Road surface identifier generation method and device, storage medium and electronic equipment
A technology of marking and marking information, which is applied in the field of map drawing, can solve problems such as unreasonable generation of road markings, and achieve the effects of improving efficiency and scalability, improving safety, and high definition
Pending Publication Date: 2020-12-01
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AI-Extracted Technical Summary
Problems solved by technology
 The purpose of this disclosure is to provide a method and device for generating pavement markings, storage media and...
Above-mentioned technical scheme is by obtaining the initial position information of pavement mark and extracting the corresponding mark information of road mark from mark database, utilizing mark database can improve the efficiency and expansibility that road face mark generates, and determine the vertex of road face mark based on mark information, Furthermore, based on the vertices, the identification contour of the road marking is obtained, and the marking contour is triangulated to obtain the marking contour to be filled, and the filling marking contour is filled to obtain a two-dimensional road marking, and a vectorized data result is generated, which can maintain the height of the road marking. clarity.
However, in actual use, the applicant finds that the types of road signs are not the same in different scenarios, and the pavement sign generation method needs to have strong scalability, and the complexity of road sign changes is high, and it is necessary to timely and Higher efficiency, but by collecting road marking data and then generating road surface markings, the efficiency is low, and the scalability is also low. In addition, the high-precision semantic map obtained th...
The invention relates to a road surface identifier generation method and device, a storage medium and electronic equipment, and aims to solve the technical problem of unreasonable road surface identifier generation in related technologies. The method comprises the steps: obtaining the initial position information of a road surface identifier, and extracting the identifier information correspondingto the road surface identifier from an identifier database; determining a vertex of the road surface identifier based on the identifier information, and obtaining an identifier contour of the road surface identifier based on the vertex; carrying out triangulation processing on the identifier contour to obtain a to-be-filled identifier contour; filling the to-be-filled identifier contour to obtaina two-dimensional pavement identifier; and performing three-dimensional conversion on the two-dimensional pavement identifier based on the initial position information to generate the road surface identifier. In this way, the expansibility of road surface identifier generation can be improved, and the rationality of road surface identifier generation can be improved.
Maps/plans/chartsFilling planer surface with attributes
Computer visionEngineering +5
- Experimental program(1)
 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be understood that the specific embodiments described herein are intended to illustrate and explain the disclosure and is not intended to limit the disclosure.
 The application scenarios of the present disclosure are first introduced before introducing the pavement identification generation method and apparatus, storage medium, and electronic device provided by the present disclosure. Alternatively, the pavement identification method provided by the present disclosure can be used for the generation of automatic driving / unmanned road surface identification for vehicle safety systems. The road surface identifier can include a text traffic sign, such as a bus lane, a graphic traffic sign, such as a bicycle logo, a digital traffic sign, such as a deceleration mark, a speed limit mark, a limited time entry mark, and the like.
 Take automatic driving / drone as an example, the road sign can assist the vehicle feeling to know the road environment conditions, understand the detailed road information to plan the driving strategy in time, thereby increasing the driving safety of the automatic driving / unmanned vehicle. In the relevant technique, the road identification data collected by the laser radar is symbolized, and the gramful semantic map of the preset format is derived from the road identification data collected by the laser radar.
 However, during the actual use, the applicant discovers that the road sign is different in different scenarios, requiring the road sign generation method has strong scalability, and the pavement identifier is high, and the complexity of the pavement is high, and it takes time and higher. Efficiency, however, by collecting road identification data, the road sign is generated, the efficiency is low, and the spreadability is also low. In addition, the high-precision semantic map obtained by the technical means of graph rendering and fain render, and the corresponding road sign cannot be generated according to the slope of the road, resulting in a two-dimensional pavement error.
 To this end, the present disclosure provides a way of road sign generation, reference figure 1 A flowchart of a way of pavement is generated by a way, the road surface identification generation method includes:
 S101, the initial location information of the road surface identification and the identification information corresponding to the road surface identification from the identification database are extracted;
 S102, determine the vertex of the road surface identifier based on the identification information, and obtains the marking profile of the road surface identifier based on the vertex;
 S103, a triangulation of the marking profile to obtain an identity profile to be filled;
 S104, fill the contour of the filled marking to obtain a two-dimensional road sign;
 S105, a three-dimensional conversion is performed on the two-dimensional road surface identifier based on the initial position information to generate the road surface identifier.
 Specifically, the road surface identifier can be input by the user interface, or the road surface identification input can be acquired by the camera. When the pavement identity is acquired by the user interface, the user needs to input the corresponding initial location information in the user interface. When the pavement identifies the input pavement identity, the Cartesian coordinate system can be established, and the initial position information of the road sign can be established.
 Identify data inventory stored the identification information of the pavement identifier, where the identification information is stored in the form of a data string, and stores in the writing stroke sequence of the road surface, when the identification information of the pavement identifier is extracted, the order of storage data strings is extracted.
 In a possible way of implementation, reference figure 2 In step S103, the triangular profile is performed on the marking profile to obtain an identity profile to be filled, including:
 S1031 determines the positional relationship of the plurality of the identity profiles, wherein the positional relationship comprises separation, partial overlap, and fully included.
 Wherein, the positional relationship of the plurality of the marking profile, including:
 A ray is transmitted from each vertex from each of the dimensions of each dimension;
 Determine the number of intersections of each of each of each of each of each of the identity profiles and other identifier contours;
 If each of the apex of each of the first identity profiles and the second identification profile is inclusive or the number of intersection points is even, it is determined that the second identity profile is separated from each other; or
 If the number of intersections of each of the apex of each of the first identity profiles and the second identification profile is odd, it is determined that the second identification profile completely includes the first identity profile; or,
 If the number of partial vertices of the first identity profile and the number of intersections of the second identification profile are even, and the number of intersections of any rays of the first identity profile and the number of intersections of the second identity profile are odd, then determine the The second identification profile overlaps with the first identity profile portion.
 Example, such as image 3 As shown, take "Tao" as an example, from the first-drawn vertex A, the leftmost vertex A, respectively, to the upper and lower vertices, respectively, respectively, respectively, respectively, respectively, respectively, respectively, respectively. Among them, the number of intersections between the A1 and A3 and other road surfaces, the number of intersection points identified by the A2 and other road surfaces is 2, and the number of intersection points identified by the A4 and other road surfaces is also 2, and the vertices A and other pavement identifiers Separate. Traversing the other vertices of "丶" and other paths identified by other pavements, no points, or the number of intersections, therefore, the road surface identifier "" is separated from other pavement identifiers.
 Another example, such as Figure 4 As shown in the disabled road sign, a ray is transmitted from the vertices b at the top right side of the inner contour to each of the upper and lower left and right, respectively, respectively, respectively, respectively, respectively. B1, B2, B3, and B4. Among them, the number of intersections of B1, B2, B3, and B4 and the outer contour is 1, then determine that the vertex B is included inside the outer contour, and spreads the number of intersection of other vertices of the internal profile and the external profile. It is odd, therefore, the external contour completely includes the internal contour.
 In one case, the ray is coincident with the contour of the marking profile, such as Figure 4 As shown, B4 is coincident with the outer contour. Alternatively, it is possible to determine whether the marking profile is determined if the coordinates of the contour in the profile are completely co-coordinates, if the coordinates of the contour are completely coordinated in the marking coordinates of the profile. Ray coincidence.
 In the same way, it is assumed that the contour of the ray is belonging to one side of the rays, i.e., it is assumed that the coincident contour is above B4, and the number of intersections of the ray B4 and the other identifies the profile is 1.
 Rethone, if image 3 As shown, a ray is transmitted from the "self" maximum vertex C to the upper and lower left and right, respectively, respectively, respectively, respectively, respectively, respectively. Wherein, C1, C2, C3 and C4 and "one" intersection number are 1, determined that the highest vertex C is fully included in the "one" identity profile; from "self" right-side vertex D, left and right A ray is recorded as D1, D2, D3, and D4, respectively. Among them, D1 and "One" intersection is 2, D2, D3 and D4 and "one" no point, determine the rightmost vertex D and "one" identification profile is separated from each other, so the pavement identifies "self" and The pavement identifies "one" part overlap.
 In one case, the rays are marked with the vertices of the profile, such as image 3Shown, d3 through other external contour vertices. Alternatively, the profile may be identified by determining whether the vertex coordinates in the coordinate rays, it is determined if the coordinates of vertices after a ray of the vertices identified in the contour coordinates rays.
 Further, assume that the vertices belong to radiation through one side of the above-ray, of course, assumed that the vertices belong to radiation through a side-rays may be less. Here rays through the vertex of a side part of the above-rays are an example. Determining the number of ray intersection d3 with each other is identified profile 2.
 Alternatively, a plurality of separated from each other in the overlapping contour and the identification portion, triangulation profile for each identified respectively, to obtain padding contour to be identified.
 S1032, in a case where a plurality of identification complete contour comprises determining the identity of the clock characteristic internal profile contour, wherein the inner contour is completely contained in the profile identification.
 S1033, the hour hand clockwise characteristic properties of the inner contour is determined according to the outer contour, wherein the characteristic opposite to the hour hand and the hour hand characteristics of the external contour of the internal profile.
 That is, if the characteristics of the clock internal profile is counterclockwise, then the characteristics of the external contour of the hour hand clockwise; if the internal profile characteristic clockwise clockwise, the characteristics of the external contour clockwise counterclockwise.
 S1034, in accordance with characteristics of clockwise and inner contour of the outer profile characteristics of the hour hand performs a similar identification of triangulation inner contour and outer contour profile configured to obtain identification profile to be filled.
 Specifically, the connection destination vertex and the inner contour of the outer contour line segment by drawing two bidirectional obtain a signature profile similar to the inner contour and the outer contour thereof.
 Wherein the target vertex is obtained by the following way: Find the maximum value of the vertex on the x-axis direction in the internal profile, referred to as a first vertex to the first vertex to the origin along the x-ray target to obtain extending axis positive direction, the target ray the first note of the point of intersection of the outer contour of the first intersection, the first intersection if the outer contour of the vertex, the intersection of the first apex and a first destination vertex; if the first point of intersection with the outer contour of the apex not coincident , the endpoint of the first intersection in which any two of a side profile of a second vertex end, the first and second vertices of the destination vertex.
 Wherein, if the first and the apex point of intersection do not coincide with the outer contour, and a first vertex, a second vertex of the triangle and the intersection point of the first three vertices contains additional configuration of the outer contour, the other vertices are referred to as a third vertex in the third set of vertices, determining a first vertex and the third vertex of any angle between the size of the first segment and the target endpoint configured radiation; a first angle to the smallest third vertex second apex.
 refer to Figure 5 In step S1034, the triangulation comprises:
 S10341, the hour hand is determined characteristic profile and identification of irregular vertices.
 S10342, the ear vertex is determined whether a vertex, and in the case where the ear vertex vertex, the vertex record two adjacent vertices of a triangle.
 S10343, remove the ear vertex, and an hour hand according to the following characteristic signature profile is determined whether a vertex is a vertex of the ear, to obtain padding identifier road contour to be identified through the triangulation process.
 Determine the identity profile of the characteristics of the particular hour is: The identity of each vertex of the triangular configuration with the two adjacent vertices; signature profile obtained by calculating the cross product of each vertex traversing two adjacent vertices of the triangle signed area; sign cumulative calculation triangular area with the area identifier to obtain the signed profile; if the signed signature profile area is greater than 0, it is determined that the identification characteristic profile clockwise counterclockwise, if the identification of the signed area of the contour is not greater than 0 then determine the identity profile of the characteristics of the hour is clockwise.
 Determine the identity of contour vertices irregularities in particular: The triangle apexes of adjacent two vertices of the contour identification thereof; to give the signed area of a triangle apexes of adjacent two vertices of the contour identified by calculating the cross product; If the signed area of the triangle is larger than 0, the vertex counter clockwise characteristics, if the triangle is not larger than 0 signed, the characteristics of the hour hand clockwise vertex; determining characteristics of the clockwise vertex and contour identification whether the hour same characteristics; a consistent characteristic when the hour hand clockwise vertex with the identification characteristics of the profile, it is determined that the vertex bumps, if the characteristics of the clock hour inconsistent with the identification characteristics of the profile of the apex, it is determined that the vertex pits.
 refer to Image 6 To give the filling contour to be specifically identified: determining if vertices bump profile identification, and at the apex and the left and right triangles adjacent two vertices, vertex If no other triangles within the outline of the identification, the ear vertex vertex, vertex in a case where the ear vertex to the vertex and the left and right triangles adjacent two vertices of a triangle triangulation, and remove the ear vertex.
 Further, in this way continues to determine whether the other ear vertex to vertex, triangulation, to obtain a plurality of triangles, the apex of the ear has been deleted triangulation, the final remaining three vertices of a triangle, the triangular cross-sectional obtained through identification of the outline points to be filled.
 Specifically, reference Figure 7 A schematic generating method of identification of the road surface shown. like Figure 7 , The identification of the outline to be filled is filled, the filling may be used OpenGL (Open Graphics Library Open Graphics Library), or the like Direct 3D graphics library, two dimensional road identification. Further, by providing Direct 3D or OpenGL rendering pipeline, to render three-dimensional data generated based on the road pavement identification ID obtained.
 The above technical solution by obtaining an initial position information of road identified and extracting identification information of the road surface corresponding to the identifier from the identification database, using the identification database can be improved pavement marker generation efficiency and scalability, and based on the identification information determination vertex road identification, further based on the vertex road profile obtained identification ID, the identification contour triangulation process to give the profile identification to be filled, the filling profile identification filled treatment, to obtain two-dimensional road identifier, generating a result vector data, the road surface can be maintained high definition identified.
 Further, the two-dimensional three-dimensional road identification information conversion based on the initial position, generating a road-surface mark. In this way, the results produce three-dimensional road space, road pavement identity can follow the ups and downs to adjust the height, does not identify the error phenomenon pavement interspersed with three-dimensional road. Thereby increasing the degree of precision of the pavement marker generation, improve the rationality of pavement marker generation, and help to improve the safety of autopilot.
 In one possible way of implementation, with reference to Figure 8 One kind of a flowchart of road surface sign generation method shown, such as Figure 8 , In step S105, the converted two-dimensional three-dimensional road identifier, identifier generating road, comprising:
 S1054, based on the initial position information on the two-dimensional road surface vertex identifier parameter space conversion.
 S1055, the height of the vertex corresponding to the parameter space is calculated based on road highly conversion parameter polynomial to obtain the three-dimensional data of vertices.
 S1056, dimensional Cartesian coordinate system based on the initial position information, and the rendering of three-dimensional data corresponding to the three-dimensional Cartesian coordinate system.
 Specifically, the initial position information may include coordinates of vertices of a two-dimensional road surface sign of (x, y), the two-dimensional parameter space coordinates are converted (s, t), the road parameters based on the height of the polynomial, to calculate the corresponding vertex height, corresponding to the vertex of the obtained three-dimensional data (s, t, h).
 Further, the initial position information dimensional Cartesian coordinate system based on identification of the road surface, and rendering three-dimensional vertex data to three-dimensional Cartesian coordinate system, and further such as Figure 9 As shown, as the road gradient is generated from the road surface sign. In this way, the results produce three-dimensional road space, road pavement identity can follow the ups and downs to adjust the height, does not identify the error phenomenon pavement interspersed with three-dimensional road, improving the rationality of the road surface sign generated.
 Alternatively, the above description is based on the initial position of the road identification information to establish a local three-dimensional Cartesian coordinate system, may also be based on the entire section of the road, the plurality of lanes to build the global three-dimensional Cartesian coordinate system, so that the lane line can be determined, zebra , speed identification, limit line identity and other words, the relative positional relationship between the road surface sign of multi-character, thereby completing the road surface sign from local to global conversion can rationally generating road surface sign according to the actual road conditions, improve the rationality of road-surface mark produced.
 Alternatively, referring to Figure 10 One kind of a flowchart of road surface sign generation method shown, such as Figure 10 Shown, before step S1054 identification of the two-dimensional road surface vertices in the parameter space conversion based on the initial position information, comprising:
 S1051, determining the initial position angle corresponding to road lane information of a tangential line in the horizontal direction, and the angle as the rotation angle of the two-dimensional road surface sign.
 S1052, the two-dimensional road surface according to the rotation angle of the rotation identifier.
 S1053, the scaling factor is determined based on the road width information corresponding to said initial position, and the two-dimensional road in accordance with said identification zoom scaling factor.
 In particular, along a road lane markings do the initial position information corresponding to the traveling direction tangent to do the same in the horizontal position in the horizontal direction, calculates the angle between the tangent and the horizontal line.
 Further, after filling obtained according to the two-dimensional road surface sign rotation angle, so that the road can be identified based on the road curvature adaptation rotation, the map can achieve better results, to improve the precision of the rational map.
 Further, different initial positions corresponding to the road width information, thus the actual road width according to the size of the road surface sign, determining the scaling factor. Further, according to the scaling factor, the two-dimensional road surface sign resulting reduced or enlarged to obtain a two-dimensional road surface sign. In this way, the map can achieve better results, improve the rationality of high-precision map.
 Alternatively, referring to Figure 11 One kind of a flowchart of road surface sign generation method shown, such as Figure 11 , In step S102, the determination based on the identification information of the road surface sign of the vertex, the vertex based on said obtained identifier identifying the road surface profile, comprising:
 S1021, the vertex of the road surface is determined according to the identified order of the extracted identification information;
 S1022, placing the pre-set sequence in accordance with said extracted sequence and the apex connecting adjacent two vertices of the contour of the road surface obtained identification identifier, wherein said predetermined order is a sequential clockwise or counterclockwise order.
Specifically, the order may be extracted in accordance with the extracted identification information writing stroke order, and to determine the order of the vertices of the road surface based on the sequence identity.
 Further, the line segment connecting two adjacent vertices, to give as figure 2 As image 3 Logo outline pavement logo shown.
 This ensures that the vertex of the identification information are arranged in a predetermined order, does not cause confusion contour vertices identified, thus improving the accuracy of identifying the road surface generated.
 Alternatively, before the vertex is placed in the preset order, it is:
 The same markers are added to the first vertex in the extraction order and the last vertex in the extraction order such that the identity profile is closed.
 Specifically, when the identification information when the identification of the same road extract as identification information to the first vertex, adding an identifier for the vertex, when the identification information of the road surface sign extracted last vertex, the first added when the same identifier vertices, so that after placement of apex connecting two adjacent vertices, can guarantee to connect the first and last vertex of a vertex, to ensure the identity profile configuration is closed, to avoid jagged edges appear and no logo blurred.
 Based on the same inventive concept, the present disclosure further provides a pavement marker generation means, with reference to Figure 12 Block diagram of a road surface sign generating apparatus shown as Figure 12 Shown, the pavement marker generation apparatus 100 includes: an obtaining module 110, a determining module 120, processing module 130, filling module 140, module 150 generates.
 Wherein the obtaining module 110, configured to obtain location information of the initial identification of the road surface of the road surface and extracting identification information corresponding to the identifier from the identification database;
 Determining module 120 for determining a vertex based on the identification information of the identified road, and the road surface to obtain the identity profile based on the identified vertices;
 Processing module 130, the signature profile for triangulation to give identification profile to be filled;
 Filling module 140, for the filling of identification profile to be filled, to obtain the two-dimensional road surface sign;
 Generating module 150, position information for the initial identification of the two-dimensional three-dimensional road surface conversion, to generate the identifier based on the road surface.
 Alternatively, the generating module 150 includes: a conversion sub-module, a calculating sub-module, the rendering module.
 The converter submodule is used to perform parameter space conversion in the vertex of the two-dimensional road sign based on the initial position information;
 The sub-module is calculated to calculate the height corresponding to the vertex corresponding to the vertices of the vertex by the parameter space conversion based on the parametric spatial conversion of the road height;
 The rendering sub-module is used to establish a three-dimensional coordinate system based on the initial position information, and renders the three-dimensional data to the three-dimensional coordinate system.
 Alternatively, the generating module 150 further comprises: determining sub-module, sub-module of rotation, scaling module.
 The submodule is determined to determine the clamping and horizontal axis of the road vehicle line corresponding to the initial position information, and the angle is used as the rotation angle identifier of the two-dimensional road surface;
 The rotating sub-module is used to rotate the two-dimensional road surface identification according to the rotation angle;
 The zibding sub-module is used to determine the scaling coefficient according to the road width corresponding to the initial position information, and the two-dimensional road surface identifier is scaled in accordance with the zoom coefficient.
 Alternatively, the determining module 120 includes: performing sub-modules, sub-modules are connected.
 The submodule is performed to determine the vertex of the road surface identifier in the extraction order of the identification information;
 The connector is used to place the vertices in the preset order and connect the adjacent two vertices in the extraction order to obtain the marking profile of the road surface identifier, wherein the preset order is a clockwise or counterclockwise order. .
 Alternatively, the determining module 120 further comprises: adding sub-module for extracting said first vertex and the extraction of the last vertex in order to add the same identifier in order to identify the contour is closed.
 Alternatively, the processing module 130 comprises:
 The position determination sub-module is used to determine the positional relationship of the plurality of the identity profiles, wherein the positional relationship includes mutually separation, partial overlap, and fully included;
 The first timing determination sub-module is configured to determine the hive characteristics of the inner contour of the identity profile in the case where the positional relationship of the plurality of the identity profile is fully included, wherein the internal profile is a fully included identifier. contour;
 The second hour needle determination sub-module is used to determine the hour hand characteristics of the outer profile of the identifier profile according to the hive characteristics of the inner contour, wherein the hourly characteristics of the outer profile are opposite to the hive characteristics of the inner contour;
 The separation medium module is used to perform a triangular profile of the inner contour and the outer profile of the inner contour and the outer contour to the inside profile and the outer contour to obtain the contour to be filled.
 Alternatively, the molecular modules include:
 The first determination subunit is used to determine the hourglass of the identity profile and the vertex embossing;
 The second determination subunit is used to determine if the vertex is a ear top point, and in the case where the vertex is a ear top point, the vertex is recorded and the adjacent vertices is a triangle;
 Deleting a subunit, used to delete the ear top point, and determine if the next vertex is the ear top point according to the hourglass of the marking profile, to obtain the profile of the road surface identification after the triangular split treatment.
 Regarding the apparatus in the above embodiment, the specific manner of each module performs a detailed description thereof will not be described in detail herein.
 Also worthy of note that, for convenience and brevity of description, embodiments are described in the specification are exemplary embodiments, portions to which it relates is not necessarily required by the present invention, e.g., the rotation of the sub-module and scaling said sub-module, in the specific embodiment may be independent devices may be the same device, the present disclosure is not limited to this.
 Figure 13 Is a block diagram of an electronic device 1100 is illustrated in accordance with an exemplary embodiment. The electronic device is configured as above-described pavement marker generation unit 100, to perform the above pavement marker generation process all or part of the steps. like Figure 13 , The electronic device 1100 may comprise: a processor 1101, memory 1102. The electronic device 1100 may further include a display component 1103, an input / output (I / O) interfaces 1104, and a communications module 1105 or more.
 Wherein, the processor 1101 for controlling the overall operation of the electronic device 1100 to complete the above-described pavement marker generation process all or part of the steps. Memory 1102 for storing various types of data to support the operation of the electronic device 1100, the data may comprise any method of application or instructions on the operation of the electronic device 1100, and the relevant data for the application, such as contact data, send and receive messages, pictures, audio, video and so on. The memory 1102 may be implemented by any type of volatile or non-volatile storage devices, or combinations thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read only memory ( Electrically erasable programmable Read-Only memory, referred to as EEPROM), erasable programmable read-only memory (erasable programmable Read-Only memory, referred to as EPROM), programmable read-only memories (programmable Read-Only memory, referred to as the PROM), read-only memory (Read-Only memory, referred to as ROM), magnetic memory, flash memory, magnetic or optical disk. Multimedia components 1103 may include a screen and audio components. The screen can be, for example, a touch screen, an audio component for output and / or input an audio signal. For example, the audio component can include a microphone, a microphone for receiving an external audio signal. The received audio signal may be transmitted further or stored in memory 1102 through communication component 1105. The audio component also includes at least one speaker for outputting an audio signal. I / O interface 1104 provides an interface between processor 1101 and other modules of the interface, the another interface module may be a keyboard, a mouse, buttons and the like. These buttons can be a virtual button or an entity button. The communications module 1105 for electronic device 1100 wired or wireless communication with other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, EMTC, or other 5G, etc., or one or more of them Not limited herein. Thus the corresponding communications component 1105 may include: Wi-Fi module, a Bluetooth module, the NFC module and the like.
 In an exemplary embodiment, the electronic device 1100 may be substituted with one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated ASIC), digital signal processors (DigitalSignal Processor, referred to the DSP), digital signal processing devices (Digital Signal Processing device, abbreviated DSPDs), programmable logic devices (programmable logic device, referred to as PLD), field programmable gate arrays (field programmable gate array, referred to the FPGA), a controller, a microcontroller, a microprocessor, or other electronic components to achieve for performing the above-described pavement marker generation method.
 In another exemplary embodiment, there is also provided a computer-readable storage medium comprising program instructions, the step of generating the road identification method implemented when the program instructions executed by the processor. For example, the computer-readable storage medium 1102 may be, the program instructions are executable by the processor 11011100 electronic device is performing the memory comprising program instructions to perform the above-described pavement marker generation method.
The preferred embodiment of the present disclosure is described in connection with the drawings, but the present disclosure is not limited to specific details in the above embodiment, and in the scope of the present disclosure, a variety of simple variations can be carried out in the scope of the present disclosure.These simple variants belong to the scope of protection of the present disclosure.
 It should be noted that various specific technical features described in the above specific embodiments are not contradictory, in any suitable manner, in order to avoid unnecessary repetition, the present disclosure is possible to various possibleThe combination method will not be described again.
 Further, any combination may be performed between the various embodiments of the present disclosure, as long as it does not violate the disclosure of the present disclosure, it should also be considered as disclosed herein.
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