A Lane Edge Aggregation Method Based on Trajectory Direction

Abstract

The invention relates to a lane sideline aggregation method based on track direction, comprising: taking the track line segment between two adjacent track points as the center, generating a track line segment buffer according to a set width; combining the buffer areas of each track line segment Generate a buffer list, judge whether to keep or discard the track point according to whether the track point is in the buffer list, and generate a reference track according to each reserved track point; extend the track point in the reference track to both sides to generate a scan line segment, for the same scan line segment The intersection points with the original lane edge are clustered to generate each cluster point, and each cluster point is classified and fitted into a line to obtain the aggregation result of the lane edge. Extracting the trajectories of characteristic directions from a large number of trajectories can avoid a large number of original trajectories from participating in the calculation and improve the calculation efficiency; the intersection of the trajectory scan line and the lane edge is introduced as a new clustering element, so that the final generated lane shape is especially miscellaneous and The lane shape of the curve is in line with 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. Edge 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 edge aggregation method a...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the technical problems existing in the prior art, the present invention provides a track direction-based lane edge aggregation method and system, which solves the problem in the prior art that it is difficult to obtain the lane edge conforming to the actual shape for miscellaneous lines and curves

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