Method and device for generating roundabout road

Abstract

The present invention provides a method and device for generating a roundabout road, which includes a circular road, an entrance road, and an exit road. The method comprises: determining a first circular trajectory based on the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the center angle corresponding to the end point of each entrance trajectory in the roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; determining the entrance trajectory based on the first circular trajectory and the direction angle of the pre-collected starting point of the entrance trajectory; determining the exit trajectory in the roundabout road corresponding to the entrance trajectory; wherein the exit trajectory is the route of the exit road; and determining the roundabout road based on the first circular trajectory, the entrance trajectory, and the exit trajectory based on the pre-collected road parameters. This solution can quickly generate roundabout roads based on Open Drive in simulated static scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of road traffic, and in particular to a method and device for generating a roundabout road. Background Art

[0002] As the number of vehicles increases exponentially, traffic pressure increases, and the need to build a roundabout road becomes increasingly important. However, with current construction technology, the construction process of a roundabout is very cumbersome and cannot be built efficiently. Summary of the Invention

[0003] The object of the present invention is to provide a method and device for generating a ring road so as to efficiently construct the ring road.

[0004] In a first aspect, the present invention provides a method for generating a roundabout road, which includes a circular road, an entrance road and an exit road; the method includes: determining a first circular trajectory based on the center coordinates of the pre-collected circular trajectory in the roundabout road, the initial radius of the circular trajectory and the center angle corresponding to the end point of the entrance trajectory in each roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; determining the entrance trajectory based on the first circular trajectory and the direction angle of the starting point of the pre-collected entrance trajectory; determining the exit trajectory in the roundabout road corresponding to the entrance trajectory; wherein the exit trajectory is the route of the exit road; and determining the roundabout road based on the pre-collected road parameters and the first circular trajectory, the entrance trajectory and the exit trajectory.

[0005] In an optional embodiment, the step of determining the first circular trajectory based on the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the center angle corresponding to the end point of each entrance trajectory in the roundabout road includes: determining the coordinates and direction angle of the end point of each entrance trajectory, and the coordinates and direction angle of the starting point of each exit trajectory based on the pre-collected center coordinates of the circular trajectory, the initial radius of the circular trajectory, and the center angle corresponding to the end point of each entrance trajectory; determining the first circular trajectory based on the coordinates and direction angle of the end point of each entrance trajectory, and the coordinates and direction angle of the starting point of each exit trajectory.

[0006] In an optional embodiment, the method further includes: establishing a coordinate system with the center of the circular trajectory as the origin to obtain the X-axis and Y-axis of the coordinate system; wherein the central angle corresponding to the end point of the entry trajectory is the angle formed by the end point of the entry trajectory, the origin, and the X-axis.

[0007] In an optional embodiment, the step of determining the coordinates and direction angle of the end point of each entry trajectory, as well as the coordinates and direction angle of the starting point of each exit trajectory based on the pre-collected center coordinates of the circular trajectory, the initial radius of the circular trajectory, and the central angle corresponding to the end point of each entry trajectory includes: determining the central angle corresponding to the starting point of the exit trajectory based on the central angle corresponding to the end point of the pre-collected entry trajectory; determining the coordinates and direction angle of the end point of each entry trajectory, as well as the coordinates and direction angle of the starting point of each exit trajectory based on the central angle corresponding to the end point of the entry trajectory, the central angle corresponding to the starting point of the exit trajectory, and the initial radius.

[0008] In an optional embodiment, the first circular trajectory includes multiple arc-shaped line segments; the step of determining the first circular trajectory according to the coordinates and direction angles of the end point of each entry trajectory and the coordinates and direction angles of the starting point of each exit trajectory includes: determining the starting point and end point of each arc-shaped line segment according to the coordinates and direction angles of the end point of each entry trajectory and the coordinates and direction angles of the starting point of each exit trajectory; and connecting the starting point and end point of each arc-shaped line segment to obtain the first circular trajectory.

[0009] In an optional embodiment, the entry trajectory includes a first line segment, a second line segment, a third line segment, a fourth line segment and a fifth line segment connected in sequence; the starting point of the first line segment is the starting point of the entry trajectory; the end point of the fifth line segment is the end point of the entry trajectory; the curvature of the first line segment and the fifth line segment is zero, and the length of the first line segment and the fifth line segment is equal; the second line segment and the fourth line segment are both spirals, and the length of the second line segment and the fourth line segment is equal; the curvature of the third line segment is a preset fixed value.

[0010] In an optional embodiment, the step of determining the entry trajectory based on the first circular trajectory and the direction angle of the starting point of the pre-collected entry trajectory includes: determining the coordinates of the starting point of the entry trajectory based on the coordinates and direction angle of the end point of the entry trajectory and the direction angle of the starting point of the pre-collected entry trajectory; determining the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position based on the coordinates and direction angle of the starting point of the entry trajectory, the coordinates and direction angle of the end point of the entry trajectory, and the length of the pre-collected second line segment, wherein the first position is the connection point of the fifth line segment and the fourth line segment, the second position is the connection point of the fourth line segment and the third line segment, the third position is the connection point of the third line segment and the second line segment, and the fourth position is the connection point of the second line segment and the first line segment; determining the entry trajectory based on the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position.

[0011] In an optional embodiment, the number of entrance roads and exit roads is equal, each entrance trajectory corresponds to a unique exit trajectory, and the entrance trajectory and the corresponding exit trajectory are symmetrical about the diameter of the circular trajectory; the step of determining the exit trajectory in the roundabout road corresponding to the entrance trajectory includes: determining the exit trajectory corresponding to the entrance trajectory based on the diameter of the entrance trajectory and the circular trajectory.

[0012] In an optional embodiment, the road parameters include road width, green belt parameters, traffic sign parameters, road height and road planning information; based on the pre-collected road parameters, the step of determining the roundabout road according to the first circular trajectory, the entrance trajectory and the exit trajectory includes: according to the pre-collected road parameters, correcting and connecting the first circular trajectory, the entrance trajectory and the exit trajectory to obtain the roundabout road.

[0013] In a second aspect, the present invention provides a device for generating a roundabout road, which includes a circular road, an entrance road and an exit road; the device includes: a first circular trajectory determination module, which is used to determine the first circular trajectory based on the center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory and the central angle corresponding to the end point of the entrance trajectory in each roundabout road collected in advance; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; the entrance trajectory determination module is used to determine the entrance trajectory based on the first circular trajectory and the direction angle of the starting point of the pre-collected entrance trajectory; the exit trajectory determination module is used to determine the exit trajectory in the roundabout road corresponding to the entrance trajectory; wherein the exit trajectory is the route of the exit road; the roundabout road determination module is used to determine the roundabout road based on the first circular trajectory, the entrance trajectory and the exit trajectory based on the pre-collected road parameters.

[0014] The beneficial effects of the embodiments of the present invention are as follows:

[0015] An embodiment of the present invention provides a method and device for generating a roundabout road, which includes a circular road, an entrance road, and an exit road. The method includes: determining a first circular trajectory based on the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the center angle corresponding to the end point of each entrance trajectory in the roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; determining the entrance trajectory based on the first circular trajectory and the direction angle of the starting point of the pre-collected entrance trajectory; determining the exit trajectory in the roundabout road corresponding to the entrance trajectory; wherein the exit trajectory is the route of the exit road; and determining the roundabout road based on the first circular trajectory, the entrance trajectory, and the exit trajectory based on the pre-collected road parameters. This solution can quickly generate roundabout roads based on Open Drive in simulated static scenes.

[0016] Other features and advantages of the present invention will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present invention.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically listed below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A flowchart of a method for generating a roundabout road provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a ring road provided in an embodiment of the present invention;

[0021] Figure 3 A flowchart of another method for generating a roundabout road provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of another roundabout road provided by an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a device for generating a roundabout road provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and firstly described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0026] Open Drive is a map format widely used in vehicle simulation testing. This map format primarily describes static features within a virtual simulation environment. The map primarily uses various parameterized curves to depict the road network structure. However, this format presents a problem: some common and complex traffic elements, such as roundabouts, are cumbersome to construct during scene creation. This technology addresses this issue by proposing a rapid method for generating roundabouts.

[0027] Currently, building a roundabout based on Open Drive is primarily done manually with simulation software, but this process is complex and time-consuming. To improve construction efficiency, this technology leverages the Open Drive format itself to quickly complete the construction of a portion of the roundabout by directly writing Open Drive format files. Based on this, the roundabout road model can be quickly constructed using scenario simulation software. This technology can be applied to scenarios involving simulated construction of roundabout roads.

[0028] Example 1

[0029] The embodiment of the present invention provides a method for generating a ring road, wherein the ring road includes a circular road, an entrance road, and an exit road. Figure 1 As shown, the method includes:

[0030] Step S102, determining a first circular trajectory based on the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the central angle corresponding to the end point of the entrance trajectory in each roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road.

[0031] Specifically, if Figure 2 As shown, Figure 2 This is a schematic diagram of a roundabout road. Multiple entrances (A1, A2...AN) and exits (B1, B2...BN) are distributed on the circular trajectory (i.e., the circle with O as the center). The number of entrances and exits is the same, and the positions of the entrances and exits are also symmetrical about the diameter of the circular trajectory. One entrance corresponds to one entrance trajectory (for example, the entrance trajectory corresponding to entrance A1 is P1-A1), and one exit corresponds to one exit trajectory (for example, the exit trajectory corresponding to exit B1 is B1-P1).

[0032] Specifically, here, we first need to collect the central angle corresponding to each entrance position, so as to determine the central angle corresponding to the corresponding exit position; then, based on the above two central angles, the center coordinates (i.e., point O) and the initial radius (i.e., OD4), determine the coordinates, direction angles and other information of each entrance and exit; finally, connect all the entrances and all the exits in sequence to obtain a complete circle, which is the first circular trajectory, i.e. Figure 2 The circle with O as the center.

[0033] Step S104 : determining the entry trajectory according to the first circular trajectory and the direction angle of the starting point of the pre-collected entry trajectory.

[0034] Specifically, the orientation angles of the starting points of the aforementioned entry trajectories (i.e., P1, P2, ..., PN) are predetermined. The entry trajectories can be determined based on the position information of the entry in the first circular trajectory (e.g., the position information of A1) and the orientation angles of the starting points of the entry trajectories (e.g., the orientation angle of P1), combined with information such as the trajectory length and curvature.

[0035] Step S106 , determining an exit trajectory in the roundabout road corresponding to the entrance trajectory; wherein the exit trajectory is the route of the exit road.

[0036] Specifically, the inlet trajectory and the outlet trajectory are symmetrical. Figure 2 As shown, P1-A1 and B1-P1 are symmetrical about the diameter of the circular trajectory, so once the entrance trajectory is determined, the corresponding exit trajectory is also determined.

[0037] Step S108 : determining a roundabout road based on the pre-collected road parameters, the first circular trajectory, the entrance trajectory, and the exit trajectory.

[0038] Specifically, the above-mentioned trajectory (referring to the first circular trajectory, the entrance trajectory and the exit trajectory) is only a mathematical model, which is a line segment composed of points. Therefore, in practical applications, it is necessary to combine the actual situation in the road (i.e., road parameters) with the trajectory to obtain the actual roundabout road.

[0039] An embodiment of the present invention provides a method for generating a roundabout road, which includes a circular road, an entrance road, and an exit road. The method includes: determining a first circular trajectory based on the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the center angle corresponding to the end point of each entrance trajectory in the roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; determining the entrance trajectory based on the first circular trajectory and the direction angle of the starting point of the pre-collected entrance trajectory; determining the exit trajectory in the roundabout road corresponding to the entrance trajectory; wherein the exit trajectory is the route of the exit road; and determining the roundabout road based on the first circular trajectory, the entrance trajectory, and the exit trajectory based on the pre-collected road parameters. This solution can quickly generate roundabout roads based on Open Drive in simulated static scenes.

[0040] Example 2

[0041] An embodiment of the present invention provides another method for generating a roundabout road, which includes a circular road, an entrance road, and an exit road. In Open Drive, these three components are primarily described using line, arc, and spiral curves. Generating a roundabout road primarily involves two steps: generating a reference line (i.e., the first trajectory, the entrance trajectory, and the exit trajectory, corresponding to steps S302-S312) and setting road parameters (corresponding to step S314).

[0042] The process of generating a reference line is the process of generating the corresponding road network of the ring road. This process is divided into the following parts: (1) determination of the entrance and exit locations; (2) generation of the reference line of the ring road (i.e. determination of the first circular trajectory); (3) generation of the entrance reference line (i.e. generation of the entrance trajectory); (4) generation of the exit reference line (i.e. generation of the exit trajectory).

[0043] like Figure 3 As shown, the method for generating the roundabout road includes:

[0044] Step S302 , based on the pre-collected center coordinates of the circular trajectory, the initial radius of the circular trajectory, and the central angle corresponding to the end point of each entry trajectory, the coordinates and direction angle of the end point of each entry trajectory, as well as the coordinates and direction angle of the starting point of each exit trajectory are determined.

[0045] In specific implementation, the center angle corresponding to the starting point of the exit trajectory is determined based on the center angle corresponding to the end point of the pre-collected entry trajectory; the coordinates and direction angle of the end point of each entry trajectory, as well as the coordinates and direction angle of the starting point of each exit trajectory, are determined based on the center angle corresponding to the end point of the entry trajectory, the center angle corresponding to the starting point of the exit trajectory, and the initial radius.

[0046] Specifically, if Figure 4 As shown, Figure 4 This is a schematic diagram of another type of ring road. Figure 4 for Figure 2 The initial radius of the circular trajectory is predetermined, and the final radius of the roundabout road needs to be determined according to the actual situation. Here, the initial radius is R roundabout .

[0047] Specifically, the center coordinates of the circular trajectory are also predetermined, as are the number of exits and entrances of the roundabout, as well as the central angles between the exits and entrances. Here, it can be predetermined that there are N groups of entrances and exits in the roundabout design (assuming that the entrances and exits appear in groups, i.e., one exit must be adjacent to one entrance), such as Figure 2 As shown. The central angle of the first entrance is Agl A1 , the coordinates of the first entrance are A1, and the center angle of the Nth entrance is Agl AN , the coordinates of the Nth entrance are A N Similarly, the center angles of the starting points of the exit trajectory are represented by Agl B1 , Agl B2 ...Agl BN , the corresponding points are B1…B N .

[0048] In the specific implementation, the center angle of the circle needs to be determined in advance. The definition of the center angle of the circle is: establish a coordinate system with the center of the circular trajectory as the origin, and obtain the X-axis and Y-axis of the coordinate system; among them, the center angle corresponding to the end point of the entry trajectory is the angle formed by the end point of the entry trajectory, the origin, and the X-axis. That is, Agl A1 =∠A1OX.

[0049] Specifically, after determining the number of entrances and exits and the central angles of the entrances and exits, it can be determined that the circular trajectory of the entire ring road is composed of 2N arc-type curve (or arc) line segments (such as Figure 2 As shown), according to the OpenDrive format, to parameterize the arc segment, the following parameters need to be determined: hdg, length, (x, y), curvature, which respectively represent the direction angle of the starting point of the curve, the length of the curve, the position coordinates of the starting point of the curve, and the curvature of the curve.

[0050] Specifically, Figure 2 Taking arc A1-B1 in the figure as an example, let its parameters be the direction angle hdg11 of the starting point of the curve (i.e. A1), length11, x11, y11, and curvature11.

[0051]

[0052] length 11 =|Agl B1 -Agl A1 |·R roundabout (2);

[0053] x 11 =R roundabout ·cos(Agl A1 ) (3);

[0054] y 11 =R roundabout ·sin(Agl A1 ) (4);

[0055]

[0056] According to equations (1)-(5), the coordinates and direction angles of the end point of the entry trajectory can be determined. In the circular trajectory, A1 is the starting point of the arc, and in the entry trajectory, A1 is the end point.

[0057] Because the exit and entrance are symmetrical, the center angle corresponding to the starting point of the exit trajectory can be determined based on the center angle corresponding to the end point of the entrance trajectory. Then, similarly, the coordinates and direction angles of the end points of all other entrance trajectories (i.e., A1…AN) and the coordinates and direction angles of the starting points of all exit trajectories (i.e., B1…BN) can be calculated.

[0058] Step S304 : determining a first circular trajectory according to the coordinates and direction angle of the end point of each entry trajectory and the coordinates and direction angle of the starting point of each exit trajectory.

[0059] In specific implementation, the starting point and end point of each arc segment are determined according to the coordinates and direction angle of the end point of each entry trajectory and the coordinates and direction angle of the starting point of each exit trajectory; the starting point and end point of each arc segment are connected to obtain the first circular trajectory.

[0060] Specifically, the first circular trajectory includes multiple arc-shaped line segments, such as Figure 2 A1-B1, B1-A2, A2-B2, etc. Figure 2 In the example, the first circular trajectory consists of eight arc-shaped line segments, and this number can be set arbitrarily. Here, as long as the coordinates and direction angles of each point on the circular trajectory are determined according to equations (1)-(5), these eight line segments can be connected in sequence to obtain a complete circular trajectory, namely the first circular trajectory.

[0061] Step S306 : determining the coordinates of the starting point of the entry trajectory according to the coordinates and direction angle of the end point of the entry trajectory and the direction angle of the starting point of the entry trajectory collected in advance.

[0062] In specific implementation, Figure 4As shown, the entry trajectory includes a first line segment (i.e., S1), a second line segment (i.e., S2), a third line segment (i.e., S3), a fourth line segment (i.e., S4), and a fifth line segment (i.e., S5) connected in sequence; the starting point of the first line segment is the starting point of the entry trajectory (i.e., P1); the end point of the fifth line segment is the end point of the entry trajectory (i.e., A1); the curvature of the first line segment and the fifth line segment is zero, and the length of the first line segment and the fifth line segment is equal; the second line segment and the fourth line segment are both spirals (i.e., the curvature is variable), and the length of the second line segment and the fourth line segment is equal; the curvature of the third line segment is a preset fixed value.

[0063] Specifically, generating an entry trajectory first requires determining the coordinates and azimuths of the entry trajectory's starting and ending points, and then connecting the starting point P1 and the ending point A1. During the connection process, because the curvature of the connected roads must be maintained, the reference line is typically constructed by splicing together five curve segments. The order of connection is line, spiral, arc, spiral, and line. S1, S2, S3, S4, and S5 are used to represent the segment curves. The starting point curvature of S2 and the ending curvature of S4 are both 0, the ending curvature of S2 is equal to the starting curvature of S4, and the lengths of S2 and S4 are equal; the lengths of S1 and S5 are equal.

[0064] Specifically, taking the entry trajectory P1 - A1 as an example, the purpose of step S306 is to determine the coordinates of P1 .

[0065] The coordinates of the end point of the entry trajectory A1(x A1 ,y A1 ) and direction angle hdg A1 for:

[0066]

[0067] x A1 =R roundabout ·cos(Agl A1 ) (7);

[0068] y A1 =R roundabout ·sin(Agl A1 ) (8);

[0069] Under the premise of the coordinates and direction angle of the end point A1 of the entry trajectory and the direction angle of the preset entry trajectory starting point P1, the starting point coordinates P1 (x P1 ,y P1 ) is calculated by the following method.

[0070] like Figure 4 As shown, first calculate (x A1 ,y A1The intersection point T1(x T1 ,y T1 ), we can get the angle between the two lines as α, then (x P1 ,y P1 )satisfy:

[0071] dist(A1,T1)=dist(O,P1)-dist(O,T1) (9);

[0072] The direction angle hdg of the end point of the exit trajectory P1 for:

[0073] hdg P1 =Agl D1 +π (10);

[0074] According to equations (7)-(10), the coordinates and direction angle of the starting point P1 of the entry trajectory can be determined.

[0075] Step S308, based on the coordinates and direction angle of the starting point of the entry trajectory, the coordinates and direction angle of the end point of the entry trajectory, and the length of the second line segment collected in advance, determine the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position.

[0076] In specific implementation, Figure 4 As shown, the first position (i.e., E1) is the connection point of the fifth line segment and the fourth line segment, the second position (i.e., E2) is the connection point of the fourth line segment and the third line segment, the third position (i.e., E3) is the connection point of the third line segment and the second line segment, and the fourth position (i.e., E4) is the connection point of the second line segment and the first line segment; the entrance trajectory is determined based on the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position.

[0077] Specifically, if Figure 4 As shown, step S308 includes:

[0078] 1) Draw perpendicular lines A1-T1 and T1-P1 through P1 and A1 respectively. Let the focus of the two perpendicular lines be Q1. Then the distance from P1 and A1 to the focus Q1 is equal, and let this distance be R. max .

[0079] 2) After obtaining the position coordinates and direction angles of the starting point P1 and the end point A1 of the entry trajectory, the starting point and the end point will be connected by the above five line segments. Before generating these five lines, it is necessary to first preset the arc type (i.e. S3) curve curvature, and the preset R arc Should be less than R max , and preset the length L of the two spiral curvesspiral , the lengths of the five curve segments are represented by lengthS1, lengthS2, lengthS3, lengthS4, and lengthS5 respectively, then:

[0080] length S2 =length S4 =L spiral (11);

[0081] length S3 =(π-α1)·R arc -length S2 =L arc (12);

[0082] 3) After obtaining lengthS2, lengthS3, and lengthS4, the key is to find the lengths of the two line segments (i.e., S1 and S5). Figure 4 As shown, F1 and F2 are the perpendicular points of E1 and E4 to the straight line A1P1 respectively.

[0083]

[0084]

[0085] 4) Since lengthS1 and lengthS5 are the same length, we have

[0086]

[0087] 5) If you want to find the value of dist(E1, E4), you need to calculate the coordinates of E1 and E4. However, since S1, S2, S3, S4, and S5 must be smoothly connected, there is a previous and next inheritance relationship. That is, the starting coordinates and direction of S2 cannot be given when the end coordinates and end direction of S1 are given. However, the translation transformation will not change the value of dist(E1, E4). As shown in the figure, the coordinates are translated to the X'O'Y' coordinate system, and E1 and O' coincide. In this way, the starting coordinates of point E4 are (0, 0) and the starting direction is hdg. P1 , and then according to the preset parameter R arc and L spiral The coordinates E3(x E3 ,y E3 )、E2(x E2 ,y E2 )、E1(x E1 ,y E1 ) coordinates, and direction hdg E3 、hdg E2 、hdg E1Thus we can get the value L of dist(E1,E4) line .

[0088] Through the above 1)-5), the direction angles and coordinates of the connection points E1-E4 can be calculated.

[0089] Step S310 , determining an entry trajectory based on the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position.

[0090] Specifically, based on the direction angles and coordinates of E1-E4, the trajectories of S1-S5 can be calculated in Open Drive.

[0091] For S1:

[0092] S1 is a line type line, and its required parameters are hdg, length, x, y, which are the direction of the curve starting point, the length of the curve, the x coordinate of the curve starting point, and the y coordinate of the starting point. Let the corresponding parameters of the first line type line be hdg1, length1, x1, y1, where:

[0093] hdg1=hdg P1 (16);

[0094] length1=L line (17);

[0095] x1=x P1 (18);

[0096] y1=y P1 (19);

[0097] For S2:

[0098] The S2 segment is a spiral curve, requiring parameters hdg, length, x, y, curvStart, and curvEnd, which represent the direction of the curve's starting point, the curve's length, the x-coordinate of the curve's starting point, the y-coordinate of the curve's starting point, and the curvature of the starting and ending points, respectively. Let the corresponding parameters for the S2 spiral be hdg2, length2, x2, y2, curvStart2, and curvEnd2. The calculation of these parameters is as follows:

[0099] hdg2=hdg E4 (20);

[0100] length2=L spiral (twenty one);

[0101] x2=length1·cos(hdg1)+x1 (22);

[0102] y2=length1·sin(hdg1)+y1 (23);

[0103] curStart2 = 0 (24);

[0104]

[0105] For S3:

[0106] The S3 segment curve is an arc type curve. Its required parameters are hdg, length, x, y, and curvature, which are the direction of the curve's starting point, the curve's length, the curve's starting point's x coordinate, the starting point's y coordinate, and the curvature. Let the corresponding parameters of the S3 segment arc type curve be hdg3, length3, x3, y3, and curvature3. The calculation of these parameters is as follows:

[0107] hdg3=hdg E3 (26);

[0108] length2=L arc (27);

[0109] x3=x E3 +x2 (28);

[0110] y3=y E3 +y2 (29);

[0111]

[0112] For S4:

[0113] The S4 segment is a spiral curve, requiring parameters hdg, length, x, y, curvStart, and curvEnd, which represent the direction of the curve's starting point, the curve's length, the x-coordinate of the curve's starting point, the y-coordinate of the curve's starting point, and the curvature of the starting and ending points, respectively. Let's assume the corresponding parameters for the S2 segment's spiral are hdg4, length4, x4, y4, curvStart4, and curvEnd4. The calculations for these parameters are as follows:

[0114] hdg4=hdg1 (31);

[0115] length4=L spiral (32);

[0116] x4=x E2 +x2 (33);

[0117] y4=y E2+y2 (34);

[0118] curEnd4 = 0 (35);

[0119]

[0120] For S5:

[0121] S5 is a line type line, and its required parameters are hdg, length, x, y, which are the direction of the curve starting point, the curve length, the starting point x coordinate, and the starting point y coordinate. Let the corresponding parameters of the first line type line be hdg5, length5, x5, y5, where:

[0122] hdg5=hdg E1 (37);

[0123] length5=L line (38);

[0124] x5=x E1 +x2 (39);

[0125] y5=y E1 +x2 (40);

[0126] By connecting these five line segments S1-S5, we can get the entrance trajectory.

[0127] Step S312: determining an exit trajectory corresponding to the entry trajectory according to the entry trajectory and the diameter of the circular trajectory.

[0128] In a specific implementation, the number of entry roads and exit roads is equal, each entry trajectory corresponds to a unique exit trajectory, and the entry trajectory and the corresponding exit trajectory are symmetrical about the diameter of the circular trajectory.

[0129] Specifically, according to the geometric correspondence, other entry trajectories and all exit trajectories corresponding to the entry trajectories can be directly obtained.

[0130] Step S314 , based on the pre-collected road parameters, the first circular trajectory, the entrance trajectory, and the exit trajectory are corrected and connected to obtain a roundabout road.

[0131] In specific implementation, road parameters include road width, green belt parameters, traffic sign parameters, road height and road planning information.

[0132] Specifically, after obtaining the reference line for the entire roundabout, scenario software (such as VTD) in an editable Open Drive format is used to preset road parameters based on the road type (circular road, exit, or entrance), such as road width and height, traffic line parameters, and traffic sign parameters. Different software programs can edit different information, so we won't explain each one here. By combining these actual conditions, the roundabout is finally created.

[0133] The embodiment of the present invention solves the problem of difficult construction of roundabouts based on the Open Drive standard format by dividing the roundabouts and calculating data such as the coordinates of the endpoints, the direction angles of the endpoints, the curvature of the arc, and the length of the arc. This solution reduces the operational complexity of building roundabouts and thus saves construction time.

[0134] Example 3

[0135] The embodiment of the present invention provides a device for generating a roundabout road, wherein the roundabout road includes a circular road, an entrance road, and an exit road; Figure 5 As shown, the device includes:

[0136] The first circular trajectory determination module 51 is used to determine the first circular trajectory based on the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the central angle corresponding to the end point of the entrance trajectory in each roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road.

[0137] The entry trajectory determining module 52 is configured to determine the entry trajectory according to the first circular trajectory and the direction angle of the starting point of the pre-collected entry trajectory.

[0138] The exit trajectory determination module 53 is used to determine the exit trajectory in the roundabout road corresponding to the entry trajectory; wherein the exit trajectory is the route of the exit road.

[0139] The roundabout road determining module 54 is configured to determine the roundabout road based on pre-collected road parameters, the first circular trajectory, the entrance trajectory, and the exit trajectory.

[0140] The device for generating a roundabout road provided in an embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method for generating a roundabout road. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for generating a roundabout road, characterized in that: The roundabout road includes a circular road, an entrance road, and an exit road; and the method includes: Determining a first circular trajectory based on pre-collected center coordinates of a circular trajectory in the roundabout road, an initial radius of the circular trajectory, and a central angle corresponding to an end point of each entrance trajectory in the roundabout road; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; determining the entry trajectory according to the first circular trajectory and the direction angle of the starting point of the entry trajectory collected in advance; Determining an exit trajectory in the roundabout road corresponding to the entry trajectory; wherein the exit trajectory is a route of the exit road; Determining the roundabout road according to the first circular trajectory, the entrance trajectory, and the exit trajectory based on pre-collected road parameters; The entry trajectory includes a first line segment, a second line segment, a third line segment, a fourth line segment and a fifth line segment connected in sequence; The starting point of the first line segment is the starting point of the entry trajectory; The end point of the fifth line segment is the end point of the entry trajectory; The curvature of the first line segment and the fifth line segment is zero, and the lengths of the first line segment and the fifth line segment are equal; The second line segment and the fourth line segment are both spiral lines, and the second line segment and the fourth line segment are equal in length; The curvature of the third line segment is a preset fixed value; The step of determining the entry trajectory according to the first circular trajectory and the direction angle of the starting point of the entry trajectory collected in advance includes: Determine the coordinates of the starting point of the entry trajectory according to the coordinates and direction angle of the end point of the entry trajectory and the direction angle of the starting point of the entry trajectory collected in advance; Determine, based on the coordinates and direction angle of the starting point of the entry trajectory, the coordinates and direction angle of the end point of the entry trajectory, and the length of the second line segment collected in advance, the direction angle and coordinates of a first position, the direction angle and coordinates of a second position, the direction angle and coordinates of a third position, and the direction angle and coordinates of a fourth position, wherein the first position is a connection point between the fifth line segment and the fourth line segment, the second position is a connection point between the fourth line segment and the third line segment, the third position is a connection point between the third line segment and the second line segment, and the fourth position is a connection point between the second line segment and the first line segment; The entry trajectory is determined according to the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position.

2. The method according to claim 1, characterized in that The step of determining a first circular trajectory according to the pre-collected center coordinates of the circular trajectory in the roundabout road, the initial radius of the circular trajectory, and the central angle corresponding to the end point of each entrance trajectory in the roundabout road includes: Determining the coordinates and direction angle of the end point of each entry trajectory, and the coordinates and direction angle of the starting point of each exit trajectory based on the pre-collected center coordinates of the circular trajectory, the initial radius of the circular trajectory, and the central angle corresponding to the end point of each entry trajectory; A first circular trajectory is determined according to the coordinates and direction angle of the end point of each of the entry trajectories and the coordinates and direction angle of the starting point of each of the exit trajectories.

3. The method according to claim 2, characterized in that The method further comprises: A coordinate system is established with the center of the circular trajectory as the origin to obtain the X-axis and Y-axis of the coordinate system; wherein the central angle corresponding to the end point of the entry trajectory is the angle formed by the end point of the entry trajectory, the origin, and the X-axis.

4. The method according to claim 3, characterized in that The step of determining the coordinates and direction angle of the end point of each entry trajectory, and the coordinates and direction angle of the starting point of each exit trajectory based on the pre-collected center coordinates of the circular trajectory, the initial radius of the circular trajectory, and the central angle corresponding to the end point of each entry trajectory includes: Determine the center angle of the exit trajectory based on the center angle of the end point of the entry trajectory collected in advance; The coordinates and direction angle of each end point of the entry trajectory and the coordinates and direction angle of each starting point of the exit trajectory are determined according to the central angle corresponding to the end point of the entry trajectory, the central angle corresponding to the starting point of the exit trajectory and the initial radius.

5. The method according to claim 4, characterized in that The first circular trajectory includes a plurality of arc-shaped line segments; The step of determining a first circular trajectory according to the coordinates and direction angle of the end point of each of the entry trajectories and the coordinates and direction angle of the starting point of each of the exit trajectories comprises: Determining the starting point and the end point of each arc-shaped line segment according to the coordinates and the direction angle of the end point of each entry trajectory and the coordinates and the direction angle of the starting point of each exit trajectory; The starting point and the end point of each arc-shaped line segment are connected to obtain a first circular trajectory.

6. The method according to claim 1, characterized in that The number of the entry paths is equal to the number of the exit paths, each entry trajectory corresponds to a unique exit trajectory, and the entry trajectory and the corresponding exit trajectory are symmetrical about the diameter of the circular trajectory; The step of determining an exit trajectory in the roundabout road corresponding to the entrance trajectory comprises: An exit trajectory corresponding to the entry trajectory is determined according to the entry trajectory and the diameter of the circular trajectory.

7. The method according to claim 1, characterized in that The road parameters include road width, green belt parameters, traffic sign parameters, road height and road planning information; The step of determining the roundabout road based on the first circular trajectory, the entrance trajectory, and the exit trajectory based on pre-collected road parameters includes: According to the pre-collected road parameters, the first circular trajectory, the entrance trajectory and the exit trajectory are corrected and connected to obtain the roundabout road.

8. A device for generating a roundabout road, characterized in that: The island road includes a circular road, an entrance road and an exit road; the device includes: a first circular trajectory determination module, configured to determine a first circular trajectory based on pre-collected center coordinates of the circular trajectory in the roundabout, an initial radius of the circular trajectory, and a central angle corresponding to an end point of each entrance trajectory in the roundabout; wherein the circular trajectory is the route of the circular road, and the entrance trajectory is the route of the entrance road; an entry trajectory determining module, configured to determine the entry trajectory according to the first circular trajectory and the direction angle of the starting point of the entry trajectory collected in advance; An exit trajectory determination module, configured to determine an exit trajectory in the roundabout road corresponding to the entry trajectory; wherein the exit trajectory is a route of the exit road; a roundabout road determination module, configured to determine the roundabout road according to the first circular trajectory, the entrance trajectory, and the exit trajectory based on pre-collected road parameters; The entry trajectory includes a first line segment, a second line segment, a third line segment, a fourth line segment and a fifth line segment connected in sequence; The starting point of the first line segment is the starting point of the entry trajectory; The end point of the fifth line segment is the end point of the entry trajectory; The curvature of the first line segment and the fifth line segment is zero, and the lengths of the first line segment and the fifth line segment are equal; The second line segment and the fourth line segment are both spiral lines, and the second line segment and the fourth line segment are equal in length; The curvature of the third line segment is a preset fixed value; The entry trajectory determination module is further configured to determine the coordinates of the starting point of the entry trajectory based on the coordinates and direction angle of the end point of the entry trajectory and the direction angle of the starting point of the entry trajectory collected in advance; Determine, based on the coordinates and direction angle of the starting point of the entry trajectory, the coordinates and direction angle of the end point of the entry trajectory, and the length of the second line segment collected in advance, the direction angle and coordinates of a first position, the direction angle and coordinates of a second position, the direction angle and coordinates of a third position, and the direction angle and coordinates of a fourth position, wherein the first position is a connection point between the fifth line segment and the fourth line segment, the second position is a connection point between the fourth line segment and the third line segment, the third position is a connection point between the third line segment and the second line segment, and the fourth position is a connection point between the second line segment and the first line segment; The entry trajectory is determined according to the direction angle and coordinates of the first position, the direction angle and coordinates of the second position, the direction angle and coordinates of the third position, and the direction angle and coordinates of the fourth position.

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