Slope area marking method, device, equipment and storage medium

Abstract

The present application discloses a slope area marking method, device, equipment, and storage medium. The method includes: obtaining track points of a driving trajectory, each track point including the height coordinates of a vehicle; calculating the height change rate of the track points, and taking track points with a height change rate greater than a preset change rate threshold as entry and exit points; taking an entry and exit point whose adjacent left height variance is greater than the adjacent right height variance, and whose left-side to right-side height variance ratio is greater than a preset ratio threshold as an exit point; taking an entry and exit point whose adjacent left height variance is less than the adjacent right height variance, and whose right-side to left-side height variance ratio is greater than the ratio threshold as an entry point; screening out the entry point and exit point with the largest height variance ratio among all consecutive entry points and all consecutive exit points, and marking the road section between the screened entry point and the adjacent exit point on the right as the corresponding slope area.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a slope area marking method, device, equipment and storage medium. Background Art

[0002] When autonomously moving, an unmanned vehicle or mobile robot needs to identify whether the road it is currently traveling on is a sloped section, and make appropriate driving decisions accordingly. For example, if the sloped section is an uphill section, the unmanned vehicle should slow down; if the sloped section is an uphill section, the unmanned vehicle should accelerate appropriately based on the inclination of the sloped section. Therefore, to ensure the safe and autonomous driving of the unmanned vehicle, it is necessary to accurately identify the slope conditions on the current driving section in order to make appropriate driving decisions. The technical solution for identifying sloped sections in the prior art is that a staff member drives the vehicle on the road section to be marked. When the vehicle reaches the sloped area, the sloped area is marked on the map based on the positioning information. When the unmanned vehicle is driving in the marked area, it makes decisions such as automatic deceleration or acceleration.

[0003] The inventors found that manually marking slope areas requires staff to personally drive vehicles to carry out positioning markings, which requires a lot of manpower and material resources and has a high marking cost. Summary of the Invention

[0004] The embodiments of the present application provide a slope area marking method, device, equipment and storage medium, which solve the technical problem of high efficiency and low cost of manual marking of slope areas in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a slope area marking method, comprising:

[0006] Acquire a driving trajectory of a vehicle within the road section to be marked, wherein the driving trajectory includes a plurality of trajectory points, and each trajectory point includes a height coordinate of the vehicle in a geographic coordinate system;

[0007] Calculate the height change rate of each trajectory point, and take the trajectory point whose height change rate is greater than a preset change threshold as the first entry and exit point;

[0008] Calculating the variance of the heights of the trajectory points on both sides of the first entry / exit point, taking the first entry / exit point where the left variance is greater than the right variance and the ratio of the left variance to the right variance is greater than a preset ratio threshold as the first exit point, and taking the first entry / exit point where the left variance is less than the right variance and the ratio of the right variance to the left variance is greater than a preset ratio threshold as the first entry / exit point;

[0009] Based on the variance ratio of all consecutive first on-slope points, the first on-slope point with the largest corresponding ratio is selected as the second on-slope point. Based on the variance ratio of all consecutive first off-slope points, the first off-slope point with the largest corresponding ratio is selected as the second off-slope point. The section between the second on-slope point and the second off-slope point adjacent to the right is marked as a slope area.

[0010] In a second aspect, an embodiment of the present application provides a slope area marking device, comprising:

[0011] A trajectory point acquisition module is configured to acquire a driving trajectory of a vehicle in a road section to be marked, wherein the driving trajectory includes a plurality of trajectory points, each of which includes a height coordinate of the vehicle in a geographic coordinate;

[0012] An entry and exit slope point screening module is configured to calculate the height change rate of each trajectory point, and take the trajectory point whose height change rate is greater than a preset change threshold as the first entry and exit slope point;

[0013] The exit and entry point screening module is configured to calculate the variance of the heights of the trajectory points on both sides of the first exit and entry point, select the first exit and entry point where the left variance is greater than the right variance and the ratio of the left variance to the right variance is greater than a preset ratio threshold as the first exit point, and select the first exit and entry point where the left variance is less than the right variance and the ratio of the right variance to the left variance is greater than a preset ratio threshold as the first entry point;

[0014] The slope area determination module is configured to, based on the variance ratio of all consecutive first on-slope points, select the first on-slope point with the largest corresponding ratio as the second on-slope point; based on the variance ratio of all consecutive first off-slope points, select the first off-slope point with the largest corresponding ratio as the second off-slope point; and mark the road section between the second on-slope point and the second off-slope point adjacent to the right as a slope area.

[0015] In a third aspect, an embodiment of the present application provides a slope area marking device, comprising:

[0016] one or more processors;

[0017] a memory for storing one or more programs;

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the slope area marking method as described in the first aspect.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the slope area marking method as described in the first aspect.

[0020] The aforementioned slope area marking method, device, equipment, and storage medium obtain track points from a vehicle's driving trajectory within the road section to be marked. Track points include the vehicle's altitude coordinates in a geographic coordinate system, which, to a certain extent, characterize the corresponding road section. Therefore, the altitude change rate of the track points is calculated, and track points that are likely to be entry and exit points are screened based on the altitude change rate. Because the altitude change rate of the track points to the left of the entry and exit point differs from the altitude change rate of the track points to the right of the entry and exit point, the altitude variance of the track points to the left is compared with the altitude variance of the track points to the right, further screening out the more likely entry and exit points from the track points. If multiple consecutive entry and exit points occur within a road section, the point with the largest variance ratio is selected from these consecutive entry and exit points. That is, the point with the largest difference in rate of change is selected as the entry or exit point. The road section between the entry point and the adjacent exit point is considered the corresponding slope section. By adopting the above technical means, the slope sections of the road to be marked can be efficiently determined by simply analyzing the height coordinates of the vehicle when it is traveling on the road section to be marked, so as to realize automatic marking of the slope area, solving the technical problems of low efficiency and high cost of manual marking in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of a slope area marking method provided by one embodiment of the present application;

[0022] Figure 2 This is a first schematic diagram of a driving trajectory provided by an embodiment of the present application;

[0023] Figure 3 This is a second schematic diagram of the driving trajectory provided in an embodiment of the present application;

[0024] Figure 4 This is a schematic structural diagram of a slope area marking device provided by one embodiment of the present application;

[0025] Figure 5 This is a structural diagram of a slope area marking device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended to explain the present application, not to limit the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present application, not all structures.

[0027] It should be noted that, in this document, relational terms such as first and second are used solely to distinguish one entity, operation, or object from another, and do not necessarily require or imply any actual relationship or order between these entities, operations, or objects. For example, the terms "first" and "second" in the terms "first exit point" and "second exit point" are used to distinguish exit points obtained in different steps.

[0028] The slope area marking method provided in the embodiments of the present application can be performed by a slope area marking device. The slope area marking device can be implemented through software and / or hardware. The slope area marking device can be composed of two or more physical entities, or a single physical entity. For example, the slope area marking device can be an intelligent device such as a computer.

[0029] The slope area marking device is installed with at least one operating system, including but not limited to Android, Linux, and Windows. The slope area marking device can install at least one application based on the operating system. The application can be a native application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the slope area marking device is installed with at least one application capable of executing the slope area marking method. Therefore, the slope area marking device can also be the application itself.

[0030] For ease of understanding, the embodiment is described exemplarily by taking a computer as the slope area marking device.

[0031] Figure 1 This is a flow chart of a slope area marking method provided by an embodiment of the present application. Figure 1 , the slope area marking method includes:

[0032] S110 : Acquire a driving trajectory of a vehicle in a road section to be marked, where the driving trajectory includes a plurality of trajectory points, and each trajectory point includes a height coordinate of the vehicle in a geographic coordinate system.

[0033] Autonomous driving requires the construction of high-precision maps in advance. These maps require data collection vehicles to physically visit the driving sections and then construct high-precision maps based on this data. The data collected by the collection vehicles includes the vehicle's trajectory along the corresponding driving section. However, the constructed high-precision maps do not include the road conditions of the driving section, such as slopes. Therefore, slopes must be marked on the high-precision maps. Traditional slope marking solutions involve a worker driving a vehicle along the road to be marked. When a slope is encountered, the vehicle's position information is used to mark the slope on the high-precision map. However, before the worker drives the vehicle to the road section to mark the slope, the collection vehicle has already collected the vehicle's three-dimensional coordinate information in the geographic coordinate system as it travels along the road section. The height information in this three-dimensional coordinate information reflects the slope to a certain extent. Therefore, this solution fully utilizes this already collected three-dimensional coordinate information to analyze the slope conditions of the driving section based on this 3D coordinate information. This eliminates the need for workers to physically drive the vehicle to the road section to mark the slope, significantly reducing marking costs.

[0034] For example, while driving, the collection vehicle collects its own location information at regular intervals. This location information is the vehicle's three-dimensional coordinate information in the geographic coordinate system. If a sloped area on a road section is pre-marked, the collection vehicle's driving trajectory within the pre-marked road section is obtained. The driving trajectory includes multiple track points, each of which contains the vehicle's three-dimensional coordinate information in the geographic coordinate system. It can be understood that the three-dimensional coordinate information of the track points is the same as the three-dimensional coordinate information collected by the collection vehicle.

[0035] It should be noted that when a vehicle is traveling on a road section, if the vehicle's height coordinate increases, it means that the vehicle is traveling on an uphill section; if the vehicle's height coordinate decreases, it means that the vehicle is traveling on a downhill section. Therefore, the change in the vehicle's height coordinate reflects the road conditions of the driving section to a certain extent.

[0036] S120: Calculate the height change rate of each trajectory point, and use the trajectory point whose height change rate is greater than a preset change rate threshold as the first entry and exit slope point.

[0037] If the height change rate exceeds the preset threshold, it indicates that the current road segment has changed in elevation compared to the previous segment, and the cause of this change is that the road segment has entered a slope. Therefore, trajectory points with a height change rate greater than the preset threshold are considered possible entry and exit points. The current and previous moments are the timestamps of the trajectory points' acquisition.

[0038] Exemplarily, the height change rate of the trajectory point is calculated according to a preset change rate calculation formula, where the change rate calculation formula is:

[0039]

[0040] in, The first The height change rate of each trajectory point, For the The height coordinates of the trajectory points, For the The left adjacent track point The sum of the heights of the trajectory points, For the The adjacent track point on the right The sum of the heights of the trajectory points.

[0041] It should be noted that the track points in the driving trajectory are sorted according to the collection time. Assuming that the collection time of the first track point in the driving trajectory is , each interval Collect three-dimensional coordinate information once, The acquisition time of each trajectory point is , No. The left adjacent track point The trajectory points are 、 、…、 The trajectory points collected at the collection time, The adjacent track point on the right The trajectory points are 、 、…、 The trajectory points collected at the collection time.

[0042] For example, the trajectory points can be regarded as two-dimensional coordinate points, and the driving trajectory composed of the trajectory points can be regarded as a discrete two-dimensional curve. Figure 2 This is the first schematic diagram of the driving trajectory provided by this embodiment. Figure 2 As shown, the vertical axis coordinate of the driving trajectory is height, and the horizontal and vertical axes are time. The driving trajectory includes multiple trajectory points, and the coordinates of each trajectory point represent the height information of the collected vehicle at the corresponding collection time. Figure 2 The road section corresponding to the driving track in the figure is the road section to be marked, then the vertical axis coordinate of each track point in the driving track is obtained, and the height change rate of each track point is calculated according to the change rate calculation formula. It should be noted that the height change rate of the track point needs to be calculated based on the vertical axis coordinates of the track points on the adjacent left and adjacent right sides. Figure 2 As shown in the figure, there is no adjacent track point on the left side of the first track point, and no adjacent track point on the right side of the last track point. In such cases, the front track point in the driving track will be The default height change rate of each track point is less than the preset change rate threshold, and the last The default height change rate of the trajectory point is less than the preset change rate threshold. The altitude change rate is calculated from the trajectory point to Stop calculating the height change rate. Understandably, in real-world scenarios, the acquisition vehicle will start and stop on flat ground, so the height change rate of the front and rear track points will indeed be less than the preset change rate threshold.

[0043] Assumptions Figure 2 The vertical axis coordinates of the trajectory points in are shown in Table 1:

[0044]

[0045] Substitute the height of the trajectory point in Table 1 into the change rate calculation formula to obtain the height change rate of the trajectory point. Assume =5, the height of the 6th track point is 6m, the total height of the 5 track points adjacent to the left of the 6th track point is 30m, the total height of the 5 track points adjacent to the right of the 6th track point is 21m, and the height change rate of the 6th track point is 0.9. The height change rates of the 7th to 15th track points are calculated in sequence. The height change rates of the 6th to 15th track points are shown in Table 2:

[0046]

[0047] Assuming that the change rate threshold is 0.4, the 6th, 7th, 8th, 11th, 12th, 13th, 14th and 15th track points are used as the first entry and exit points.

[0048] S130: Calculate the variance of the heights of the trajectory points on both sides of the first entry / exit point, and select the first entry / exit point where the left variance is greater than the right variance and the ratio of the left variance to the right variance is greater than a preset ratio threshold as the first exit point; and select the first entry / exit point where the left variance is less than the right variance and the ratio of the right variance to the left variance is greater than the preset ratio threshold as the first entry / exit point.

[0049] Since the height change rates of the track points on both sides of the entry and exit points are different, the variance can represent the deviation level of the overall data from the average value. In other words, the height variance can reflect the height change of multiple consecutive track points. Therefore, by comparing the height variance of multiple consecutive track points on the left side of the first entry and exit point with the height variance of multiple consecutive track points on the right side, it is determined whether the first entry and exit point is the first exit point, the first entry point, or neither. Based on this, the specific steps for calculating the height variance include S1301-S1302:

[0050] S1301. Calculate the variance of the height of the track point on the left side of the first entry / exit slope point according to a preset first variance calculation formula. The first variance calculation formula is:

[0051]

[0052] in, For the The left adjacent track point The variance of the height of each trajectory point, For the The left adjacent track point The mean height of the trajectory points.

[0053] S1302: Calculate the variance of the height of the track point on the right side of the first entry / exit slope point according to a preset second variance calculation formula. The second variance calculation formula is:

[0054]

[0055] in, For the The adjacent track point on the right The variance of the height of each trajectory point, For the The adjacent track point on the right The mean height of the trajectory points.

[0056] It should be noted that the height variance is the same as the height change rate, and requires the vertical coordinates of the adjacent left and right track points to be calculated. arrive The selected track points are selected, so the left and right sides of the first entry and exit points are at least adjacent track points, so only need to set , we can calculate the adjacent left and right sides of the first entry and exit point The variance of the height of each trajectory point.

[0057] Assumptions , obtain the first entry and exit slope point selected from Table 2, obtain the heights of the five track points adjacent to the left of the first entry and exit slope point from Table 1, substitute the heights of these five track points into the first variance calculation formula to calculate the left variance of the first entry and exit slope point. Obtain the heights of the five track points adjacent to the right of the first entry and exit slope point from Table 1, substitute the heights of these five track points into the second variance calculation formula to calculate the right variance of the second entry and exit slope point. Specifically, from the above content, it can be seen that the 6th track point, the 7th track point, the 8th track point, the 11th track point, the 12th track point, the 13th track point, the 14th track point, and the 15th track point are the first entry and exit slope points selected from Table 2. As shown in Table 1, the heights of the five adjacent track points to the left of the sixth track point are all 6 meters, and the left variance of the sixth track point is 0. The heights of the five adjacent track points to the right of the sixth track point are 5.5 meters, 4.9 meters, 4.3 meters, 3.5 meters, and 2.8 meters, respectively, and the right variance of the sixth track point is 1.16. The left and right variances of the seventh, eighth, eleventh, twelfth, thirteenth, fourteenth, and fifteenth track points are calculated in turn, and the variances are shown in Table 3:

[0058] Furthermore, the left-side variance of the first entry and exit slope points in Table 3 is compared with the right-side variance. If the left-side variance of the 11th, 12th, 13th, 14th, and 15th track points is greater than the right-side variance, these track points can be determined as possible first exit slope points. The ratio of the left-side variance to the right-side variance of the 11th, 12th, 13th, 14th, and 15th track points is calculated. The variance ratio of the track points is shown in Table 4:

[0059]

[0060] Compare the left-side variance and right-side variance of the first entry and exit slope points in Table 3. If the right-side variance of the 6th, 7th, and 8th track points is greater than the left-side variance, these track points can be identified as possible first entry slope points. Calculate the ratio of the right-side variance to the left-side variance of the 6th, 7th, and 8th track points. The variance ratios of these track points are shown in Table 5:

[0061]

[0062] Assuming that the ratio threshold is 20, the 13th, 14th, and 15th track points are determined as the first off-slope points, and the 6th and 7th track points are determined as the first on-slope points.

[0063] It can be understood that if a track point is an in-slope point, it means that the track point is adjacent to the right side. The trajectory points belong to the slope area, that is, The height of each track point will change with the slope, so this The height variance of each trajectory point is large. This trajectory point does not belong to the slope area, so this The height variance of each track point is small. Similarly, if a track point is a slope-out point, the height variance of the track point adjacent to the left side is small. The trajectory points belong to the slope area, and the adjacent left The height variance of the trajectory points is large, and the adjacent right The height variance of each trajectory point is small. Secondly, the more likely exit and entry points are screened by using the ratio threshold.

[0064] S140: Based on the variance ratios of all consecutive first on-slope points, the first on-slope point with the largest corresponding ratio is selected as the second on-slope point. Based on the variance ratios of all consecutive first off-slope points, the first off-slope point with the largest corresponding ratio is selected as the second off-slope point. The road section between the second on-slope point and the second off-slope point adjacent to the right is marked as a slope area.

[0065] Since the frequency of trajectory point collection is relatively high, multiple continuous entry and exit points may be collected in a slope area with a smaller slope. Therefore, it is necessary to screen out the corresponding entry and exit points from these multiple continuous entry and exit points. In this embodiment, the entry point is determined based on the ratio of the right variance to the left variance of the entry point, and the entry point with the largest ratio is used as the optimal entry point. The exit point is determined based on the ratio of the left variance to the right variance of the exit point, and the exit point with the largest ratio is used as the optimal exit point. It can be understood that the larger the ratio, the greater the difference in the change of the continuous trajectory points adjacent to each other on both sides, that is, the more it can represent the entry characteristics of the transition from a non-slope area to a slope area, or the exit characteristics of the transition from a slope area to a non-slope area. It should be noted that if only one entry point or one exit point is screened out, then the entry point or exit point is used as the optimal entry point or optimal exit point.

[0066] For example, as can be seen from the above, the 6th and 7th track points are the first consecutive on-slope points. Based on the variance ratios in Table 5, the optimal on-slope point is determined. Since the variance ratios of the 6th and 7th track points are both infinite, according to the right-side variances of the 6th and 7th track points in Table 4, the right-side variance of the 6th track point is greater than the right-side variance of the 7th track point, that is, the variance ratio of the 6th track point is greater than the variance ratio of the 7th track point. Therefore, the 6th track point is determined to be the optimal on-slope point. Similarly, the 13th, 14th, and 15th track points are the first consecutive off-slope points. Based on the variance ratios in Table 4, the optimal on-slope point is determined. The variance ratios of the 14th and 15th track points are both infinite, and the left-side variance of the 14th track point is greater than the left-side variance of the 15th track point, that is, the variance ratio of the 14th track point is greater than the variance ratio of the 15th track point. Therefore, the 14th track point is determined to be the optimal off-slope point.

[0067] Furthermore, after determining that the 6th track point is the optimal on-slope point and the 14th track point is the optimal off-slope point, the 3D coordinate information of the 6th track point and the 14th track point is obtained. Based on the 3D coordinate information of these two track points, the corresponding slope area is marked on the high-precision map. It should be noted that the road section to be marked may include multiple slope areas, each of which corresponds to an on-slope point and an off-slope point. The on-slope point is the first endpoint of the slope area, and the off-slope point is the last endpoint of the slope area. Therefore, the corresponding slope area is between the on-slope point and the next adjacent off-slope point.

[0068] After determining the slope area, the slope area can be determined as an uphill section or a downhill section based on the height of the slope entry point and the slope exit point. For example, if the height of the slope entry point is greater than the height of the slope exit point, the slope area is determined to be a downhill section; if the height of the slope entry point is less than the height of the slope exit point, the slope area is determined to be an uphill section. Figure 2 According to Table 1, the height of the slope entry point in the driving section is 6m, and the height of the slope exit point is 1.7m, so it is determined Figure 2 The middle slope area is a downhill section. Obviously, Figure 2 The height of the trajectory points in the slope area in gradually decreases over time, that is, the height of the slope section where the vehicle travels gradually decreases, so the slope area is a downhill section.

[0069] Furthermore, the slope of the slope area can be determined based on the distance and height difference between the entry point and exit point of the slope area. For example, the three-dimensional coordinates of the second entry point and the corresponding second exit point in the geographic coordinate system are obtained, and the distance between the second entry point and the corresponding second exit point is calculated. The height difference between the second entry point and the corresponding second exit point is calculated, and the slope of the corresponding slope area is determined based on the height difference and the distance.

[0070] Specifically, the three-dimensional coordinates of all trajectory points are obtained, and the trajectory points are plotted in the XYZ rectangular coordinate system according to the three-dimensional coordinates of the trajectory points. The trajectory points in the XYZ rectangular coordinate system are connected in the order of the trajectory point collection time to obtain the corresponding driving trajectory. Figure 3 This is a second schematic diagram of the driving trajectory provided in the embodiment of the present application. Figure 3 As shown, the driving trajectory is a curve that is first flat and then declines and then becomes flat. Point A is the optimal entry point selected, and point B is the optimal exit point selected. The coordinates of point A are , the coordinates of point B are , the distance between the slope entry point and the slope exit point is calculated as The absolute value of the height difference between the entry point and the exit point is , so the slope of the slope area .

[0071] Specifically, after determining the slope gradient of the slope area and the slope attributes of uphill or downhill, the corresponding autonomous driving strategy is set according to the slope gradient and slope attributes, so that when the autonomous driving vehicle enters the slope area, it drives according to the corresponding driving strategy.

[0072] The aforementioned slope area marking method obtains track points from a vehicle's trajectory within the road section to be marked. These track points include the vehicle's altitude coordinates in a geographic coordinate system, which, to a certain extent, characterize the corresponding road section. Therefore, the altitude change rate of the track points is calculated, and track points that are likely to be entry and exit points are screened based on this altitude change rate. Because the altitude change rate of track points to the left of an entry and exit point differs from that to the right of an entry and exit point, the height variance of the track points to the left is compared with that of the track points to the right, allowing the more likely entry and exit points to be further screened from the track points. If a road section contains multiple consecutive entry and exit points, the point with the largest variance ratio is selected from these consecutive entry and exit points. In other words, the point with the largest difference in rate of change is selected as the entry or exit point. The section between the entry point and the adjacent exit point is considered the corresponding slope section. This technology efficiently identifies sloped sections of a road by simply analyzing the vehicle's altitude coordinates while traveling on the road section to be marked, enabling automatic marking of sloped areas. This addresses the low efficiency and high cost of manual marking in existing technologies. The three-dimensional coordinates of the slope's entry and exit points are used to determine the slope's gradient and attributes, enabling the corresponding autonomous driving strategy to be set when the autonomous vehicle enters the sloped area.

[0073] Figure 4This is a schematic diagram of the structure of a slope area marking device provided by an embodiment of the present application. Figure 4 The slope area marking device includes: a track point acquisition module 201, an entry and exit point screening module 202, an exit point and entry point screening module 203 and a slope area determination module 204.

[0074] The track point acquisition module is configured to acquire the driving track of the vehicle in the road section to be marked, the driving track includes a plurality of track points, and each track point includes the height coordinates of the vehicle in the geographic coordinates;

[0075] An entry and exit slope point screening module is configured to calculate the height change rate of each trajectory point and select a trajectory point with a height change rate greater than a preset change threshold as a first entry and exit slope point;

[0076] The exit and entry point screening module is configured to calculate the variance of the heights of the trajectory points on both sides of the first exit and entry point, and select the first exit and entry point where the left variance is greater than the right variance and the ratio of the left variance to the right variance is greater than a preset ratio threshold as the first exit point; and select the first exit and entry point where the left variance is less than the right variance and the ratio of the right variance to the left variance is greater than a preset ratio threshold as the first entry point;

[0077] The slope area determination module is configured to, based on the variance ratio of all consecutive first on-slope points, select the first on-slope point with the largest corresponding ratio as the second on-slope point; based on the variance ratio of all consecutive first off-slope points, select the first off-slope point with the largest corresponding ratio as the second off-slope point; and mark the road section between the second on-slope point and the second off-slope point adjacent to the right as a slope area.

[0078] On the basis of the above embodiment, the entry and exit slope point screening module includes: a change rate calculation unit, which is configured to calculate the height change rate of the trajectory point according to a preset change rate calculation formula. The change rate calculation formula is:

[0079]

[0080] in, The first The height change rate of each trajectory point, For the The height coordinates of the trajectory points, For the The left adjacent track point The sum of the heights of the trajectory points, For the The adjacent track point on the right The sum of the heights of the trajectory points.

[0081] Based on the above embodiment, the exit and entry point screening module includes: a left side variance calculation unit, configured to calculate the variance of the height of the trajectory point on the left side of the first exit and entry point according to a preset first variance calculation formula. The first variance calculation formula is:

[0082]

[0083] in, For the The left adjacent track point The variance of the height of each trajectory point, For the The left adjacent track point The mean height of the trajectory points;

[0084] The right side variance calculation unit calculates the variance of the height of the trajectory point on the right side of the first entry and exit slope point according to a preset second variance calculation formula. The second variance calculation formula is:

[0085]

[0086] in, For the The adjacent track point on the right The variance of the height of each trajectory point, For the The adjacent track point on the right The mean height of the trajectory points.

[0087] Based on the above embodiment, the slope area determination module includes: a distance calculation unit, configured to obtain the three-dimensional coordinates of the second slope entry point and the three-dimensional coordinates of the corresponding second slope exit point in the geographic coordinate system, and calculate the distance between the second slope entry point and the corresponding second slope exit point; a slope calculation unit, configured to calculate the height difference between the second slope entry point and the corresponding second slope exit point, and determine the slope of the corresponding slope area based on the height difference and the distance.

[0088] It is worth noting that in the above-mentioned embodiment of the slope area marking device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0089] The slope area marking device provided in the embodiment of the present application is included in the slope area marking equipment and can be used to execute the slope area marking method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0090] Figure 5This is a schematic diagram of the structure of a slope area marking device provided by an embodiment of the present application. Figure 5 As shown, the slope area marking device includes a processor 30, a memory 31, an input device 32, an output device 33 and a display screen 34; the number of processors 30 in the slope area marking device can be one or more. Figure 5 In the example of a processor 30; the number of display screens 34 in the slope area marking device can be one or more, Figure 5 In the figure, a display screen 34 is used as an example; the processor 30, the memory 31, the input device 32, the output device 33 and the display screen 34 in the slope area marking device can be connected by a bus or other means. Figure 5 The bus connection is taken as an example.

[0091] The memory 31, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the slope area marking method in the embodiments of the present application (e.g., the trajectory point acquisition module 201, the entry and exit point screening module 202, the exit and entry point screening module 203, and the slope area determination module 204 in the slope area marking device). The processor 30 executes the software programs, instructions, and modules stored in the memory 31 to perform the various functional applications and data processing of the slope area marking device, thereby implementing the aforementioned slope area marking method.

[0092] The memory 31 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the slope area marking device. Furthermore, the memory 31 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some examples, the memory 31 may further include memory remotely located relative to the processor 30. Such remote memory may be connected to the slope area marking device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0093] The input device 32 can be used to receive input digital or character information and generate key signal input related to user settings and function control of the slope area marking device. The output device 33 can include an audio output device such as a speaker.

[0094] The above-mentioned slope area marking device includes a slope area marking device, which can be used to execute any slope area marking method and has corresponding functions and beneficial effects.

[0095] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is used to execute the slope area marking method provided in the above embodiment.

[0096] Of course, the computer-readable storage medium provided in the embodiment of the present application, whose computer-executable instructions are not limited to the above method operations, can also execute related operations in the slope area marking method provided in any embodiment of the present application.

[0097] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present application can be implemented with the help of software and necessary general-purpose hardware. Of course, it can also be implemented with hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0098] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present application. The scope of the present application is determined by the scope of the appended claims.

Claims

1. A slope area marking method, characterized in that: include: Acquire a driving trajectory of a vehicle within the road section to be marked, wherein the driving trajectory includes a plurality of trajectory points, and each trajectory point includes a height coordinate of the vehicle in a geographic coordinate system; Calculate the height change rate of each trajectory point, and take the trajectory point whose height change rate is greater than a preset change threshold as the first entry and exit point; Calculating the variance of the heights of the trajectory points on both sides of the first entry / exit point, taking the first entry / exit point where the left variance is greater than the right variance and the ratio of the left variance to the right variance is greater than a preset ratio threshold as the first exit point, and taking the first entry / exit point where the left variance is less than the right variance and the ratio of the right variance to the left variance is greater than a preset ratio threshold as the first entry / exit point; Based on the variance ratio of all consecutive first on-slope points, the first on-slope point with the largest corresponding ratio is selected as the second on-slope point. Based on the variance ratio of all consecutive first off-slope points, the first off-slope point with the largest corresponding ratio is selected as the second off-slope point. The section between the second on-slope point and the second off-slope point adjacent to the right is marked as a slope area.

2. The method according to claim 1, characterized in that Calculating the height change rate of each trajectory point includes: The height change rate of the trajectory point is calculated according to a preset change rate calculation formula, which is: in, The first The height change rate of each trajectory point, For the The height coordinates of the trajectory points, For the The left adjacent track point The sum of the heights of the trajectory points, , For the The adjacent track point on the right The sum of the heights of the trajectory points.

3. The method according to claim 1, characterized in that The calculating of the variance of the trajectory points on both sides of the first entry and exit slope point includes: The variance of the height of the track point on the left side of the first entry and exit slope point is calculated according to a preset first variance calculation formula. The first variance calculation formula is: in, For the The left adjacent track point The variance of the height of each trajectory point, For the The left adjacent track point The mean height of the trajectory points, ; The variance of the height of the trajectory point on the right side of the first entry and exit slope point is calculated according to a preset second variance calculation formula. The second variance calculation formula is: in, For the The adjacent track point on the right The variance of the height of each trajectory point, For the The adjacent track point on the right The mean height of the trajectory points.

4. The method according to claim 1, wherein The step of marking the road section between the second slope entry point and the second slope exit point adjacent to the right side as a slope area further includes: Obtaining the three-dimensional coordinates of the second slope entry point and the three-dimensional coordinates of the corresponding second slope exit point in a geographic coordinate system, and calculating the distance between the second slope entry point and the corresponding second slope exit point; The height difference between the second slope entry point and the corresponding second slope exit point is calculated, and the slope of the corresponding slope area is determined according to the height difference and the distance.

5. A slope area marking device, characterized in that: include: A trajectory point acquisition module is configured to acquire a driving trajectory of a vehicle in a road section to be marked, wherein the driving trajectory includes a plurality of trajectory points, each of which includes a height coordinate of the vehicle in a geographic coordinate; An entry and exit slope point screening module is configured to calculate the height change rate of each trajectory point, and take the trajectory point whose height change rate is greater than a preset change threshold as the first entry and exit slope point; The exit and entry point screening module is configured to calculate the variance of the heights of the trajectory points on both sides of the first exit and entry point, select the first exit and entry point where the left variance is greater than the right variance and the ratio of the left variance to the right variance is greater than a preset ratio threshold as the first exit point, and select the first exit and entry point where the left variance is less than the right variance and the ratio of the right variance to the left variance is greater than a preset ratio threshold as the first entry point; The slope area determination module is configured to, based on the variance ratio of all consecutive first on-slope points, select the first on-slope point with the largest corresponding ratio as the second on-slope point; based on the variance ratio of all consecutive first off-slope points, select the first off-slope point with the largest corresponding ratio as the second off-slope point; and mark the road section between the second on-slope point and the second off-slope point adjacent to the right as a slope area.

6. The device according to claim 5, characterized in that The entry and exit slope point screening module includes: The rate of change calculation unit is configured to calculate the rate of change of the height of the trajectory point according to a preset rate of change calculation formula, wherein the rate of change calculation formula is: in, The first The height change rate of each trajectory point, For the The height coordinates of the trajectory points, For the The left adjacent track point The sum of the heights of the trajectory points, , For the The adjacent track point on the right The sum of the heights of the trajectory points.

7. The device according to claim 5, characterized in that The out-of-slope point and in-slope point screening module includes: The left side variance calculation unit is configured to calculate the variance of the height of the left track point of the first entry and exit slope point according to a preset first variance calculation formula, wherein the first variance calculation formula is: in, For the The left adjacent track point The variance of the height of each trajectory point, For the The left adjacent track point The mean height of the trajectory points, ; The right side variance calculation unit calculates the variance of the height of the trajectory point on the right side of the first entry and exit slope point according to a preset second variance calculation formula, where the second variance calculation formula is: in, For the The adjacent track point on the right The variance of the height of each trajectory point, For the The adjacent track point on the right The mean height of the trajectory points.

8. The device according to claim 5, characterized in that The slope area determination module includes: a distance calculation unit configured to obtain the three-dimensional coordinates of the second slope entry point and the three-dimensional coordinates of the corresponding second slope exit point in a geographic coordinate system, and calculate the distance between the second slope entry point and the corresponding second slope exit point; The slope calculation unit is configured to calculate the height difference between the second slope entry point and the corresponding second slope exit point, and determine the slope of the corresponding slope area according to the height difference and the distance.

9. A slope area marking device, characterized in that: include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the slope area marking method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the program is executed by a processor, the slope area marking method according to any one of claims 1 to 4 is implemented.

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