Lane line height assignment method, device and equipment

Abstract

The present application relates to a lane line height assignment method, device and equipment. The method includes: obtaining the coordinates of each lane line and each positioning point to be processed; selecting a positioning point coordinate as the first coordinate, and taking the node of the lane line within a preset distance from the first coordinate as the first node; taking the next node of the first node as the second node, and taking the positioning point coordinate within a preset distance from the second node as the second pending coordinate; selecting a second pending coordinate that is coherent with the first coordinate as the second coordinate; selecting a first node as the first target node, and taking the second node corresponding to the first target node as the second target node; assigning a height to the first target node according to the height value of the first coordinate, and assigning a height to the second target node according to the height value of the second coordinate. The solution provided by the present application can improve the correctness of the lane line height assignment and ensure the continuity of the lane line height.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a method, device and equipment for assigning lane height. Background Art

[0002] High-precision maps have been widely used in the field of navigation technology, providing support for the realization of the car's autonomous driving function. In the process of making high-precision maps, it is necessary to assign heights to each lane line that has been generated. In related technologies, the data collection vehicle drives on the road, collects road environment data, and then generates lane line data. During the driving process of the vehicle, the vehicle positioning device on the vehicle collects the vehicle positioning data, thereby obtaining multiple coherent vehicle positioning point coordinates corresponding to the vehicle's driving trajectory.

[0003] Currently, in order to determine the height of a lane line, the coordinates of a nearby positioning point are usually matched according to the position of the lane line, and then the height of the lane line is assigned according to the height information of the matched positioning point coordinates.

[0004] However, traffic roads are complex and elevated overpasses are crisscrossed. For the lane lines on the elevated roads, if the height assignment method in related technologies is used, it is easy to match the coordinates of the positioning points on the lanes below the elevated roads, which will lead to errors in the height assignment of the lane lines. Summary of the invention

[0005] In order to solve or partially solve the problems existing in the related technology, the present application provides a lane line height assignment method, device and equipment, which can improve the accuracy of lane line height assignment, ensure the continuity of lane line height, and optimize the production of high-precision maps.

[0006] The first aspect of the present application provides a lane line height assignment method, comprising:

[0007] Obtain the coordinates of each lane line and each positioning point to be processed;

[0008] Selecting one of the positioning point coordinates as a first coordinate, and taking a lane line node within a preset distance from the first coordinate as a first node;

[0009] Taking the next node of the first node as the second node, and taking the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined;

[0010] Selecting a second undetermined coordinate that is continuous with the first coordinate as the second coordinate;

[0011] A first node is selected as a first target node, and a second node corresponding to the first target node is selected as a second target node; wherein an angle between a line connecting the first target node and the second target node and a line connecting the first coordinate and the second coordinate is within a preset angle range;

[0012] The first target node is assigned a height value according to the height value of the first coordinate, and the second target node is assigned a height value according to the height value of the second coordinate.

[0013] In one embodiment, the lane line height assignment method further includes cyclically executing the following preset steps:

[0014] The next node of the nth target node is taken as the n+1th node, and the coordinates of the positioning point within a preset distance from the n+1th node are taken as the n+1th undetermined coordinates;

[0015] Selecting an n+1th undetermined coordinate that is continuous with the nth coordinate as the n+1th coordinate;

[0016] Selecting an n+1th node as the n+1th target node; wherein the angle between the line connecting the nth target node and the n+1th target node and the line connecting the nth coordinate and the n+1th coordinate is within a preset angle range;

[0017] Assigning a height to the n+1th target node according to the height value of the n+1th coordinate;

[0018] Wherein, n is equal to 1 plus the number of times the preset steps are executed.

[0019] In one implementation, the lane line height assignment method further includes:

[0020] A lane line to be processed that belongs to the same road as the target lane line is selected; wherein each node of the target lane line has completed height assignment, the starting node of the target lane line is adjacent to the starting node of the lane line to be processed, and the ending node of the target lane line is adjacent to the ending node of the lane line to be processed;

[0021] Assigning a height value to the starting node of the lane line to be processed according to the height value of the starting node of the target lane line, and assigning a height value to the ending node of the lane line to be processed according to the height value of the ending node of the target lane line;

[0022] According to the height values ​​of the starting node and the ending node of the lane line to be processed, the heights of other nodes on the lane line to be processed are assigned using the interpolation method.

[0023] In one implementation, the selecting a second undetermined coordinate that is coherent with the first coordinate as the second coordinate includes:

[0024] According to the timestamp of the first coordinate and the timestamps of each of the second undetermined coordinates, one of the second undetermined coordinates is selected as the second coordinate, and the time difference between the timestamp of the second coordinate and the timestamp of the first coordinate is within a preset time range.

[0025] In one embodiment, the preset angle range is less than 30 degrees.

[0026] In one implementation, the positioning point coordinates are acquired based on vehicle positioning data collected by a vehicle positioning device.

[0027] A second aspect of the present application provides a lane height assignment device, comprising:

[0028] An acquisition module is used to obtain the coordinates of each lane line and each positioning point to be processed;

[0029] A first selection module, used to select one of the positioning point coordinates as a first coordinate, and a lane line node within a preset distance from the first coordinate as a first node;

[0030] A setting module, used to set the next node of the first node as the second node, and set the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined;

[0031] A second selection module, used for selecting a second undetermined coordinate that is coherent with the first coordinate as the second coordinate;

[0032] A third selection module is used to select a first node as a first target node, and a second node corresponding to the first target node as a second target node; wherein the angle between the line connecting the first target node and the second target node and the line connecting the first coordinate and the second coordinate is within a preset angle range;

[0033] The first assignment module is used to assign a height value to the first target node according to the height value of the first coordinate, and to assign a height value to the second target node according to the height value of the second coordinate.

[0034] In one embodiment, the second selection module is further used to select one of the second pending coordinates as the second coordinate according to the timestamp of the first coordinate and the timestamps of each of the second pending coordinates, and the time difference between the timestamp of the second coordinate and the timestamp of the first coordinate is within a preset time range.

[0035] A third aspect of the present application provides an electronic device, including:

[0036] Processor; and

[0037] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0038] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0039] The technical solution provided by this application may have the following beneficial effects:

[0040] The method provided by the present application obtains the coordinates of each lane line and each positioning point to be processed; selects a positioning point coordinate as the first coordinate, and takes the node of the lane line within a preset distance from the first coordinate as the first node; takes the next node of the first node as the second node, and takes the positioning point coordinate within a preset distance from the second node as the second undetermined coordinate; selects a second undetermined coordinate that is coherent with the first coordinate as the second coordinate; selects a first node as the first target node, and takes the second node corresponding to the first target node as the second target node; wherein the angle between the line connecting the first target node and the second target node relative to the line connecting the first coordinate and the second coordinate is within a preset angle range; assigns a height to the first target node according to the height value of the first coordinate, and assigns a height to the second target node according to the height value of the second coordinate. In this way, the correctness of the lane line height assignment can be improved, and since the height assignment is performed based on two coherent positioning point coordinates, the continuity of the lane line height can be guaranteed, and the production of high-precision maps can be optimized.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0043] Figure 1 It is a flowchart of a lane height assignment method shown in an embodiment of the present application;

[0044] Figure 2 is another flow chart of the lane height assignment method shown in an embodiment of the present application;

[0045] Figure 3It is a schematic diagram of the coordinates of each lane line and each positioning point to be processed in the lane line height assignment method shown in the embodiment of the present application;

[0046] Figure 4 Schematic diagram of the structure of the lane height assignment device shown in the embodiment of the present application;

[0047] Figure 5 is another structural schematic diagram of the lane height assignment device shown in an embodiment of the present application;

[0048] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0050] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the related art, when assigning a height to a lane line on an elevated road, it is easy to match the coordinates of a positioning point on the lane below the elevated road, thereby causing an error in assigning the height of the lane line.

[0053] In response to the above problems, an embodiment of the present application provides a lane line height assignment method, which can improve the accuracy of lane line height assignment, ensure the continuity of lane line height, and optimize the production of high-precision maps.

[0054] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0055] Figure 1 It is a flow chart of the lane line height assignment method shown in an embodiment of the present application.

[0056] See also Figure 1 , the method comprising:

[0057] Step S101, obtaining the coordinates of each lane line and each positioning point to be processed.

[0058] Among them, the lane line to be processed can be a lane line on a two-dimensional view that has been generated but has not been assigned a height. It should be noted that the lane line is a polyline with a direction. There are multiple nodes on the lane line. Two nodes form a unit line segment. A unit line segment is a straight line segment. The lane line is composed of multiple unit line segments connected end to end; the two endpoints of the unit line segment are two nodes, namely the starting node and the ending node; it can be understood that the ending node of the previous unit line segment is the starting node of the next unit line segment; in related technologies, the starting node is also called the first point, and the ending node is also called the tail point. The direction of the unit line segment of the lane line is the direction from the starting node to the ending node.

[0059] The coordinates of the positioning points can be obtained based on the vehicle positioning data collected by the vehicle positioning device. In the embodiment of the present application, the coordinates of each positioning point are the trajectory points of the vehicle traveling on the road, and the coordinates of the positioning point include height information, that is, the coordinates of the positioning point include the height information of the positioning point. The vehicle positioning device can be a vehicle RTK (Real-time kinematic) positioning device, and the vehicle RTK positioning device collects vehicle positioning data according to a preset positioning frequency, so that the coordinates of each positioning point can be obtained based on the vehicle positioning data.

[0060] Step S102: select a positioning point coordinate as a first coordinate, and take a lane line node within a preset distance from the first coordinate as a first node.

[0061] In this step, one of the positioning point coordinates is selected as the first coordinate from the positioning point coordinates, and the lane line node within the first preset distance from the first coordinate can be used as the first node. That is, the first coordinate is the center of the circle, and the search for the lane line node is performed with the radius as the first preset distance, and the lane line node searched is used as the first node. The number of first nodes can be one or more, determined according to the search results. In other words, with the first coordinate as the center of the circle and the first preset radius, the lane line nodes can be used as the first node. The distance between the first node and the first coordinate is less than the first preset distance, and the first preset distance can be set to 0.5 meters, 0.7 meters, etc.

[0062] Step S103: taking the next node of the first node as the second node, and taking the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined.

[0063] It can be understood that the lane line is a broken line with direction, and the next node of the first node is the end node of the unit line segment of the lane line where the first node is located. That is to say, the first node is the starting node of the unit line segment of the corresponding lane line, and the end node of the unit line segment of the lane line is the second node.

[0064] In this step, multiple first nodes may correspond to multiple second nodes. For each second node, the coordinates of the positioning point within the second preset distance from the second node may be used as the second coordinates to be determined. That is, the second node is the center of the circle, and the search for the positioning point coordinates is performed with the radius as the second preset distance. The positioning point coordinates obtained by the search are used as the second coordinates to be determined. In other words, with the second node as the center of the circle, the coordinates of each positioning point within the second preset distance of the radius can be used as the second coordinates to be determined. The distance between the second node and the second coordinates to be determined is less than the second preset distance, and the second preset distance can be set to 0.5 meters, 0.7 meters, etc.

[0065] Step S104: Select a second coordinate that is continuous with the first coordinate as the second coordinate.

[0066] In this step, a second coordinate that is continuous with the first coordinate can be selected from each second coordinate to be determined as the second coordinate. That is, the first coordinate and the second coordinate are continuous, that is, the first coordinate and the second coordinate are continuously collected by the vehicle positioning device.

[0067] Step S105, select a first node as a first target node, and select a second node corresponding to the first target node as a second target node; wherein the angle between the line connecting the first target node and the second target node and the line connecting the first coordinate and the second coordinate is within a preset angle range.

[0068] In this step, for multiple first nodes and multiple second nodes, one first node can be selected as the first target node and one second node can be selected as the second target node. The selected first target node and the second target node meet the following definition, that is, the angle between the line connecting the first target node and the second target node and the line connecting the first coordinate and the second coordinate is within a preset angle range. In one embodiment, the preset angle range is less than 30 degrees.

[0069] Step S106: assigning a height value to the first target node according to the height value of the first coordinate, and assigning a height value to the second target node according to the height value of the second coordinate.

[0070] In this step, the height of the first target node is assigned using the height value information contained in the first coordinate, and the height of the second target node is assigned using the height value information contained in the second coordinate. In one embodiment, the height of the first target node is assigned to the height of the first coordinate, and the height of the second target node is assigned to the height of the second coordinate. In this way, the height of a unit line segment of the lane line formed by the first target node and the second target node can be determined, and the height of the lane line can be assigned.

[0071] It can be understood that since the connection direction of the first target node and the second target node is nearly consistent with the connection direction of the first coordinate and the second coordinate, the first coordinate and the second coordinate must belong to the same road, thereby ensuring the matching consistency of the first target node and the second target node on the same lane line, avoiding the first target node and the second target node from matching the coordinates of the positioning points on different roads respectively, thereby eliminating the problem of lane line height assignment error caused by matching the lane line on the elevated road to the coordinates of the positioning points on the lane under the elevated road in the related technology.

[0072] It can be seen from this embodiment that the method provided in the embodiment of the present application can improve the accuracy of lane line height assignment, and because the height assignment is performed based on the coordinates of two consecutive positioning points, the continuity of the lane line height can be guaranteed, thereby optimizing the production of high-precision maps.

[0073] Figure 2 It is another flow chart of the lane height assignment method shown in an embodiment of the present application. Figure 2 relatively Figure 1 The scheme of the present application is described in more detail.

[0074] See also Figure 2 , the method comprising:

[0075] Step S201: Obtain the coordinates of each lane line and each positioning point to be processed.

[0076] For this step, please refer to the description in step S101 and will not be repeated here.

[0077] Step S202: select a positioning point coordinate as a first coordinate, and take a lane line node within a preset distance from the first coordinate as a first node.

[0078] Please refer to the description of step S102 for this step.

[0079] See also Figure 3 ,like Figure 3As shown, L1, L2, L3, and L4 are four lane lines respectively. For example, lane line L1 has six nodes, namely point a1, point a2, point a3, point a4, point a5, and point a6. The starting node of lane line L1 is point a1, and the ending node is point a6. Another example is lane line L2. Lane line L2 has six nodes, namely point b1, point b2, point b3, point b4, point b5, and point b6. The starting node of lane line L2 is point b1, and the ending node is point b6. Similarly, the starting node of lane line L3 is point b1, and the ending node is point c3. The starting node of lane line L4 is point d1, and the ending node is point d5. As shown Figure 3 Points x1 to x6 and points y1 to y5 are shown as coordinates of each positioning point. For example, in this step, the positioning point coordinate point x1 can be selected as the first coordinate, and the nodes of the lane line within a preset distance from the first coordinate can be points a1, b1, a2, and b2, that is, points a1, b1, a2, and b2 can be first nodes.

[0080] Step S203: taking the next node of the first node as the second node, and taking the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined.

[0081] Please refer to the description of step S103 for this step.

[0082] See also Figure 3 ,like Figure 3 As shown in the embodiment, the next nodes corresponding to the points a1, b1, a2, and b2 as the first nodes are points a2, b2, a3, and b3 (or c1), respectively. That is, points a2, b2, a3, b3, and c1 can be used as second nodes. The coordinates of the positioning points within a preset distance from the second node can be points x2, x3, x4, y1, y2, and y3, that is, points x2, x3, x4, y1, y2, and y3 can be second coordinates to be determined.

[0083] Step S204: Select a second coordinate that is continuous with the first coordinate as the second coordinate.

[0084] In one embodiment, selecting a second undetermined coordinate that is coherent with the first coordinate as the second coordinate includes:

[0085] According to the timestamp of the first coordinate and the timestamps of each second coordinate to be determined, a second coordinate to be determined is selected as the second coordinate, and the time difference between the timestamp of the second coordinate and the timestamp of the first coordinate is within the preset time range. It can be understood that the coordinates of the positioning point are continuously collected by the vehicle positioning device, and the two positioning point coordinates are continuous, which means that the time difference of the timestamps corresponding to the two positioning point coordinates is small, that is, the time difference is within the preset time range.

[0086] like Figure 3 As shown in the embodiment, each second pending coordinate: point x2, point x3, point x4, point y1, point y2, point y3, point x2 can be selected as the second coordinate, and the second coordinate (point x2) and the first coordinate (point x1) are two consecutive positioning point coordinates.

[0087] Step S205, select a first node as a first target node, and select a second node corresponding to the first target node as a second target node; wherein the angle between the line connecting the first target node and the second target node and the line connecting the first coordinate and the second coordinate is within a preset angle range.

[0088] Please refer to the description of step S105 for this step.

[0089] like Figure 3 As shown in the embodiment, for each first node: point a1, point b1, point a2, point b2, and each second node: point a2, point b2, point a3, point b3, point c1. When the preset angle range is less than 10 degrees, point a1 can be used as the first target node, and point a2 can be used as the second target node. It can be seen that the direction of the line connecting point a1 and point a2 is similar to the direction of the line connecting point x1 and point x2.

[0090] Step S206: assigning a height value to the first target node according to the height value of the first coordinate, and assigning a height value to the second target node according to the height value of the second coordinate.

[0091] Please refer to the description of step S106 for this step.

[0092] like Figure 3 As shown in the embodiment, the height of point a1 can be assigned as the height of point x1, and the height of point a2 can be assigned as the height of point x2.

[0093] Step S207, loop through the preset steps.

[0094] In one embodiment, the presetting step includes:

[0095] Step S207-1: take the next node of the nth target node as the n+1th node, and take the coordinates of the positioning point within a preset distance from the n+1th node as the n+1th to-be-determined coordinates.

[0096] Step S207-2: Select an (n+1)th undetermined coordinate that is continuous with the nth coordinate as the (n+1)th coordinate.

[0097] Step S207-3: Select an n+1th node as the n+1th target node, wherein the angle between the line connecting the nth target node and the n+1th target node and the line connecting the nth coordinate and the n+1th coordinate is within a preset angle range.

[0098] Step S207 - 4 , assigning a height to the n+1th target node according to the height value of the n+1th coordinate.

[0099] Where n is equal to 1 plus the number of times the preset steps are performed.

[0100] For example, when the preset steps are executed for the first time, n is equal to 2. Then steps S207-1 to S207-4 are:

[0101] The next node of the second target node is used as the third node, and the coordinates of the positioning point within the preset distance from the third node are used as the third undetermined coordinates. A third undetermined coordinate that is coherent with the second coordinate is selected as the third coordinate. A third node is selected as the third target node. The angle between the line connecting the second target node and the third target node relative to the line connecting the second coordinate and the third coordinate is within the preset angle range. The height of the third target node is assigned according to the height value of the third coordinate.

[0102] It can be found that executing the above preset steps once can achieve the height assignment of the next node of the second target node. In this way, by cyclically executing the above preset steps, the height assignment of each node of the lane line can be performed to complete the height assignment operation of the entire lane line.

[0103] Step S208, selecting a lane line to be processed that belongs to the same road as the target lane line; wherein each node of the target lane line has completed height assignment, the starting node of the target lane line is adjacent to the starting node of the lane line to be processed, and the ending node of the target lane line is adjacent to the ending node of the lane line to be processed.

[0104] In an embodiment of the present application, for lane lines to be processed, that is, lane lines for which height assignment has not been completed, a height assignment operation can be performed using target lane lines for which height assignment has been completed.

[0105] Among them, the lane line to be processed and the target lane line belong to the same road and correspond to the same road number. The road number is Road Id. Lane lines with the same forward direction belong to the same road (Road), and one road (Road) corresponds to one road number (Road Id). That is to say, in this step, for two lane lines belonging to the same road, if the nodes of one lane line have completed the height assignment, and the nodes of the other lane line have not completed the height assignment, then the lane line that has not completed the height assignment can use the lane line that has completed the height assignment to perform the height assignment operation.

[0106] Step S209: assign a height value to the starting node of the lane line to be processed according to the height value of the starting node of the target lane line, and assign a height value to the ending node of the lane line to be processed according to the height value of the ending node of the target lane line.

[0107] See also Figure 3 ,like Figure 3 In the illustrated embodiment, if the heights of the nodes of the L1 lane line have been assigned, and the L2 lane line is the lane line to be processed, the height of the b1 node of the L2 lane line can be assigned according to the height of the a1 node of the L1 lane line, and the height of the b6 node of the L2 lane line can be assigned according to the height of the a6 node of the L1 lane line.

[0108] Step S210: According to the height values ​​of the starting node and the ending node of the lane line to be processed, the heights of other nodes on the lane line to be processed are assigned using an interpolation method.

[0109] like Figure 3 In the illustrated embodiment, for the middle nodes of the L2 lane line: point b2, point b3, point b4, and point b5, the heights can be assigned using the interpolation method based on the heights of the b1 node and the a6 node.

[0110] It can be understood that since the two lane lines belong to the same road, the heights of the two lane lines are consistent. By executing steps S208 to S210 to assign heights to the lane lines, the correctness of the height assignment of the lane lines to be processed can be guaranteed, and the continuity of the lane line height can be ensured, thereby improving the efficiency of the lane line height assignment operation.

[0111] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a lane height assignment device, an electronic device and corresponding embodiments.

[0112] Figure 4 It is a schematic diagram of the structure of the lane height assignment device shown in an embodiment of the present application.

[0113] See also Figure 4A lane height assignment device 40 includes: an acquisition module 410, a first selection module 420, a setting module 430, a second selection module 440, a third selection module 450, and a first assignment module 460.

[0114] The acquisition module 410 is used to acquire the coordinates of each lane line and each positioning point to be processed.

[0115] The first selection module 420 is used to select a positioning point coordinate as a first coordinate, and select a lane line node within a preset distance from the first coordinate as the first node.

[0116] The setting module 430 is used to set the next node of the first node as the second node, and set the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined.

[0117] The second selection module 440 is used to select a second undetermined coordinate that is coherent with the first coordinate as the second coordinate.

[0118] The third selection module 450 is used to select a first node as a first target node and a second node corresponding to the first target node as a second target node; wherein the angle between the line connecting the first target node and the second target node and the line connecting the first coordinate and the second coordinate is within a preset angle range.

[0119] The first assignment module 460 is used to assign a height value to the first target node according to the height value of the first coordinate, and to assign a height value to the second target node according to the height value of the second coordinate.

[0120] It can be seen from this embodiment that the device provided in the embodiment of the present application can improve the accuracy of lane line height assignment, and because the height assignment is performed based on the coordinates of two consecutive positioning points, the continuity of the lane line height can be guaranteed, thereby optimizing the production of high-precision maps.

[0121] Figure 5 is another structural schematic diagram of the lane height assignment device shown in an embodiment of the present application;

[0122] See also Figure 5 A lane height assignment device 40 includes: an acquisition module 410, a first selection module 420, a setting module 430, a second selection module 440, a third selection module 450, a first assignment module 460, a loop execution module 470, and a second assignment module 480.

[0123] The functions of the acquisition module 410, the first selection module 420, the setting module 430, the second selection module 440, the third selection module 450, and the first assignment module 460 can be found in Figure 4The description in will not be repeated here.

[0124] A loop execution module 470 is used to loop through preset steps; the preset steps include: taking the next node of the nth target node as the n+1th node, and taking the coordinates of the positioning point within a preset distance from the n+1th node as the n+1th pending coordinate; selecting an n+1th pending coordinate that is coherent with the nth coordinate as the n+1th coordinate; selecting an n+1th node as the n+1th target node; wherein the angle between the line connecting the nth target node and the n+1th target node and the line connecting the nth coordinate and the n+1th coordinate is within a preset angle range; assigning a height to the n+1th target node according to the height value of the n+1th coordinate; wherein n is equal to 1 plus the number of times the preset steps are executed.

[0125] The second assignment module 480 is used to select a lane line to be processed that belongs to the same road as the target lane line; wherein, each node of the target lane line has completed height assignment, the starting node of the target lane line is adjacent to the starting node of the lane line to be processed, and the ending node of the target lane line is adjacent to the ending node of the lane line to be processed; the starting node of the lane line to be processed is height assigned according to the height value of the starting node of the target lane line, and the ending node of the lane line to be processed is height assigned according to the height value of the ending node of the target lane line; according to the height values ​​of the starting node and the ending node of the lane line to be processed, the interpolation method is used to assign heights to other nodes on the lane line to be processed.

[0126] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0127] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0128] See also Figure 6 , the electronic device 600 includes a memory 610 and a processor 620 .

[0129] The processor 620 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0130] The memory 610 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 620 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 610 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0131] The memory 610 stores executable codes, and when the executable codes are processed by the processor 620 , the processor 620 can execute part or all of the above-mentioned methods.

[0132] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0133] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0134] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A lane line height assignment method, characterized in that: include: Obtain the coordinates of each lane line and each positioning point to be processed; Selecting one of the positioning point coordinates as a first coordinate, and taking a lane line node within a preset distance from the first coordinate as a first node; Taking the next node of the first node as the second node, and taking the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined; Selecting a second undetermined coordinate that is coherent with the first coordinate as the second coordinate; A first node is selected as a first target node, and a second node corresponding to the first target node is selected as a second target node; wherein an angle between a line connecting the first target node and the second target node and a line connecting the first coordinate and the second coordinate is within a preset angle range; The first target node is assigned a height value according to the height value of the first coordinate, and the second target node is assigned a height value according to the height value of the second coordinate.

2. The method according to claim 1, characterized in that The method further comprises cyclically executing the following preset steps: The next node of the nth target node is taken as the n+1th node, and the coordinates of the positioning point within a preset distance from the n+1th node are taken as the n+1th undetermined coordinates; Selecting an n+1th undetermined coordinate that is continuous with the nth coordinate as the n+1th coordinate; Selecting an n+1th node as the n+1th target node; wherein the angle between the line connecting the nth target node and the n+1th target node and the line connecting the nth coordinate and the n+1th coordinate is within a preset angle range; Assigning a height to the n+1th target node according to the height value of the n+1th coordinate; Wherein, n is equal to 1 plus the number of times the preset steps are executed.

3. The method according to claim 2, characterized in that The method further comprises: A lane line to be processed that belongs to the same road as the target lane line is selected; wherein each node of the target lane line has completed height assignment, the starting node of the target lane line is adjacent to the starting node of the lane line to be processed, and the ending node of the target lane line is adjacent to the ending node of the lane line to be processed; Assigning a height value to the starting node of the lane line to be processed according to the height value of the starting node of the target lane line, and assigning a height value to the ending node of the lane line to be processed according to the height value of the ending node of the target lane line; According to the height values ​​of the starting node and the ending node of the lane line to be processed, the heights of other nodes on the lane line to be processed are assigned using the interpolation method.

4. The method according to claim 1, characterized in that The step of selecting a second undetermined coordinate that is coherent with the first coordinate as the second coordinate includes: According to the timestamp of the first coordinate and the timestamps of each of the second undetermined coordinates, one of the second undetermined coordinates is selected as the second coordinate, and the time difference between the timestamp of the second coordinate and the timestamp of the first coordinate is within a preset time range.

5. The method according to claim 1, characterized in that: The preset angle range is less than 30 degrees.

6. The method according to claim 1, characterized in that: The positioning point coordinates are obtained based on vehicle positioning data collected by a vehicle positioning device.

7. A lane line height assignment device, characterized in that: include: An acquisition module is used to obtain the coordinates of each lane line and each positioning point to be processed; A first selection module, used to select one of the positioning point coordinates as a first coordinate, and a lane line node within a preset distance from the first coordinate as a first node; A setting module, used to set the next node of the first node as the second node, and set the coordinates of the positioning point within a preset distance from the second node as the second coordinates to be determined; A second selection module, used for selecting a second undetermined coordinate that is coherent with the first coordinate as the second coordinate; A third selection module is used to select a first node as a first target node, and a second node corresponding to the first target node as a second target node; wherein the angle between the line connecting the first target node and the second target node and the line connecting the first coordinate and the second coordinate is within a preset angle range; The first assignment module is used to assign a height value to the first target node according to the height value of the first coordinate, and to assign a height value to the second target node according to the height value of the second coordinate.

8. The device according to claim 7, characterized in that: The second selection module is further used to select one of the second undetermined coordinates as the second coordinate according to the timestamp of the first coordinate and the timestamps of each of the second undetermined coordinates, and the time difference between the timestamp of the second coordinate and the timestamp of the first coordinate is within a preset time range.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 6.

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