Road network data updating method, system and device based on intersection surface shape change

Abstract

The present invention provides a road network data updating method, system and device based on the change of intersection surface shape, comprising the following steps: Step 1: intersection surface shape change; Step 2: processing lane separation lines entering the intersection; Step 3: updating the distance value of the lane separation line starting point associated with the distance according to the lane separation line attribute change point processed in step 2; Step 4: updating the road vector shape and the road attribute change point; Step 5: updating the lane vector shape, the lane attribute change point and the lane node; Step 6: processing the lane separation line leaving the intersection according to the method of step 2, and executing steps 3 to 5 again based on the result of step 6; Step 7: updating the virtual lane separation line and the lane vector in the intersection; Step 8: recalculating and updating the association between the road network and the ground object. The requirement of ID fixation is met, the result of the difference comparison before and after data modification can be quickly obtained, and the overall efficiency of data production and update is improved.

Description

Technical Field

[0001] The present invention relates to the field of high-precision map data production and autonomous driving technology, and in particular to a road network data updating method, system and device based on intersection surface shape changes. Background Art

[0002] In the current high-precision map data production technology and data creation process, when the road topology does not change and only the intersection surface area changes slightly and the road network and topology data need to be updated, the method is to first delete the existing intersection and topology data, and then re-create the intersection and topology to obtain the updated road network and topology data.

[0003] The above process is cumbersome, and due to the existence of deletion and addition operations, the record entries of newly added elements and deleted elements are changed, which cannot meet the needs of ID fixation. When the IDs of the two versions of data elements do not match, data producers and quality inspectors need to confirm the changed items one by one and make a change comparison relationship, which increases the workload of data self-inspection and quality inspection, and reduces the overall efficiency of data production and update. Summary of the invention

[0004] The present invention provides a method, system and device for updating road network data based on the change of intersection surface shape, which overcome the above problems or at least partially solve the above problems.

[0005] According to a first aspect of the present invention, there is provided a method for updating road network data based on a change in intersection surface shape, comprising the following steps:

[0006] Step 1: Change the shape of the intersection surface and modify the intersection surface position through the map operation platform;

[0007] Step 2: Process the lane separation lines at the intersection, collect the real lane separation lines that are connected and have the same type attributes, and interrupt and splice the lane separation lines according to the relationship between the end point of the lane separation lines at the intersection and the intersection boundary;

[0008] Step 3: Update the distance value of the lane separation line starting point associated with the lane separation line according to the lane separation line attribute change point processed in step 2;

[0009] Step 4: Update the road vector shape and road attribute change points;

[0010] Step 5: Update lane vector shape, lane attribute change points and lane nodes;

[0011] Step 6: Process the lane separation line of the exit intersection according to the method of step 2, and execute steps 3 to step 5 again based on the result of step 6;

[0012] Step 7: Update the virtual lane separation line and lane vector in the intersection;

[0013] Step 8: Recalculate and update the relationship between the road network and terrain features.

[0014] Based on the above technical solution, the present invention can also make the following improvements.

[0015] Optionally, step 2 includes:

[0016] Collect the real lane separation lines that are connected and have the same type and attributes when entering the intersection. If the end point of the lane separation line entering the intersection is not on the intersection boundary, start calculating whether the lane separation line intersects with the intersection boundary;

[0017] If the lane divider intersects with the intersection boundary, the lane divider is interrupted by the intersection boundary and the tail end is spliced ​​to the head end of the subsequent lane divider;

[0018] If the lane separation line does not intersect with the intersection boundary, the intersection point of the continued lane separation line and the intersection is calculated, and the line is interrupted at the intersection position, and the beginning of the continued lane separation line is spliced ​​to the end of the entry lane separation line.

[0019] Optionally, the step 3 includes:

[0020] Collect the lane separation line attribute change points on the lane separation line involved in Step 2, obtain the position, recalculate the ownership of the lane separation line attribute change points, and update the distance value from the associated lane separation line starting point.

[0021] Optionally, the step 4 includes:

[0022] Step 41: Use the shape of the lane separation line in step Step 2 to update the shape of the corresponding road vector;

[0023] Step 42: Obtain the road attribute change point on the corresponding road vector, obtain its position, directly update the position of the intersection attribute change point, recalculate the ownership of the road attribute change point, and update the distance value from the starting point of the associated road vector.

[0024] Optionally, the step 5 includes:

[0025] Step 51: Collect the lane vector associated with the lane separation line in step 2, obtain the left and right real lane edges of the lane vector, recalculate the shape of the lane vector using the shapes of the left and right lane separation lines, and recalculate the lane width;

[0026] Step 52: Obtain the lane attribute change point on the corresponding lane vector, obtain its position, recalculate the ownership of the lane attribute change point, and update the distance value from the start point of the associated lane vector;

[0027] Step 53: Get the lane node associated with the lane vector, update the position of the lane node, and ensure that it is consistent with the coordinates of the first and last points of the lane vector.

[0028] Optionally, the step 7 includes:

[0029] Check the virtual lane separation lines in all intersections, regenerate the shapes of the discontinuous virtual lane separation lines after adjusting their positions using Bezier curves, update the shapes of the associated lane vectors, and recalculate the lane widths.

[0030] According to a second aspect of the present invention, there is provided a road network data updating system based on intersection surface shape change, which adopts the above-mentioned road network data updating method based on intersection surface shape change.

[0031] According to a third aspect of the present invention, there is provided a road network data updating device based on intersection surface shape change, which adopts the road network data updating system based on intersection surface shape change.

[0032] The present invention provides a road network data updating method, system and device based on the change of intersection surface shape. After the intersection surface shape is modified, the program background updates the shape and attributes of all related data, and refreshes the update results on the operation interface in real time, reducing the operation process, and there is no addition or deletion of record entries, meeting the demand for ID fixation, and can quickly obtain the results of the difference comparison before and after the data modification. Data producers and quality inspectors only need to confirm the attribute changes of a small amount of related data, thereby improving the overall efficiency of data production and updating. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic flow chart of a method for updating road network data based on a change in intersection shape provided by an embodiment of the present invention;

[0034] Figure 2 A data association diagram of a method for updating road network data based on a change in intersection surface shape provided by an embodiment of the present invention;

[0035] Figure 3A schematic diagram of a road surface intersection shape modification method based on a road intersection shape change provided by an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of a method for updating road network data based on a change in intersection surface shape provided by an embodiment of the present invention for processing lane separation lines entering an intersection;

[0037] Figure 5 A schematic diagram of a lane separation line change point update method based on a road intersection shape change provided by an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of updating road vector shapes and road attribute change points of a road network data updating method based on intersection surface shape change provided by an embodiment of the present invention;

[0039] Figure 7 A schematic diagram of updating lane vector shapes, lane attribute change points and lane nodes of a road network data updating method based on intersection surface shape change provided by an embodiment of the present invention;

[0040] Figure 8 A schematic diagram of updating data within an intersection according to a method for updating road network data based on a change in intersection surface shape provided by an embodiment of the present invention;

[0041] Fig. 9 A comparison diagram before and after updating of a road network data updating method based on intersection surface shape change provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] Figure 1 A schematic flow chart of a method for updating road network data based on a change in intersection shape provided by an embodiment of the present invention; Figure 2 A data association diagram of a method for updating road network data based on a change in intersection surface shape provided by an embodiment of the present invention; Figure 3 A schematic diagram of a road surface intersection shape modification method based on a road intersection shape change provided by an embodiment of the present invention; Figure 1 and Figure 2 and Figure 3 As shown, the method comprises the following steps:

[0044] Step 1: Change the shape of the intersection surface and modify the intersection surface position through the map operation platform;

[0045] Step 2: Process the lane separation lines at the intersection, collect the real lane separation lines that are connected and have the same type attributes, and interrupt and splice the lane separation lines according to the relationship between the end point of the lane separation lines at the intersection and the intersection boundary;

[0046] Figure 4 A schematic diagram of a road network data updating method based on the change of intersection surface shape provided by an embodiment of the present invention for processing lane separation lines at an intersection; wherein LD1 has an intersection with the intersection surface, and is interrupted at the intersection to obtain LD1-1 and LD1-2, and LD1-2 is spliced ​​to the head end of LD2. Figure 4 As shown, step 2 includes:

[0047] Collect the real lane separation lines that are connected and have the same type and attributes when entering the intersection. If the end point of the lane separation line entering the intersection is not on the intersection boundary, start calculating whether the lane separation line intersects with the intersection boundary;

[0048] If the lane divider intersects with the intersection boundary, the lane divider is interrupted by the intersection boundary and the tail end is spliced ​​to the head end of the subsequent lane divider;

[0049] If the lane separation line does not intersect with the intersection boundary, the intersection point of the continued lane separation line and the intersection is calculated, and the line is interrupted at the intersection position, and the beginning of the continued lane separation line is spliced ​​to the end of the entry lane separation line.

[0050] Step 3: Update the distance value of the lane separation line starting point associated with the lane separation line according to the lane separation line attribute change point processed in step 2;

[0051] Figure 5 A schematic diagram of a method for updating lane separation line change points based on a road network data update method of an embodiment of the present invention based on a change in intersection surface shape; wherein: Figure 5 The lane divider change point previously belonged to LD3. After the lane divider position is adjusted, the change point falls on LD4. Then the lane divider ID attribute associated with the change point is updated, and the distance attribute is updated to the distance from the change point to the starting point of LD4. Figure 5 As shown, the step Step 3 includes:

[0052] Collect the lane separation line attribute change points on the lane separation line involved in Step 2, obtain the position, recalculate the ownership of the lane separation line attribute change points, and update the distance value from the associated lane separation line starting point.

[0053] Step 4: Update the road vector shape and road attribute change points;

[0054] Figure 6A schematic diagram of updating road vector shapes and road attribute change points of a road network data updating method based on intersection surface shape change provided by an embodiment of the present invention; Figure 6 As shown, the shape of the lane separation line in Step 2 needs to be used to update the shape of the corresponding road vector. As shown in the figure, the shapes of R1 and R2 are updated. The step Step 4 includes:

[0055] Step 41: Use the shape of the lane separation line in step Step 2 to update the shape of the corresponding road vector;

[0056] Step 42: Get the road attribute change point on the corresponding road vector, get its position, directly update the position of the intersection attribute change point, recalculate the ownership of the road attribute change point, and update the distance value from the associated road vector starting point. As shown in the figure, the ownership of Rpt has not changed, but the distance attribute from the starting point of R1 needs to be updated.

[0057] Step 5: Update lane vector shape, lane attribute change points and lane nodes;

[0058] Figure 7 A schematic diagram of updating lane vector shapes, lane attribute change points and lane nodes of a road network data updating method based on intersection surface shape change provided by an embodiment of the present invention; Figure 7 As shown, the step Step5 includes:

[0059] Step 51: Collect the lane vector associated with the lane separation line in step 2, obtain the left and right real lane edges of the lane vector, recalculate the shape of the lane vector using the shapes of the left and right lane separation lines, and recalculate the lane width;

[0060] Step 52: Obtain the lane attribute change point on the corresponding lane vector, obtain its position, recalculate the ownership of the lane attribute change point, and update the distance value from the start point of the associated lane vector;

[0061] Step 53: Get the lane node associated with the lane vector, update the position of the lane node, and ensure that it is consistent with the coordinates of the first and last points of the lane vector.

[0062] Step 6: Process the lane separation line of the exit intersection according to the method of step 2, and execute steps 3 to step 5 again based on the result of step 6;

[0063] Step 7: Update the virtual lane separation line and lane vector in the intersection;

[0064] Figure 8A schematic diagram of updating data within an intersection based on a road network data updating method for changing the shape of an intersection provided by an embodiment of the present invention; Figure 8 As shown, the step Step7 includes:

[0065] Check the virtual lane separation lines in all intersections, regenerate the shapes of the discontinuous virtual lane separation lines after adjusting their positions using Bezier curves, update the shapes of the associated lane vectors, and recalculate the lane widths.

[0066] Fig. 9 A comparison diagram before and after the update of a road network data update method based on the change of the intersection surface shape provided by an embodiment of the present invention. Fig. 9 As shown, Step 8: Recalculate and update the relationship between the road network and the features.

[0067] It can be understood that in this embodiment, after the shape of the intersection surface is modified, the program background updates the shape and attributes of all related data, and refreshes the update results in real time on the operation interface, which reduces the operation process and does not record the addition or deletion of entries, meeting the needs of ID fixation. The results of the difference comparison before and after the data modification can be quickly obtained. Data producers and quality inspectors only need to confirm the attribute changes of a small amount of related data, thereby improving the overall efficiency of data production and updating.

[0068] In another embodiment, a road network data updating system based on intersection surface shape change is provided, which adopts the road network data updating method based on intersection surface shape change described above.

[0069] In another embodiment, a road network data updating device based on intersection surface shape change is provided, which adopts the road network data updating system based on intersection surface shape change.

[0070] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0076] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for updating road network data based on the change of intersection surface shape, characterized in that: The following steps are involved: Step 1: Change the shape of the intersection surface and modify the intersection surface position through the map operation platform; Step 2: Process the lane separation lines at the intersection, collect the real lane separation lines that are connected and have the same type attributes, and interrupt and splice the lane separation lines according to the relationship between the end point of the lane separation lines at the intersection and the intersection boundary; Step 3: Update the distance value of the lane separation line starting point associated with the lane separation line according to the lane separation line attribute change point processed in step 2; Step 4: Update the road vector shape and road attribute change points; Step 5: Update lane vector shape, lane attribute change points and lane nodes; Step 6: Process the lane separation line of the exit intersection according to the method of step 2, and execute steps 3 to 5 again based on the result of step 6; Step 7: Update the virtual lane separation line and lane vector in the intersection; Step 8: Recalculate and update the relationship between the road network and the features; The step 4 includes: Step 41: Use the shape of the lane separation line in step 2 to update the shape of the corresponding road vector; Step 42: Obtain the road attribute change point on the corresponding road vector, obtain its position, directly update the position of the intersection attribute change point, recalculate the ownership of the road attribute change point, and update the distance value from the associated road vector starting point; The step 5 comprises: Step 51: Collect the lane vector associated with the lane separation line in step 2, obtain the left and right real lane edges of the lane vector, recalculate the shape of the lane vector using the shapes of the left and right lane separation lines, and recalculate the lane width; Step 52: Obtain the lane attribute change point on the corresponding lane vector, obtain its position, recalculate the ownership of the lane attribute change point, and update the distance value from the start point of the associated lane vector; Step 53: Get the lane node associated with the lane vector, and update the position of the lane node to ensure that it is consistent with the coordinates of the first and last points of the lane vector; The step 7 includes: Check all virtual lane separation lines in the intersections, regenerate the shapes of the discontinuous virtual lane separation lines after adjusting their positions using Bezier curves, update the shapes of the associated lane vectors, and recalculate the lane widths.

2. The method for updating road network data based on intersection shape change according to claim 1, characterized in that: Step 2 includes: Collect the real lane separation lines that are connected and have the same type and attributes when entering the intersection. If the end point of the lane separation line entering the intersection is not on the intersection boundary, start calculating whether the lane separation line intersects with the intersection boundary; If the lane divider intersects with the intersection boundary, the lane divider is interrupted by the intersection boundary and the tail end is spliced ​​to the head end of the subsequent lane divider; If the lane separation line does not intersect with the intersection boundary, the intersection point of the continued lane separation line and the intersection is calculated, and the line is interrupted at the intersection position, and the beginning of the continued lane separation line is spliced ​​to the end of the entry lane separation line.

3. The method for updating road network data based on intersection shape change according to claim 1, characterized in that: The step 3 includes: Collect the lane separation line attribute change points on the lane separation line involved in Step 2, obtain the position, recalculate the ownership of the lane separation line attribute change points, and update the distance value from the associated lane separation line starting point.

4. A road network data updating system based on intersection shape change, characterized in that: It adopts the road network data updating method based on the change of intersection surface shape as described in any one of claims 1-3.

5. A road network data updating device based on the change of intersection surface shape, characterized in that: It adopts the road network data updating system based on the change of intersection surface shape as described in claim 4.

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