High-precision map road center line generation method and device, equipment and storage medium
A centerline and road technology, applied in the field of map making, can solve the problem of high-precision map roads not being smooth enough, and achieve the effect of map road smoothness
Pending Publication Date: 2021-06-11
中交宇科(北京)空间信息技术有限公司
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[0005] The present disclosure provides a method, device, device, and storage medium for generating a high-precision map road centerline, so as to solve the problem that the high-precision map road generated in the prior art is not smooth enough and highly restores the real road
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[0036] At present, self-driving vehicles need to rely on high-precision maps when driving, and make decisions based on high-precision maps. However, in the solution of the prior art, when generating a high-precision map road in the OpenDrive format, the generated road reference line is obtained by directly connecting the feature points of the point cloud, and the smoothness of the reference line obtained in this way is poor. Another method is that the computer uses point cloud feature points to automatically fit, but it will have a certain impact on the line type, deviate from the actual road direction, and affect the conformity of the simulated road with the actual road.
[0037] Therefore, in the solution provided by this embodiment, different generation methods are adopted for road reference lines with different shapes. For straight line centerlines, they can be generated directly based on feature points; for curved centerlines, they can be generated by fitting. , so as to ...
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The invention provides a high-precision map road center line generation method and device, equipment and a storage medium. The method comprises the steps of determining road center feature points according to preset data; determining straight line feature points belonging to the center line of the straight line shape and curve feature points belonging to the center line of the curve shape in the road center feature points; generating a straight line center line according to the straight line feature points; and according to a straight line center line connected with the center line of the curve shape, determining end point information of the center line of the curve shape, and according to the fitting parameters and the end point information, generating the center line of the curve. In the scheme provided by the invention, different generation modes are adopted for the center lines with different shapes, the curve center line is subjected to fitting generation according to the fitting parameters and the end point information of the curve, the smooth curve center line can be generated, and then the road of the map made according to the center line is smoother and more conforms to the actual road environment.
Description
technical field [0001] The present disclosure relates to map making technology, and in particular to a method, device, equipment and storage medium for generating a road centerline of a high-precision map. Background technique [0002] With the rapid development of autonomous driving technology, high-precision maps are becoming more and more important. Self-driving vehicles need to make decisions based on high-precision maps and control the driving of the vehicle. [0003] In the prior art, there is a high-definition map in the format of OpenDrive. OpenDrive HD map can be used for scene simulation. The production of road reference lines and edge lines in the OpenDrive format HD map is the most critical step. In the solution of the prior art, when generating a high-precision map road in the OpenDrive format, the reference line and the edge line are generally connected by point cloud feature points and straight line segments. [0004] However, the map obtained by this sche...
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IPC IPC(8): G06T11/20
CPCG06T11/203
Inventor 于洪武孟庆昕刘士宽裴兴孙伟
Owner 中交宇科(北京)空间信息技术有限公司