A road outer line construction method, system, electronic device and storage medium
By orthoprojecting the outer lane lines onto the physical isolation facilities, the outer road lines are generated, which solves the geometric accuracy and time-consuming problems during manual drawing, and achieves high-precision and efficient generation of the outer road lines.
Patent Information
- Application Number
- CN202111522036.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-12-13
- Publication Date
- 2025-05-02
- Estimated Expiration
- 2041-12-13
AI Technical Summary
In the prior art, there are problems such as manual drawing of the outer lines of the road that cannot be guaranteed and measured, and the time-consuming work of humans is too high.
By obtaining high-precision map data, including lane exterior lines and physical isolation facilities, the lane exterior lines are orthoprojected onto the adjacent physical isolation facilities in a two-dimensional plane to generate the road exterior lines.
The generation of high-precision road outer lines is achieved, solving the problems of geometric accuracy and manual time-consuming, and improving the drawing efficiency and accuracy of road outer lines.
Smart Images
Figure CN114494505B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of high-precision map data processing, and more specifically, to a road outer line construction method, system, electronic device and storage medium. Background Art
[0002] Based on the application requirements of autonomous driving, high-precision map data needs to provide the maximum drivable area (ODD). General map data is expressed through the outer line of the road, which constructs the maximum physical area that motor vehicles can pass for the physical isolation facilities on both sides of the road. At present, the physical isolation facilities of high-precision map data include physical elements such as guardrails, curbstones, and walls. It is necessary to draw the outer line of the road based on these physical isolation facilities. At present, most map vendors draw the outer line of the road manually, which has problems such as the inability to guarantee and measure geometric accuracy and the time-consuming manual work. Summary of the invention
[0003] The present invention aims at the technical problems existing in the prior art and provides a road outer line construction method, system, electronic equipment and storage medium.
[0004] According to a first aspect of the present invention, there is provided a method for constructing an outer side line of a road, comprising:
[0005] Acquiring high-precision map data, wherein the high-precision map data includes lane outer lines and physical isolation facilities;
[0006] In a two-dimensional plane, the outer line of the lane is orthogonally projected onto a physical isolation facility adjacent to the outer line of the lane to generate an outer line of the road.
[0007] Based on the above technical solution, the present invention can also make the following improvements.
[0008] Optionally, the orthogonal projection of the lane outer line on a physical isolation facility adjacent to the lane outer line in a two-dimensional plane to obtain the road outer line includes:
[0009] Extracting a plurality of first shape points on the outer line of the lane;
[0010] On a two-dimensional plane, orthographically project each first shape point onto a physical isolation facility adjacent to the outer line of the lane to obtain a corresponding plurality of second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the outer line of the lane;
[0011] A smoothly connected road outer line is generated according to the plurality of second shape points.
[0012] Optionally, extracting a plurality of first shape points on the outer line of the lane includes:
[0013] A plurality of first shape points are uniformly extracted on the outer line of the lane.
[0014] Optionally, the orthographically projecting each first shape point onto a physical isolation facility adjacent to the outer line of the lane on a two-dimensional plane to obtain a corresponding plurality of second shape points further includes:
[0015] If the projection of the first shape point on the outer line of the lane cannot find the adjacent physical isolation facility, for the missing physical isolation facility section, the corresponding road outer line section is generated based on the lane outer line section corresponding to the missing physical isolation facility section.
[0016] Optionally, for the missing physical isolation facility section, generating a corresponding road outer line section based on the lane outer line section corresponding to the missing physical isolation facility section includes:
[0017] Based on the missing physical isolation facility section, find a corresponding plurality of first shape points;
[0018] Based on multiple first shape points, the lane outer line segment is obtained by fitting;
[0019] Based on the lane outer line segment, a corresponding road outer line segment is generated, wherein the road outer line segment is parallel to the lane outer line segment, and the distance between the road outer line segment and the lane outer line segment is equal to the distance between the road outer line segment and the lane outer line segment in a section with a physical isolation facility.
[0020] Optionally, the method further includes orthogonally projecting the lane outer line onto a physical isolation facility adjacent to the lane outer line in a two-dimensional plane to obtain the road outer line, and then further including:
[0021] The source record of the road outer line generated based on the projection of physical isolation facilities is the corresponding physical isolation facility type; the source record of the road outer line generated in the area without physical isolation is virtual.
[0022] According to a second aspect of the present invention, there is provided a road outer line construction system, comprising:
[0023] An acquisition module, used to acquire high-precision map data, wherein the high-precision map data includes lane outer lines and physical isolation facilities;
[0024] The generation module is used to orthogonally project the outer line of the lane onto a physical isolation facility adjacent to the outer line of the lane in a two-dimensional plane to generate an outer line of the road.
[0025] 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 configured to implement the steps of a road outer line construction method when executing a computer management program stored in the memory.
[0026] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer management program is stored, and when the computer management program is executed by a processor, the steps of the road outer line construction method are implemented.
[0027] The present invention provides a road outer line construction method, system, electronic device and storage medium, which generate the road outer line based on the geometry of physical isolation facilities, and solve the problems that most map vendors currently draw the road outer line manually, such as the geometric accuracy cannot be guaranteed and measured, and the manual work is time-consuming. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 A flow chart of a method for constructing a road outer line provided by the present invention;
[0029] Figure 2 A schematic diagram of projecting the outer lane line onto the physical isolation facility;
[0030] Figure 3 This is a schematic diagram of the section where physical isolation facilities are missing;
[0031] Figure 4 Generate schematic diagrams for the outer edges of roads where physical barriers are missing;
[0032] Figure 5 It is an overall flow chart of a method for constructing the outer side line of a road;
[0033] Figure 6 A schematic diagram of the structure of a road outer line construction system provided by the present invention;
[0034] Figure 7 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;
[0035] Figure 8 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION
[0036] 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.
[0037] Embodiment 1
[0038] A method for constructing the outer line of a road, see Figure 1 , the road outer line construction method mainly includes the following steps:
[0039] S1, obtaining high-precision map data, where the high-precision map data includes lane outer lines and physical isolation facilities.
[0040] It is understandable that high-precision map data is obtained from a high-precision map database, and the outer lines of the lanes and physical isolation facilities (guardrails, curbstones, walls, etc.) in the map data are obtained.
[0041] S2, in a two-dimensional plane, orthographically projecting the outer line of the lane onto a physical isolation facility adjacent to the outer line of the lane to generate an outer line of the road.
[0042] As an embodiment, the outer line of the lane is orthogonally projected onto a physical isolation facility adjacent to the outer line of the lane on a two-dimensional plane to obtain the outer line of the road, including: extracting multiple first shape points on the outer line of the lane; on the two-dimensional plane, orthogonally projecting each first shape point onto a physical isolation facility adjacent to the outer line of the lane to obtain a corresponding multiple second shape points, the Z value of each second shape point being the Z value of the corresponding first shape point on the outer line of the lane; and generating a smoothly connected outer line of the road based on the multiple second shape points.
[0043] Specifically, multiple shape points are uniformly extracted from the acquired lane outer line, which are called first shape points. For example, a shape point is extracted every 1 m on the lane outer line, and multiple first shape points are extracted.
[0044] See also Figure 2 In a two-dimensional plane, each first shape point extracted from the outer line of the lane is orthogonally projected onto the physical isolation facilities adjacent to the outer line of the road to obtain a series of second shape points, and a smoothly connected outer line of the road is generated based on these second shape points.
[0045] As an embodiment, on the two-dimensional plane, each first shape point is orthogonally projected onto the physical isolation facility adjacent to the outer line of the lane to obtain corresponding multiple second shape points, and also includes: if the projection of the first shape point on the outer line of the lane cannot find the adjacent physical isolation facility, for the missing physical isolation facility section, the corresponding road outer line segment is generated based on the lane outer line segment corresponding to the missing physical isolation facility section.
[0046] For details, see Figure 3 , if the projection of the first shape point on the outer line of the lane cannot find any adjacent physical isolation facilities, for example, Figure 3 In the C section, there is no physical isolation facility, so the road outer line of this section cannot be generated according to the above method. In this case, the shape points of the front and rear road outer lines are obtained, and a curve is fitted based on the shape points of the lane outer lines within the range to generate the road outer line of this section.
[0047] As an embodiment, for a missing physical isolation facility section, a corresponding road outer line section is generated based on the lane outer line section corresponding to the missing physical isolation facility section, including: based on the missing physical isolation facility section, finding the corresponding multiple first shape points; based on the multiple first shape points, fitting the lane outer line section; based on the lane outer line section, generating a corresponding road outer line section, the road outer line section is parallel to the lane outer line section, and the distance between the road outer line section and the lane outer line section is equal to the distance between the road outer line section and the lane outer line section where the physical isolation facility section exists.
[0048] like Figure 3 and Figure 4 : There are physical isolation facilities in sections A and B, and the outer road line is generated based on the physical isolation facilities. The outer road line of section C is fitted with a curve based on multiple first shape points of the lane outer line in the interval from Pt to Pm, that is, the lane outer line of this section. Based on the lane outer line of this section, the road outer line of the corresponding section is generated. For example, if the distance between the lane outer line and the road outer line of sections A and B is L, then the distance between the lane outer line and the road outer line in the section without physical isolation facilities is also L.
[0049] Finally, after the road outer line is generated based on the lane outer line, the source of the generated road outer line is recorded. The source of the road outer line generated based on the projection of the physical isolation facility is recorded as the corresponding physical isolation facility type; the source of the road outer line generated in the area without physical isolation is recorded as virtual, for example, Figure 4 The outer road lines of sections A and B in the figure are derived from the types of physical isolation facilities (guardrails, curbstones, walls, etc.), while the outer road line of section C is derived from virtual ones.
[0050] Embodiment 2
[0051] A method for constructing the outer line of a road, see Figure 5 The method for constructing the outer line of the road includes: obtaining high-precision data from a high-precision database, wherein the high-precision data includes the outer line of the lane and physical isolation facilities. Extracting multiple first shape points on the outer line of the lane, orthogonally projecting each first shape point onto the physical isolation facilities adjacent to the outer line of the lane in a two-dimensional plane, obtaining multiple corresponding second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the outer line of the lane, and generating the outer line of the road based on the multiple second shape points obtained by projection.
[0052] Among them, if the projection of the first shape point on the outer line of the lane cannot find the adjacent physical isolation facilities, the shape points of the outer lines of the front and rear roads are obtained, and a curve is fitted based on the shape points of the outer line of the lane within the range to generate the outer line of the road.
[0053] Embodiment 3
[0054] A road outer line construction system, see Figure 6 The road outer line construction system includes an acquisition module 601 and a generation module 602, wherein:
[0055] An acquisition module 601 is used to acquire high-precision map data, where the high-precision map data includes lane outer lines and physical isolation facilities;
[0056] The generation module 602 is used to orthogonally project the lane outer line onto a physical isolation facility adjacent to the lane outer line in a two-dimensional plane to generate a road outer line.
[0057] It can be understood that the road outer line construction system provided by the present invention corresponds to the road outer line construction method provided by the aforementioned embodiments. The relevant technical features of the road outer line construction system can refer to the relevant technical features of the road outer line construction method, which will not be repeated here.
[0058] Embodiment 4
[0059] See also Figure 7 , Figure 7 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 7 As shown, an embodiment of the present invention provides an electronic device 700, including a memory 710, a processor 720, and a computer program 711 stored in the memory 710 and executable on the processor 720. When the processor 720 executes the computer program 711, the following steps are implemented: obtaining high-precision map data, the high-precision map data including lane outer lines and physical isolation facilities; in a two-dimensional plane, orthogonally projecting the lane outer lines onto the physical isolation facilities adjacent to the lane outer lines to generate the road outer lines.
[0060] Embodiment 5
[0061] See also Figure 8 , Figure 8 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 8 As shown, this embodiment provides a computer-readable storage medium 800 on which a computer program 811 is stored. When the computer program 811 is executed by a processor, the following steps are implemented: obtaining high-precision map data, the high-precision map data including lane outer lines and physical isolation facilities; in a two-dimensional plane, orthogonally projecting the lane outer lines onto the physical isolation facilities adjacent to the lane outer lines to generate the road outer lines.
[0062] The embodiments of the present invention provide a method, system, electronic device and storage medium for constructing the outer side line of a road, which generates the outer side line of a road based on the geometry of physical isolation facilities, thereby solving the problem that most map vendors currently draw the outer side lines of a road manually, resulting in the inability to guarantee and measure geometric accuracy and the time-consuming manual work.
[0063] 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.
[0064] 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.
[0065] 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.
[0066] 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.
[0067] 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 1The steps for the functions specified in one or more boxes.
[0068] 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.
[0069] 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 constructing a road outer line, characterized in that: include: Acquiring high-precision map data, wherein the high-precision map data includes lane outer lines and physical isolation facilities; In a two-dimensional plane, orthographically projecting the lane outer line onto a physical isolation facility adjacent to the lane outer line to generate a road outer line; The method of orthogonally projecting the lane outer line onto a physical isolation facility adjacent to the lane outer line in a two-dimensional plane to obtain the road outer line includes: Extracting a plurality of first shape points on the outer line of the lane; On a two-dimensional plane, orthographically project each first shape point onto a physical isolation facility adjacent to the outer line of the lane to obtain a corresponding plurality of second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the outer line of the lane; Generating a smoothly connected road outer line according to the plurality of second shape points; The method further comprises: ortho-projecting each first shape point onto a physical isolation facility adjacent to the outer line of the lane on a two-dimensional plane to obtain a corresponding plurality of second shape points; If the projection of the first shape point on the outer line of the lane cannot find the adjacent physical isolation facility, for the missing physical isolation facility section, the corresponding road outer line section is generated based on the lane outer line section corresponding to the missing physical isolation facility section.
2. The method for constructing the road outer line according to claim 1, characterized in that: The step of extracting a plurality of first shape points on the outer line of the lane comprises: A plurality of first shape points are uniformly extracted on the outer line of the lane.
3. The method for constructing the road outer line according to claim 1, characterized in that: For the missing physical isolation facility section, generating a corresponding road outer line section based on the lane outer line section corresponding to the missing physical isolation facility section includes: Based on the missing physical isolation facility section, find a corresponding plurality of first shape points; Based on multiple first shape points, the lane outer line segment is obtained by fitting; Based on the lane outer line segment, a corresponding road outer line segment is generated, wherein the road outer line segment is parallel to the lane outer line segment, and the distance between the road outer line segment and the lane outer line segment is equal to the distance between the road outer line segment and the lane outer line segment in a section with a physical isolation facility.
4. The method for constructing the road outer line according to claim 3, characterized in that: In the two-dimensional plane, orthogonally projecting the outer line of the lane onto a physical isolation facility adjacent to the outer line of the lane to obtain the outer line of the road, and then further comprising: The source record of the road outer line generated based on the projection of physical isolation facilities is the corresponding physical isolation facility type; the source record of the road outer line generated in the area without physical isolation is virtual.
5. A road outer line construction system, characterized in that: include: An acquisition module, used to acquire high-precision map data, wherein the high-precision map data includes lane outer lines and physical isolation facilities; A generating module, for orthogonally projecting the lane outer line onto a physical isolation facility adjacent to the lane outer line in a two-dimensional plane to generate a road outer line; The method of orthogonally projecting the lane outer line onto a physical isolation facility adjacent to the lane outer line in a two-dimensional plane to obtain the road outer line includes: Extracting a plurality of first shape points on the outer line of the lane; On a two-dimensional plane, orthographically project each first shape point onto a physical isolation facility adjacent to the outer line of the lane to obtain a corresponding plurality of second shape points, wherein the Z value of each second shape point is the Z value of the corresponding first shape point on the outer line of the lane; Generating a smoothly connected road outer line according to the plurality of second shape points; The method further comprises: ortho-projecting each first shape point onto a physical isolation facility adjacent to the outer line of the lane on a two-dimensional plane to obtain a corresponding plurality of second shape points; If the projection of the first shape point on the outer line of the lane cannot find the adjacent physical isolation facility, for the missing physical isolation facility section, the corresponding road outer line section is generated based on the lane outer line section corresponding to the missing physical isolation facility section.
6. An electronic device, characterized in that: It comprises a memory and a processor, wherein the processor is used to implement the steps of the road outer line construction method as described in any one of claims 1 to 4 when executing the computer management program stored in the memory.
7. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by a processor, the steps of the road outer line construction method as described in any one of claims 1 to 4 are implemented.
Citation Information
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