A method and system for extracting road level information from high-precision map data
By projecting and cutting road areas in high-precision maps and establishing physical intersections, the problem that high-precision maps cannot distinguish between upper and lower roads at interchanges is solved, and effective hierarchical information expression in autonomous driving and map rendering is achieved.
Patent Information
- Application Number
- CN202111523300.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-12-13
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2041-12-13
AI Technical Summary
High-precision maps cannot distinguish between upper and lower roads in interchange locations, affecting the 3D mode presentation of autonomous driving vehicles and map rendering.
By obtaining high-precision map data, the road area is projected to a two-dimensional plane, overlapping intervals are extracted and road sub-intervals are cut, hierarchical information is set based on elevation information, and body intersection points are created to express absolute hierarchical information.
Effectively express absolute level information in the interchange scenario, meet the application needs of autonomous driving vehicle positioning and map rendering, and solve the problem of inability to distinguish between upper and lower roads.
Smart Images
Figure CN114416896B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of high-precision electronic map data, and more specifically, to a method and system for extracting road level information in high-precision map data. Background Art
[0002] Based on the latest surveying and mapping regulations, high-precision maps cannot provide relative and absolute elevations of high-precision maps, but can only provide the latitude and longitude coordinates of high-precision map data. Therefore, at locations where there are overpasses or areas where roads overlap, map data cannot distinguish between upper roads and lower roads, affecting the vehicle's positioning when using high-precision maps for autonomous driving, and determining whether the vehicle is located on an upper or lower road. At the same time, since the elevation of high-precision map data cannot be provided, map rendering cannot present 3D mode at overpasses, affecting the NGA rendering effect. Summary of the invention
[0003] The present invention aims at the technical problems existing in the prior art and provides a method and system for extracting road level information in high-precision map data.
[0004] According to a first aspect of the present invention, a method for extracting road hierarchy information in high-precision map data is provided, comprising: acquiring high-precision map data, the high-precision map data including various road areas; projecting each road area onto a two-dimensional plane, and extracting overlapping intervals of each road area in the two-dimensional plane; cutting out overlapping road sub-intervals from each road area based on the overlapping intervals; setting hierarchy information for the road sub-intervals of each road area based on the elevation information of each road area in the high-precision map data, and generating corresponding three-dimensional intersections.
[0005] Based on the above technical solution, the present invention can also make the following improvements.
[0006] Optionally, cutting out overlapping road sub-intervals from each road area based on the overlapping interval includes: based on the overlapping interval, obtaining the starting intersection point and the ending intersection point of each road area according to the road travel direction; cutting each road area into multiple road sub-intervals according to the starting intersection point and the ending intersection point; and extracting the road sub-interval corresponding to the overlapping interval from each road area.
[0007] Optionally, the generating of the corresponding three-dimensional intersection includes: the center position point of the road sub-interval is the three-dimensional intersection.
[0008] Optionally, it also includes: recording the overlapping intervals of each road area, the road sub-intervals where each road area overlaps and the corresponding hierarchical information, and the three-dimensional intersection of each road sub-interval.
[0009] According to a second aspect of the present invention, a system for extracting road hierarchy information in high-precision map data is provided, comprising: an acquisition module for acquiring high-precision map data, wherein the high-precision map data includes various road areas; an extraction module for projecting each road area onto a two-dimensional plane, and extracting overlapping intervals of each road area in the two-dimensional plane; a cutting module for cutting out overlapping road sub-intervals from each road area based on the overlapping intervals; and a setting module for setting hierarchy information for the road sub-intervals of each road area based on the elevation information of each road area in the high-precision map data, and generating corresponding three-dimensional intersections.
[0010] Optionally, the cutting module is used to cut out overlapping road sub-intervals from each road area based on the overlapping interval, including: based on the overlapping interval, according to the road travel direction, obtaining the starting intersection point and the ending intersection point of each road area; according to the starting intersection point and the ending intersection point, cutting each road area into multiple road sub-intervals; extracting the road sub-interval corresponding to the overlapping interval from each road area.
[0011] Optionally, it also includes: a recording module, which is used to record the overlapping intervals of each road area, the road sub-intervals where each road area overlaps and the corresponding hierarchical information, and the three-dimensional intersection of each road sub-interval.
[0012] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is used to implement the steps of a method for extracting road hierarchy information from high-precision map data when executing a computer management program stored in the memory.
[0013] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon, which, when executed by a processor, implements the steps of a method for extracting road hierarchy information from high-precision map data.
[0014] The present invention provides a method and system for extracting road level information in high-precision map data. In an overpass scenario, a three-dimensional intersection is used to express the absolute level information of the overpass location, meeting the application requirements of autonomous driving vehicle positioning and map rendering. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 A flow chart of a method for extracting road level information from high-precision map data provided by the present invention;
[0016] Figure 2 It is a schematic diagram of each road area projected onto a two-dimensional plane;
[0017] Figure 3It is an overall flow chart of a method for extracting road level information from high-precision map data;
[0018] Figure 4 A schematic diagram of the structure of a system for extracting road level information from high-precision map data provided by the present invention;
[0019] Figure 5 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;
[0020] Figure 6 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION
[0021] 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.
[0022] Embodiment 1
[0023] A method for road level information in high-precision map data, see Figure 1 , the road level information extraction method mainly includes the following steps:
[0024] S1, obtaining high-precision map data, wherein the high-precision map data includes various road areas.
[0025] It can be understood that high-precision map data is obtained from a high-precision map database, where the map data is expressed by road section data structures (roadsection-lane divider-lane vector), where roadsection-lane is the road edge line and divider-lane vector is the road vector.
[0026] S2, projecting each road area onto a two-dimensional plane, and extracting overlapping sections of each road area on the two-dimensional plane.
[0027] It is understandable that since the road area data obtained from the high-precision map data is three-dimensional spatial data, in order to extract the overlapping intervals of each road area, it is necessary to project each road area onto a two-dimensional plane. Each road area is projected onto a two-dimensional plane, and the overlapping intervals of each road area are obtained on the two-dimensional plane. Figure 2 As shown, it is a schematic diagram of projecting the road area 1 and the road area 2 onto a two-dimensional plane, wherein the road area 1 and the road area 2 have an overlapping area in the two-dimensional plane.
[0028] S3: cutting out overlapping road sub-intervals from each road area based on the overlapping intervals.
[0029] As an embodiment, the method of cutting out overlapping road sub-intervals from each road area based on the overlapping interval includes: based on the overlapping interval, obtaining the starting intersection point and the ending intersection point of each road area according to the road travel direction; according to the starting intersection point and the ending intersection point, cutting each road area into multiple road sub-intervals; and extracting the road sub-interval corresponding to the overlapping interval from each road area.
[0030] It can be understood that step S2 obtains the overlapping interval of road area 1 and road area 2, such as Figure 2 In the example, the starting intersection point and the ending intersection point of the multiple intersection points of the road area 1 and the road area 2 are obtained. Based on the starting intersection point and the ending intersection point, the road area 1 and the road area 2 are respectively cut into multiple road sub-intervals. Figure 2 , based on the start intersection point and the end intersection point, the road area 1 is divided into three road sub-intervals: sec1-1, sec1-2 and sec1-3, and the road area 2 is divided into three road sub-intervals: sec2-1, sec2-2 and sec2-3. Among them, the road sub-interval sec1-2 in the road area 1 and the road sub-interval sec2-2 in the road area are the road sub-intervals where the road area 1 and the road area 2 overlap.
[0031] S4, based on the elevation information of each road area in the high-precision map data, setting the level information for the road sub-interval of each road area, and generating the corresponding three-dimensional intersection.
[0032] It can be understood that in step S3, the overlapping road sub-intervals in each road area are obtained. This step sets the level information for the overlapping road sub-intervals in each road area according to the elevation information of each road area in the high-precision map. For example, the level information of the road sub-interval with large elevation information is set to 2, and the level information of the road sub-interval with small elevation information is set to 1, and a three-dimensional intersection point is generated for each road sub-interval.
[0033] It should be noted that after obtaining the overlapping road sub-intervals and level information of each road area, it also includes: recording the overlapping intervals of each road area, the overlapping road sub-intervals of each road area and the corresponding level information, and the three-dimensional intersection of each road sub-interval.
[0034] Specifically, see Table 1, the levels of different road areas are expressed as follows: a three-dimensional intersection group: including three-dimensional intersections of overlapping road sub-intervals of each road area, each road sub-interval and corresponding level information, which are saved.
[0035]
[0036] Embodiment 2
[0037] A method for extracting road level information from high-precision map data, see Figure 3 The road level information extraction method first obtains different road areas from high-precision map data, projects each road area onto a two-dimensional plane, and obtains overlapping intervals of different road areas in the two-dimensional plane. Based on the overlapping intervals, the starting intersection points and the ending intersection points of different road areas are obtained, and each road area is cut into multiple road sub-intervals according to the starting intersection points and the ending intersection points, and the overlapping road sub-intervals in each road area are extracted. According to the elevation information, the corresponding level information is set for each road sub-interval, and the corresponding three-dimensional intersection is generated.
[0038] Finally, the levels of different road areas are expressed, specifically as follows: a three-dimensional intersection group: including three-dimensional intersections of overlapping road sub-intervals in each road area, each road sub-interval and corresponding level information, which are saved.
[0039] Embodiment 3
[0040] A road level information extraction system in high-precision map data, see Figure 4 The road level information extraction system includes an acquisition module 401, an extraction module 402, a cutting module 403, a setting module 404 and a recording module 405.
[0041] Among them, the acquisition module 401 is used to acquire high-precision map data, and the high-precision map data includes various different road areas; the extraction module 402 is used to project each road area onto a two-dimensional plane and extract the overlapping intervals of each road area in the two-dimensional plane; the cutting module 403 is used to cut out overlapping road sub-intervals from each road area based on the overlapping intervals; the setting module 404 is used to set the level information of the road sub-intervals of each road area based on the elevation information of each road area in the high-precision map data, and generate corresponding three-dimensional intersections.
[0042] The cutting module 403 is used to cut out overlapping road sub-intervals from each road area based on the overlapping interval, including: based on the overlapping interval, according to the road travel direction, obtaining the starting intersection point and the ending intersection point of each road area; according to the starting intersection point and the ending intersection point, cutting each road area into multiple road sub-intervals; extracting the road sub-interval corresponding to the overlapping interval from each road area.
[0043] The recording module 405 is used to record the overlapping sections of each road area, the road sub-sections where each road area overlaps and the corresponding level information, and the three-dimensional intersection of each road sub-section.
[0044] It can be understood that the road level information extraction system in high-precision map data provided by the present invention corresponds to the road level information extraction method in high-precision map data provided by the aforementioned embodiments. The relevant technical features of the road level information extraction system in high-precision map data can refer to the relevant technical features of the road level information extraction method in high-precision map data, which will not be repeated here.
[0045] Embodiment 4
[0046] See also Figure 5 , Figure 5 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented: obtaining high-precision map data, the high-precision map data including various road areas; projecting each road area onto a two-dimensional plane, and extracting overlapping intervals of each road area in the two-dimensional plane; cutting out overlapping road sub-intervals from each road area based on the overlapping intervals; setting hierarchical information for the road sub-intervals of each road area based on the elevation information of each road area in the high-precision map data, and generating corresponding three-dimensional intersections.
[0047] Embodiment 5
[0048] See also Figure 6 , Figure 6 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 6 As shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented: obtaining high-precision map data, the high-precision map data including various road areas; projecting each road area onto a two-dimensional plane, and extracting overlapping intervals of each road area in the two-dimensional plane; cutting out overlapping road sub-intervals from each road area based on the overlapping intervals; setting hierarchical information for the road sub-intervals of each road area based on the elevation information of each road area in the high-precision map data, and generating corresponding three-dimensional intersections.
[0049] An embodiment of the present invention provides a method and system for extracting road level information in high-precision map data, which uses a three-dimensional intersection method to express the absolute level information of the interchange location, meet the application requirements of autonomous driving vehicle positioning and map rendering, and solve the problem that in the interchange scenario, the elevation information cannot be reflected due to regulatory requirements and the data cannot express the level information.
[0050] 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.
[0051] Those skilled in the art will appreciate that 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. 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.
[0052] 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.
[0053] 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.
[0054] 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.
[0055] 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.
[0056] 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 extracting road level information from high-precision map data, characterized in that: include: Acquiring high-precision map data, wherein the high-precision map data includes various road areas; Project each road area onto a two-dimensional plane, and extract the overlapping intervals of each road area on the two-dimensional plane; Cutting out overlapping road sub-intervals from each road area based on the overlapping intervals; Based on the elevation information of each road area in the high-precision map data, the hierarchical information is set for the road sub-intervals of each road area, and the corresponding three-dimensional intersections are generated; the hierarchical expressions of different road areas are as follows: a three-dimensional intersection group: including the three-dimensional intersections of the road sub-intervals that overlap each road area, each road sub-interval and the corresponding hierarchical information; The step of cutting out overlapping road sub-intervals from each road area based on the overlapping intervals includes: Based on the overlapping interval, according to the road travel direction, obtaining the starting intersection point and the ending intersection point of each road area; According to the starting intersection point and the ending intersection point, each road area is divided into a plurality of road sub-intervals; A road sub-section corresponding to the overlapping section is extracted from each road area.
2. The road level information extraction method according to claim 1, characterized in that: The generating of the corresponding three-dimensional intersection point comprises: The central position point of the road sub-section is a three-dimensional intersection.
3. A road level information extraction system in high-precision map data, characterized in that: include: An acquisition module, used for acquiring high-precision map data, wherein the high-precision map data includes various road areas; An extraction module, used for projecting each road area onto a two-dimensional plane and extracting overlapping intervals of each road area on the two-dimensional plane; A cutting module, used for cutting out overlapping road sub-intervals from each road area based on the overlapping intervals; The setting module is used to set the level information of the road sub-intervals of each road area based on the elevation information of each road area in the high-precision map data, and generate the corresponding three-dimensional intersections; the level of different road areas is expressed as follows: a three-dimensional intersection group: including the three-dimensional intersections of the road sub-intervals that overlap each road area, each road sub-interval and the corresponding level information; Among them, the cutting module includes: Based on the overlapping interval, according to the road travel direction, obtaining the starting intersection point and the ending intersection point of each road area; According to the starting intersection point and the ending intersection point, each road area is divided into a plurality of road sub-intervals; A road sub-section corresponding to the overlapping section is extracted from each road area.
4. An electronic device, characterized in that: It comprises a memory and a processor, wherein the processor is used to implement the steps of the method for extracting road level information in high-precision map data as claimed in claim 1 or 2 when executing a computer management program stored in the memory.
5. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the method for extracting road level information in high-precision map data as claimed in claim 1 or 2 are implemented.