Lane sideline aggregation method based on track direction

Abstract

The invention relates to a lane line aggregation method based on a track direction, which comprises the following steps of: generating a buffer area of a track line segment according to a set width bytaking the track line segment between two adjacent track points as a center; combining the buffer areas of the track line segments to generate a buffer area list, judging whether track points are reserved or abandoned in the buffer area list or not according to whether the track points are in the buffer area list or not, and generating a reference track according to the reserved track points; andextending track points in the reference track to two sides to generate scanning line segments, clustering intersection points of the same scanning line segment and the original lane line to generateclustering points, classifying the clustering points, and fitting the clustering points into a line to obtain an aggregation result of the lane line. Tracks in characteristic directions are extractedfrom a large number of tracks, so that a large number of original tracks can be prevented from participating in calculation, and calculation efficiency is improved; the intersection point of the trackscanning line and the lane side line is introduced as a new clustering element, so that the finally generated lane shape, especially the lane shape of the miscellaneous line and the curve, conforms to the actual situation.

Description

technical field [0001] The invention relates to the field of high-precision map generation, in particular to a track direction-based lane edge aggregation method. Background technique [0002] High-precision electronic map information must at least take the lane entity as an abstract object, and be able to describe the relationship between various data elements with lanes as the main body. Currently, in order to generate lane edge data in high-precision maps, it is necessary to analyze a large number of lanes uploaded from the vehicle end. Edge vector data is aggregated. [0003] In the prior art, the commonly used method for aggregating lane edge vector data is to aggregate line segments, but this method is not effective in processing miscellaneous lines and curves. Line shape does not match. Contents of the invention [0004] Aiming at the technical problems existing in the prior art, the present invention provides a track direction-based lane line aggregation method a...

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Problems solved by technology

[0004] Aiming at the technical problems existing in the prior art, the present invention provides a track direction-based lane line aggregation method and s

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