Driving trajectory rendering method, device, equipment and storage medium

Abstract

The present application relates to a driving trajectory rendering method, device, equipment, and storage medium. The main technical solutions include: obtaining each positioning point of a target object within a preset time period, and determining a first position point of each positioning point in a map; respectively mapping each first position point to a target path in the map to obtain a second position point corresponding to each first position point; rendering a driving trajectory of the target object on the map based on the number of the second position points and the first position points within a preset range. The present application can reduce the processing pressure of a rendering tool, improve the drawing effect, and the rendered trajectory map has high clarity and high visibility, improving the user experience.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to a method, device, equipment and storage medium for rendering a driving trajectory. Background Art

[0002] Currently, the field of autonomous driving is developing rapidly, and the vehicle driving trajectory is one of the important data inputs in the field of autonomous driving. Rendering the vehicle driving trajectory can directly display the real vehicle driving path on the road, and intuitively show the vehicle driving situation on the map.

[0003] Existing vehicle driving trajectory rendering methods generally connect the positions of the corresponding positioning points on the map received twice adjacent to each other, and connect the continuous positioning points to render the vehicle driving trajectory. However, in the actual test process, due to the large data scale of the vehicle driving trajectory, if the positioning points are directly connected to draw the trajectory map, it will cause a large data processing pressure on the rendering tool, and the drawn trajectory map is messy and complex. Summary of the Invention

[0004] Based on this, this application provides a method, device, equipment and storage medium for rendering a driving trajectory to solve the problems existing in the prior art.

[0005] In a first aspect, a method for rendering a driving trajectory is provided, and the method includes:

[0006] Obtain each positioning point of the target object within a preset time period, and determine the first position points of the positioning points on the map;

[0007] Map each first position point to a target path on the map to obtain second position points corresponding to the first position points;

[0008] Render the driving trajectory of the target object on the map based on the number of the second position points and the first position points within a preset range.

[0009] According to an implementable manner in an embodiment of this application, it is characterized in that rendering the driving trajectory of the target object on the map based on the number of the second position points and the first position points within a preset range includes:

[0010] Based on the second position points, determine the moving trajectory of the target object on the target path;

[0011] Based on the number of the first position points within a preset range, determine the rendering form of the moving trajectory;

[0012] Render the driving trajectory of the target object on the map based on the moving trajectory of the target object on the target path and the rendering form of the moving trajectory.

[0013] According to an implementable manner in an embodiment of the present application, it is characterized in that the target path is a path parallel to the road center line.

[0014] According to an implementable manner in an embodiment of the present application, it is characterized in that mapping each first position point to the target path in the map to obtain a second position point corresponding to each first position point includes:

[0015] Mapping each first position point to the target path in the map along the perpendicular direction of the road center line where each first position point is located, and obtaining a second position point corresponding to each first position point on the target path.

[0016] According to an implementable manner in an embodiment of the present application, it is characterized in that the preset range includes: a section of road, a block or a district.

[0017] According to an implementable manner in an embodiment of the present application, it is characterized in that determining the rendering form of the movement trajectory based on the number of the first position points within a preset range includes:

[0018] Rendering the color of the movement trajectory based on the number of the first position points within a preset range; or,

[0019] Rendering the linearity of the movement trajectory based on the number of the first position points within a preset range.

[0020] In a second aspect, a driving trajectory rendering device is provided, and the device includes:

[0021] An acquisition unit: configured to acquire each positioning point of a target object within a preset time period, and determine a first position point of each positioning point in the map;

[0022] A mapping unit: configured to map each first position point to the target path in the map respectively, and obtain a second position point corresponding to each first position point;

[0023] A rendering unit: configured to render a driving trajectory of the target object on the map based on the second position point and the number of the first position points within a preset range.

[0024] According to an implementable manner in an embodiment of the present application, the rendering unit is further configured to:

[0025] Determine a movement trajectory of the target object on the target path based on the second position point;

[0026] Determine a rendering form of the movement trajectory based on the number of the first position points within a preset range;

[0027] Render the driving trajectory of the target object on the map based on the moving trajectory of the target object on the target path and the rendering form of the moving trajectory.

[0028] In a third aspect, a computer device is provided, including:

[0029] At least one processor; and

[0030] A memory communicatively connected to the at least one processor; wherein,

[0031] The memory stores computer instructions executable by the at least one processor, and the computer instructions are executed by the at least one processor so that the at least one processor can execute the method involved in the first aspect above.

[0032] In a fourth aspect, a computer-readable storage medium is provided, on which computer instructions are stored, and characterized in that the computer instructions are used to cause a computer to execute the method involved in the first aspect above.

[0033] According to the technical content provided by the embodiments of the present application, the present application obtains each positioning point of the target object within a preset period, maps each positioning point to the target path on the map respectively, and then renders the driving trajectory of the target object on the map according to the positions and quantities of the mapped points, which can reduce the processing pressure of the rendering tool, improve the drawing effect, the rendered trajectory map has high visibility, and improve the user experience. Description of the Drawings

[0034] Figure 1 It is a schematic flowchart of a driving trajectory rendering method in an embodiment;

[0035] Figure 2 It is a mapping schematic diagram of a driving trajectory rendering method in an embodiment;

[0036] Figure 3 It is a structural block diagram of a driving trajectory rendering device in an embodiment;

[0037] Figure 4 It is a schematic structural diagram of a computer device in an embodiment. Detailed Description of the Embodiments

[0038] The present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] Figure 1 It is a flowchart of a driving trajectory rendering method provided by an embodiment of the present application, as Figure 1As shown, the method may include the following steps:

[0040] Step 101: Obtain each positioning point of the target object within a preset time period, and determine the first position point of each positioning point on the map.

[0041] Specifically, the target object can be a vehicle, but is not limited to a vehicle, and can also include an airplane, a bicycle, a pedestrian, etc. The preset time period can be any pre-set time period, such as one day, one week, one month, etc. The positioning points of the target object can be obtained through devices such as radar, satellites, and positioning devices on the target object. The position information of the target object is obtained once every specific time interval, and the positioning points are obtained. Obtaining each positioning point of the target object within the preset time period means obtaining all the positioning points of the target object within a period of time, and determining the position of each positioning point on the map as the first position point. That is, mapping the position points actually traveled by the target object to the corresponding positions on the map to obtain the first position point.

[0042] Step 102: Map each first position point to the target path on the map respectively to obtain the second position point corresponding to each first position point.

[0043] Specifically, for example, taking a vehicle as the target object, during the actual driving process of the vehicle, since the road is wide and may include multiple lanes, the vehicle may shuttle between multiple lanes. Therefore, if the trajectory map is directly drawn by connecting the obtained first position points, the trajectory map will be crossed and chaotic. Therefore, in this step, several target paths are preset on the map, and each first position point is mapped to the target path on the map respectively, and the second position point corresponding to each first position point is obtained on the target path. For example, select a certain lane in the road as the target path, and map the actual positioning points of the vehicle on the adjacent lanes, that is, the first position points, to a certain lane respectively, and obtain the second position point corresponding to each first position point on this lane.

[0044] In this step, by mapping each first position point to the target path on the map respectively, the first position points can be centrally normalized, which is convenient for drawing a clear trajectory map and reducing the drawing pressure of the rendering tool.

[0045] Step 103: Render the driving trajectory of the target object on the map based on the number of second position points and first position points within a preset range.

[0046] Specifically, after step 102, second position points corresponding to each first position point are obtained on the target path in the map. Connecting the positions of each second position point can determine the movement trajectory of the target object on the map. At the same time, according to the number of first position points within a preset range, the movement trajectory of the target object on the map is rendered, and a driving trajectory map of the target object can be obtained. The number of first position points within the preset range represents the driving frequency of the target object within the preset range. In this step, based on the positions of the second position points on the target path and the number of first position points within the preset range, the driving trajectory of the target object on the map is rendered, which can improve the clarity of the trajectory map while intuitively reflecting the frequency of the target object appearing in each range on the map, making the rendered trajectory map have high clarity and high visibility.

[0047] It can be seen that in the embodiment of the present application, by obtaining each positioning point of the target object within a preset time period, mapping each positioning point to the target path in the map respectively, and then rendering the driving trajectory of the target object on the map according to the positions and quantities of the mapped points, the processing pressure of the rendering tool can be reduced, the drawing effect can be improved, the rendered trajectory map has high clarity and high visibility, and the user experience can be improved.

[0048] The following describes in detail step 102 above, that is, "mapping each first position point to the target path in the map respectively to obtain a second position point corresponding to each first position point", in combination with embodiments.

[0049] In an embodiment of the present application, the target path in step 102 is a path parallel to the road center line.

[0050] For example, Figure 2 shows eight vertically parallel lanes, Figure 2 in which the target path 1 and the target path 2 are paths parallel to the road center line, and the target path 1 and the target path 2 respectively represent the target paths of the lanes in opposite directions on the road.

[0051] In an embodiment of the present application, mapping each first position point to the target path in the map respectively to obtain a second position point corresponding to each first position point in step 102 includes: mapping each first position point along the perpendicular line direction of the road center line where each first position point is located to the target path in the map, and obtaining a second position point corresponding to each first position point on the target path.

[0052] Specifically, continue to refer to Figure 2 , Figure 2The positioning points a, b, and c in the middle are the position points where the target object has actually traveled, that is, the positioning points a, b, and c are the first position points. The first position points a, b, and c are respectively mapped to the target path 1 on the map along the perpendicular line direction of the road center line where each first position point is located, and the second position points A, B, and C corresponding to the first position points a, b, and c are obtained on the target path 1. The positioning points d, e, and f are the position points where the target object has actually traveled in the opposite direction, that is, the positioning points d, e, and f are the first position points. The first position points d, e, and f are respectively mapped to the target path 2 on the map along the perpendicular line direction of the road center line where each first position point is located, and the second position points D, E, and F corresponding to the first position points d, e, and f are obtained on the target path 2. The positioning points g, h, and i are the first position points. The first position points g, h, and i are respectively mapped to the target path 2 on the map along the perpendicular line direction of the road center line where each first position point is located, and the second position points G, H, and I corresponding to the first position points g, h, and i are obtained on the target path 2.

[0053] In this embodiment, by respectively mapping each first position point along the perpendicular line direction of the road center line where each first position point is located to the target path on the map and obtaining the second position points corresponding to each first position point on the target path, the first position points can be centrally normalized, which is convenient for drawing a clear trajectory map and reduces the drawing pressure of the rendering tool.

[0054] It should be noted that the above embodiment takes Figure 2 as an example to show the mapping situation when the road is a straight road, and the above embodiment is equally applicable to the case when the road is a curved road.

[0055] The following describes in detail the above step 103, that is, "render the driving trajectory of the target object on the map based on the number of the second position points and the first position points within the preset range" in combination with the embodiment.

[0056] In an embodiment of the present application, rendering the driving trajectory of the target object on the map based on the number of the second position points and the first position points within the preset range in step 103 includes: determining the moving trajectory of the target object on the target path based on the second position points; determining the rendering form of the moving trajectory based on the number of the first position points within the preset range; and rendering the driving trajectory of the target object on the map based on the moving trajectory of the target object on the target path and the rendering form of the moving trajectory.

[0057] Specifically, determining the moving trajectory of the target object on the target path based on the second position points means that after step 102, the second position points corresponding to each first position point are obtained on the target path on the map, and connecting the positions of each second position point can determine the moving trajectory of the target object on the target path.

[0058] In one embodiment of the present application, the preset range in step 103 may include, but is not limited to: a section of one-way road, a section of two-way road, or a block. By counting the number of the first position points within a preset range, the number of times or frequency of the target object appearing within the preset range can be determined. For example, Figure 2 Taking a section of one-way road as a preset range, the first positioning points on this section of one-way road are mapped to target path 1 and the number of the target object on this section of one-way road is counted as 3; the first positioning points on another section of road in the opposite direction are mapped to target path 2 and the number of the target object on this section of road is counted as 6, indicating that the driving frequency of the target object within the preset range corresponding to target path 2 is greater than its driving frequency within the preset range corresponding to target path 1. Thus, the driving frequencies of the target object on sections of roads in different directions can be determined. The preset range can include not only a section of one-way road but also a section of two-way road or a block. By setting different preset ranges, the driving frequencies of the target object in different areas can be obtained.

[0059] Since the number of the first position points within the preset range represents the driving frequency of the target object within the preset range, different rendering forms can be set based on the number of the first position points within the preset range, so that the driving frequencies of the target object in different areas can be clearly displayed in the trajectory map through different rendering forms. Furthermore, based on the movement trajectory of the target object on the target path and the rendering form of the movement trajectory, the driving trajectory of the target object on the map is rendered, and the clarity of the drawn trajectory Figure 1 is greatly improved on the one hand, and on the other hand, it can intuitively reflect the frequency of the target object appearing in each range on the map.

[0060] In another embodiment of the present application, determining the rendering form of the movement trajectory based on the number of the first position points within the preset range in step 103 includes: rendering the color of the movement trajectory based on the number of the first position points within the preset range; or, rendering the linearity of the movement trajectory based on the number of the first position points within the preset range.

[0061] Specifically, rendering the color of the movement trajectory based on the number of the first position points within the preset range. For example, when the number of the first position points within the preset range is large, the movement trajectory is rendered with a dark color; when the number of the first position points within the preset range is small, the movement trajectory is rendered with a light color. Rendering the linearity of the movement trajectory based on the number of the first position points within the preset range. For example, when the number of the first position points within the preset range is large, the movement trajectory is rendered with a thick line; when the number of the first position points within the preset range is small, the movement trajectory is rendered with a thin line.

[0062] In an embodiment of the present application, by obtaining each positioning point of a target object within a preset time period, mapping each positioning point to a target path on a map respectively, and then rendering the driving trajectory of the target object on the map according to the positions and quantities of the mapped points, the processing pressure on the rendering tool can be reduced, the drawing effect can be improved, the rendered trajectory map has high clarity and high visibility, and the user experience can be improved.

[0063] It should be understood that although Figure 1 the steps in the flowchart of Figure 1 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in the present application, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,

[0064] Figure 3 FIG. Figure 3 shows a schematic structural diagram of a driving trajectory rendering device provided by an embodiment of the present application. As

[0065] shown, the device may include: an acquisition unit 301, a mapping unit 302, and a rendering unit 303. The main functions of each component module are as follows:

[0066] The acquisition unit 301: is configured to obtain each positioning point of a target object within a preset time period, and determine the first position points of each positioning point on the map;

[0067] The mapping unit 302: is configured to map each first position point to a target path on the map respectively, and obtain the second position points corresponding to each first position point;

[0068] The rendering unit 303: is configured to render the driving trajectory of the target object on the map based on the second position points and the quantity of the first position points within a preset range.

[0069] In another embodiment of the present application, the rendering unit 303 is further configured to: determine the movement trajectory of the target object on the target path based on the second position points; determine the rendering form of the movement trajectory based on the quantity of the first position points within a preset range; and render the driving trajectory of the target object on the map based on the movement trajectory of the target object on the target path and the rendering form of the movement trajectory.

[0070] In another embodiment of the present application, the mapping unit 302 is further configured to: map each first position point to a target path on the map along the perpendicular line direction of the road center line where each first position point is located, and obtain a second position point corresponding to each first position point on the target path.

[0071] In another embodiment of the present application, the preset range includes: a section of one-way road, a section of two-way road, or a block.

[0072] In another embodiment of the present application, the rendering unit 303 is further configured to: render the color of the movement trajectory based on the number of first position points within the preset range; or, render the linearity of the movement trajectory based on the number of first position points within the preset range.

[0073] According to the specific embodiments provided by the present application, the technical solutions provided by the present application may have the following advantages:

[0074] By obtaining each positioning point of the target object within the preset time period, mapping each positioning point to the target path on the map respectively, and then rendering the driving trajectory of the target object on the map according to the positions and quantities of the mapped points, the processing pressure of the rendering tool can be reduced, the drawing effect can be improved, the rendered trajectory map has high clarity and high visibility, and the user experience can be improved.

[0075] For the same or similar parts among the above-mentioned various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiments.

[0076] It should be noted that the use of user data may be involved in the embodiments of the present application. In actual applications, within the scope permitted by applicable laws and regulations (such as when the user clearly consents, is effectively notified to the user, and the user clearly authorizes, etc.), user-specific personal data can be used in the solutions described in this article within the scope permitted by applicable laws and regulations.

[0077] According to the embodiments of the present application, the present application also provides a computer device and a computer-readable storage medium.

[0078] As Figure 4 shown, it is a block diagram of a computer device according to an embodiment of the present application. The computer device is intended to represent various forms of digital computers or mobile devices. Among them, the digital computer may include a desktop computer, a portable computer, a workbench, a personal digital assistant, a server, a mainframe computer, and other suitable computers. The mobile device may include a tablet computer, a smart phone, a wearable device, etc.

[0079] AsFigure 4 As shown, device 400 includes a computing unit 401, a ROM 402, a RAM 403, a bus 404, and an input / output (I / O) interface 404. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via the bus 404. The input / output (I / O) interface 404 is also connected to the bus 404.

[0080] The computing unit 401 can execute various processes in the method embodiments of this application according to computer instructions stored in the read-only memory (ROM) 402 or computer instructions loaded from the storage unit 408 into the random access memory (RAM) 403. The computing unit 401 can be various general and / or special processing components with processing and computing capabilities. The computing unit 401 can include, but is not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. In some embodiments, the method provided in the embodiments of this application can be implemented as a computer software program tangibly contained in a computer-readable storage medium, such as the storage unit 408.

[0081] The RAM 403 can also store various programs and data required for the operation of the device 400. Part or all of the computer program can be loaded and / or installed onto the device 400 via the ROM 802 and / or the communication unit 409.

[0082] The input unit 404, the output unit 407, the storage unit 408, and the communication unit 409 in the device 400 can be connected to the I / O interface 404. Among them, the input unit 404 can be, such as, a keyboard, a mouse, a touch screen, a microphone, etc.; the output unit 407 can be, such as, a display, a speaker, an indicator light, etc. The device 600 can exchange information, data, etc. with other devices through the communication unit 609.

[0083] It should be noted that this device can also include other components necessary for normal operation. It can also only include the components necessary to implement the solution of this application, and does not necessarily include all the components shown in the figure.

[0084] The various embodiments of the systems and technologies described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof.

[0085] The computer instructions for implementing the method of the present application can be written in any combination of one or more programming languages. These computer instructions can be provided to the computing unit 401, such that when the computer instructions are executed by the computing unit 401 such as a processor, the various steps involved in the method embodiments of the present application are executed.

[0086] The computer-readable storage medium provided by the present application can be a tangible medium that can contain or store computer instructions for executing the various steps involved in the method embodiments of the present application. The computer-readable storage medium can include, but is not limited to, storage media in the form of electronic, magnetic, optical, electromagnetic, etc.

[0087] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for rendering a driving trajectory, characterized in that, the method includes: Obtaining the position information of the target object and obtaining positioning points at every specific time interval, obtaining all the positioning points of the target object within a preset time period, and determining the first position points of each positioning point on the map; wherein, the preset time period is any preset time period; Mapping each first position point to the target path on the map respectively to obtain second position points corresponding to each first position point; Rendering the driving trajectory of the target object on the map based on the second position points and the number of the first position points within a preset range; wherein, the number of the first position points within the preset range represents the driving frequency of the target object within the preset range; The rendering the driving trajectory of the target object on the map based on the second position points and the number of the first position points within a preset range includes: Determining the movement trajectory of the target object on the target path based on the second position points; Determining the rendering form of the movement trajectory based on the number of the first position points within a preset range; Rendering the driving trajectory of the target object on the map based on the movement trajectory of the target object on the target path and the rendering form of the movement trajectory.

2. The method for rendering a driving trajectory according to claim 1, characterized in that, the target path is a path parallel to the road center line.

3. The method for rendering a driving trajectory according to claim 2, characterized in that, the mapping each first position point to the target path on the map respectively to obtain second position points corresponding to each first position point includes: Mapping each first position point along the perpendicular line direction of the road center line where each first position point is located to the target path on the map respectively, and obtaining second position points corresponding to each first position point on the target path.

4. The method for rendering a driving trajectory according to claim 1, characterized in that, the preset range includes: a section of one-way road, a section of two-way road or a block.

5. The method for rendering a driving trajectory according to claim 2, characterized in that, the determining the rendering form of the movement trajectory based on the number of the first position points within a preset range includes: Determining the color used for rendering the movement trajectory based on the number of the first position points within a preset range; or, Determining the linear used for rendering the movement trajectory based on the number of the first position points within a preset range.

6. A device for rendering a driving trajectory, characterized in that, the device includes: An obtaining unit: configured to obtain the position information of the target object and obtain positioning points at every specific time interval, obtain all the positioning points of the target object within a preset time period, and determine the first position points of each positioning point on the map; wherein, the preset time period is any preset time period; A mapping unit: configured to map each first position point to the target path on the map respectively to obtain second position points corresponding to each first position point; Rendering unit: configured to render the driving trajectory of the target object on the map based on the number of the second position points and the first position points within a preset range; wherein, the number of the first position points within the preset range represents the driving frequency of the target object within the preset range; The rendering unit is further configured to: Determine the movement trajectory of the target object on the target path based on the second position points; Determine the rendering form of the movement trajectory based on the number of the first position points within the preset range; Render the driving trajectory of the target object on the map based on the movement trajectory of the target object on the target path and the rendering form of the movement trajectory.

7. A computer device, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores computer instructions executable by the at least one processor, and the computer instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1-5.

8. A computer-readable storage medium, on which computer instructions are stored, Characterized in that The computer instructions are used to cause a computer to execute the method according to any one of claims 1 to 5.

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