WO2021135845A1

WO2021135845A1 - Method and system for marking road surface

Info

Publication number: WO2021135845A1
Application number: PCT/CN2020/134393
Authority: WO
Inventors: 于毅欣
Original assignee: 于毅欣
Priority date: 2019-12-29
Filing date: 2020-12-08
Publication date: 2021-07-08
Also published as: CN113051282A

Abstract

A method and system for marking a road with road surface information capable of effectively indicating different types of driving directions. The method comprises: marking a road surface with road surface marking information; and saving the road surface marking information in a storage manner. The method simplifies a data structure, and can be used to mark road surfaces with road surface information in many situations. The method also makes it possible for a deployment server to store data in a distributed manner.

Description

Method and system for marking road surface

Technical field

The present invention relates to the field of computer technology, in particular to a method and system for marking road surfaces.

Background technique

The present invention provides a method and system for marking roads and road surface information, which can provide a better or more effective description of the types of directions that can be driven. One feature of the present invention is that the data structure is relatively simple, and road information can be marked for larger scenes. And another feature of the present invention is that it can really provide a possibility for distributed deployment servers to store distributed data.

Summary of the invention

A method for marking a road surface, which is characterized in that it comprises:

Mark the road with road marking information.

Store the road marking information according to the storage method.

Preferably, as an optional implementation manner, for a drivable road surface, the information of each vertex can be collected according to both sides of the road surface (relative to the drivable direction), refer to FIG. 1.

Further, the information of the vertex includes global positioning information (GPS coordinates), or coordinates relative to the origin of a certain coordinate system.

Preferably, as an optional implementation manner, the vertex information can be collected from the vertex on one side until it returns to the original vertex after a circle, refer to FIG. 2.

Preferably, the collection interval of the vertices can have many kinds, which can be 0.1 m, 1 m, 10 m, 20 m, 50 m, etc., or customize according to needs.

Preferably, the minimum height can be used to constrain the height of the road section polygon, or the minimum height can be separately stored as road marking information.

Preferably, the road marking information may have a type of node that does not preferentially select driving to represent situations such as dirt roads and small roads.

Preferably, the height of the road surface information where the sky is the height limit can be set to 1000 meters.

Preferably, as an optional implementation manner, the road marking information of the current road section can be cut off when the road forks, and two new road marking information are created on the two road sections respectively. Refer to FIG. 3 for the style.

Preferably, as an optional implementation manner, the polygons of each road marking information may overlap or intersect.

Preferably, as an optional implementation manner, there may also be gaps between the polygons of each road marking information, and it is not necessarily required to be tightly connected or to be strictly the same as the distance or connection in the actual situation.

Preferably, as an optional implementation manner, the method of dividing the target area (the area marked with road information by the method of the present invention) into a grid can be a square grid (seeing from the top view), and the square grid can be It is spread out equally in size, for example, a square grid with a radius of 100 kilometers or 10 kilometers or 1 kilometers.

Further, the corresponding grid (the container to which it belongs) can be found for storage according to the coordinate area or the global positioning information area of the road marking information.

Optionally, as an optional implementation manner, the road surface information data can be distributed and stored in different servers according to regions or grids. In this case, a data request relay server can be used to check the data according to the regions and grids. The request to retrieve road information is distributed.

Further, there is a table in the request transfer server to store the definition information of various areas or grids to define the data source of the area or grid in which sub-server the relevant index of the data request belongs to;

Optionally, as an optional implementation manner, multiple servers can store the same information for certain key areas or grids. In this case, load balancing servers can be used to distribute the amount of requests for retrieving road surface information.

Further, the load balancing server may dynamically allocate the current retrieval task according to the retrieval amount shared by the sub-servers.

Preferably, as an optional implementation manner, all road surface information data can be stored in a file or a folder.

Preferably, as an optional implementation manner, the target area may be divided into different files for storage.

Preferably, as an optional implementation manner, each grid in a target area can be divided into different files for storage.

Preferably, as an optional implementation manner, each road marking information can also be stored as a file separately.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 schematically shows a schematic diagram of a method for collecting vertices from both sides, top view.

Fig. 2 schematically shows a schematic diagram of a style where the vertices are collected from one side to the end where the initial vertices are connected on the other side, top view.

FIG. 3 schematically shows a schematic diagram of a disconnection of road surface information at a fork intersection, a top view.

Fig. 4 schematically shows a schematic diagram of a method for dividing road surface information of various road sections at an intersection, a top view.

Detailed ways

The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

Example 1

Step 1: Select a section of road and collect the vertex information on the left side of the road. The vertex information is global positioning information or \and coordinate information (coordinate information is the coordinates relative to the origin of a certain coordinate system), and divide a road into the left The two logical containers on the side and the right side separately store the vertices on the left in the vertex storage container on the left, and store the vertex information on the right separately in the vertex storage container on the right, as shown in Figure 1.

Further, when the same road section encounters an intersection or fork, it can be disconnected to create new road section information respectively, refer to FIG. 3 and FIG. 4.

Step 2: After collecting the vertex information of the road surface information, set the type of the road surface information (such as single-lane, double-lane, types that cannot be driven, types that are not preferred, etc.), the maximum and minimum speed limits, Minimum height limit, containment box and other information.

Further, the containment box (or containment rectangle or bounding box) of the road surface information can be obtained based on all vertices, and the calculation of this information (containing box) can be used to quickly determine overlap and intersection in the future.

Step 3: Determine the area to belong to according to the containment box information of the pre-delimited area (usually a horizontal rectangle, the coordinates of the four corners are the information to determine the area range). A road surface information can belong to multiple areas, because the road surface information Sometimes it may be longer.

Step 4: Determine whether the road surface information is in a certain grid according to the edge information of the grid in each area defined in advance (also the containment box of the horizontal plane or the containment rectangle). If there is a little overlap, it is considered to be in this grid. In the grid, the same method of judging is to determine whether the containment box (containing rectangle) of the road information and the containing box (containing rectangle) of the grid have an overlapping area. If there is an overlapping area (use two rectangles to determine whether there is overlap), then It can be determined that the road surface information also belongs to this grid. The details of the road surface information can be ignored here (that is, the overlap judgment is used to replace the judgment made by each vertex), because under normal circumstances, the grid will be relatively large and one The road surface information in the grid is usually not much (for example, usually no more than 10,000), so it is not very accurate to determine whether the vertex list (polygon) of the road surface information accurately overlaps the grid.

Step 5: Store the road information in one area as a storage file or folder.

Step 6: Store the road surface information in a grid as a storage file or folder.

Example 2

Step 1: Select a section of road, when collecting vertex information, start from one side and collect a circle of vertices until you return to the first vertex. The sequence can be clockwise to collect connected vertices, as shown in Figure 2. .

Step 2: After collecting the vertex information of the road surface information, set the type of the road surface information (such as single-lane, double-lane, types that cannot be driven, types that are not prioritized, etc.), the maximum and minimum speed limits, Minimum height limit, containment box and other information.

Further, the containment box (or containment rectangle) of the road surface information can be obtained from all vertices, and the calculation of this information (containment box) can be used to quickly determine overlap and intersection in the future.

Step 5: Store the road information in one area as a storage file or folder.

The above are specific embodiments of the present invention, but the protection scope of the present invention should not be limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention shall be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be defined by the claims. The scope of protection shall prevail.

Claims

A method for marking a road surface, which is characterized in that it comprises:

Collect road marking information to mark the road surface;

Store the road marking information according to the storage method.
The method according to claim 1, characterized in that "collecting road marking information for marking the road surface" further comprises:

Types include road information that can be driven in one direction, road information that can be driven in two directions, road information that cannot be driven, and road surface information that is not preferentially selected for driving;

The data contained in each tag information is the connection sequence of vertices or \ and vertices;

Further, the coordinate information of the vertices may be global positioning coordinates or coordinates relative to the origin of a certain coordinate system;

Each tag information also includes minimum and maximum speed limit information;

Each mark information also includes height restriction information;

As an optional implementation manner, each tag information may also include containment box information calculated from all vertices of itself.
The method according to claim 1, characterized in that "storing road marking information according to a storage method" further comprises:

As an optional implementation manner, all the data can be stored in the container of the corresponding target area;

As an optional implementation manner, the target area may be divided into grids, and the node information of the road markings with the connection information set up is stored in the container corresponding to the grid where the node is located;

Further, the corresponding grid can be found for storage according to the coordinate area of the road marking information or the global positioning information area.
A system for marking roads, which is characterized in that it comprises:

Computer equipment and storage media are characterized by the ability to store information;

As an optional implementation, all road information data can be stored in a file or a folder;

As an optional implementation, it can be divided into different files for storage according to the target area;

As an optional implementation manner, each grid in a target area may be divided into different files for storage.
A computer readable and writable medium on which computer programs and related data are stored, characterized in that:

When the program is executed by the processor, the relevant calculation function and content of the present invention are realized.
An electronic device, characterized in that it comprises:

One or more processors;

The storage device is used to store one or more programs.