a scan angle corresponding to the points of the lane area.
The method of claim 1,
In the second step, classifying the points of the road area may use the height value and the scan angle of the points corresponding to the points of the road area. Way.
The method of claim 1,
In the third step, the road digital elevation model is generated after the interpolation is performed using the interpolation method for the classified points of the road area. A method of calculating the radius of curvature, profile and cross slope of a road using LiDAR data.
The method of claim 1,
The curve radius calculation of the fifth step is
A first process of selecting a target node P _n of a lane to be calculated and a first node P _{n -1} and a second node P _{n + 1} adjacent to the target point before and after the target point;
A second process of calculating a center point coordinate of a curve using the target node P _n , a first node P _{n -1} , and a second node P _{n + 1} ; And
A third process of calculating a curve radius of the target point by using the calculated distance between the center point of the curve and the target node P _n ;
Curve radius, longitudinal and transverse slope calculation method of the road using the lidar data, characterized in that comprises a.
The method of claim 1,
The calculation of the longitudinal slope of the fifth step is
A first step of selecting a target node (P _n ) from the extracted height values of the center line for each lane;
A second process of selecting a next node (P _{n + 1} ) adjacent to the target node (P _n ); And
The plane distance w of two points and the height difference h of the two points are calculated using the plane coordinates of the selected node and the next node, and the height difference h is the plane distance w. A third process of dividing the vertical gradient
Curve radius, longitudinal and transverse slope calculation method of the road using the lidar data comprising a.
The method of claim 1,
The calculation of the transverse slope of the fifth step is
A first process of generating a vertical line perpendicular to a moving direction of the center line at a target node P _n of the center line;
A second step of calculating an intersection where the vertical line meets the vertical linear data and the lane linear data and calculating a plane coordinate and a height coordinate at the intersection using the numerical elevation model;
A third process of calculating a plane distance and a height difference between lane intersections generated at left and right sides based on the target node P _n ;
A fourth process of calculating a crossing slope of a target point by dividing the height difference by the lane width
Curve radius, longitudinal and transverse slope calculation method of the road using the lidar data comprising a.
The method of claim 1,
The mobile mapping system includes a global positioning system (GPS), an inertial navigation system (INS), a distance measurement indicator (DMI), and a rider, and the location information received from the GPS includes the INS and the DMI. Method for calculating the radius of curvature, longitudinal and cross slope of the road using Lidar data, characterized in that the position correction is performed using.

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