Method and system for rendering 3D road elevation scenes based on road hierarchical relationships

Abstract

This invention discloses a method and system for rendering 3D road elevation scenes based on road hierarchy relationships. It obtains the relative hierarchy relationships of roads at intersections using high-precision road data; determines the absolute hierarchy relationship of roads at the current intersection based on the actual height difference between roads on ordinary surfaces and at intersections; combines the relative and absolute hierarchy relationships of roads at intersections to correct errors in the hierarchy relationships of other roads at the intersections, obtaining the final hierarchy relationship of the overall road data at the intersections; and matches the corresponding road elevations according to the final hierarchy relationship based on a predefined hierarchy elevation correspondence list, thereby realistically reproducing the 3D scene, assisting the rendering end in providing accurate driving services, and improving the driving experience.

Description

Technical Field

[0001] This invention relates to high-precision road scene production technology, and in particular to a method and system for rendering 3D road elevation scenes based on road hierarchy relationships. Background Technology

[0002] Currently, the data used to construct simulation scenarios in the simulation testing of autonomous driving systems is generally data collected from real vehicles. This is achieved by assembling a convoy of vehicles that travel along a pre-set route, with each vehicle equipped with sensors to collect data along the way. The collected data is then processed to construct the simulation scenario.

[0003] However, the high-precision road data encrypted by the State Bureau of Surveying and Mapping does not provide elevation information, which causes problems for rendering lane-level navigation data. Without elevation information, it is difficult to render realistic 3D scenes. For drivers, when driving on complex roads such as overpasses, it is difficult for the display to show the actual hierarchical relationship, causing trouble for driving navigation. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a method and system for rendering 3D road elevation scenes based on road hierarchy relationships, thereby solving the problem that existing high-precision road data lacks elevation information, making it difficult to render realistic 3D scenes.

[0005] To achieve the above-mentioned technical objectives, the first aspect of the technical solution of the present invention provides a method for rendering a 3D road elevation scene based on road hierarchy relationships, which includes the following steps:

[0006] Based on high-precision road data, the information on grade-separated intersections is obtained, and the relative hierarchical relationship of roads on the grade-separated intersections is obtained based on the information on grade-separated intersections.

[0007] The absolute hierarchical relationship of a road at a given intersection is determined by the actual height difference between the road on a regular surface and at an interchange.

[0008] By combining the relative and absolute hierarchical relationships of roads at the interchange, the hierarchical relationships of other roads at the interchange are corrected for errors, and the final hierarchical relationship of the overall road data at the interchange is obtained.

[0009] Based on the set hierarchical elevation correspondence list, the corresponding road elevation is matched according to the final hierarchical relationship.

[0010] A second aspect of the present invention provides a system for rendering 3D road elevation scenes based on road hierarchy relationships, which includes the following functional modules:

[0011] The relative hierarchy acquisition module is used to obtain the grade-separated intersection information of the intersection based on high-precision road data, and to obtain the relative hierarchy relationship of the road on the intersection based on the grade-separated intersection information;

[0012] The absolute hierarchy determination module is used to determine the absolute hierarchy of a road at the current interchange based on the actual height difference between the road on a regular road surface and at an interchange.

[0013] The hierarchy correction module is used to correct the error of the hierarchy of other roads at the intersection by combining the relative and absolute hierarchy of roads at the intersection, so as to obtain the final hierarchy of the overall road data at the intersection.

[0014] The elevation rendering module is used to match the corresponding road elevations based on a set list of elevation levels and the final hierarchical relationship.

[0015] A third aspect of the present invention provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for rendering a 3D road elevation scene based on road hierarchy relationships.

[0016] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for rendering a 3D road elevation scene based on road hierarchy relationships.

[0017] Compared with existing technologies, the method and system for rendering 3D road elevation scenes based on road hierarchy relationships described in this invention obtains the relative hierarchy relationship of roads at intersections and interchanges through three-dimensional intersection information provided by high-precision road data; determines the absolute hierarchy relationship of roads at the current intersection based on the actual height difference between roads on ordinary roads and at intersections and interchanges; and corrects the error of the hierarchy relationship of other roads at the intersection by combining the relative and absolute hierarchy relationships of roads at the intersection, thereby obtaining the final hierarchy relationship of the overall road data at the intersection and interchange. By setting different final hierarchy relationships corresponding to different fixed virtual elevations, corresponding elevations are set for road segments of different levels, thereby relatively realistically restoring the real 3D scene, assisting the display on the rendering end, providing accurate driving services, and improving the driving experience. Attached Figure Description

[0018] Figure 1 This is a flowchart of a method for rendering a 3D road elevation scene based on road hierarchy relationships, as described in an embodiment of the present invention.

[0019] Figure 2This is a 3D scene image rendered by a method for rendering 3D road elevation scenes based on road hierarchy relationships, as described in an embodiment of the present invention.

[0020] Figure 3 This is a flowchart of step S2 in a method for rendering a 3D road elevation scene based on road hierarchy as described in an embodiment of the present invention.

[0021] Figure 4 This is a block diagram of a system for rendering 3D road elevation scenes based on road hierarchy relationships, as described in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0023] like Figure 1 and Figure 2 As shown, embodiments of the present invention provide a method for rendering a 3D road elevation scene based on road hierarchy relationships, which includes the following steps:

[0024] S1. Obtain the grade-separated intersection information of the intersection based on high-precision road data, and obtain the relative hierarchical relationship of the roads on the intersection based on the grade-separated intersection information;

[0025] The grade-separated intersection information can be directly extracted from high-precision road data. In high-precision road data, if a road segment is located on an interchange, the road data for that segment will contain interchange information. Therefore, by checking whether interchange information exists in the road data, it can be determined whether the road segment is located on an interchange. The interchange information includes the road segment's ID information, elevation information, and relative level information.

[0026] The relative hierarchy information refers to the road information obtained based on high-precision road data, which sets the relative height relationship of road segments that converge at the same intersection. The relative hierarchy relationship of the road segment with the lowest height is 1, and the relative hierarchy relationship of other road segments on the intersection is set sequentially in ascending order.

[0027] S3. Determine the absolute hierarchical relationship of the road at the current intersection based on the actual height difference between the road on ordinary road surfaces and at grade-separated intersections.

[0028] like Figure 3 As shown, step S2 specifically includes the following sub-steps:

[0029] S21. Based on the road relationship, find the preceding and following ordinary road sections connected to the interchange section;

[0030] S22. Calculate the height change of the road based on the current height of the road between the intersection section and the two ordinary road sections before and after it;

[0031] S23. Determine the absolute hierarchical relationship of the intersection sections based on the height change value of the road, and so on, to obtain the absolute hierarchical relationship of the road on all intersections.

[0032] The road association relationship of the road is the road ID information.

[0033] Specifically, based on the road ID information, the preceding and following road segments connected to the grade-separated intersection are located. It is then determined whether the preceding and following road segments contain grade-separated intersection information. If not, they are ordinary road segments; if so, they are grade-separated intersection segments. Generally, the preceding and following road segments connected to the grade-separated intersection are ordinary road segments. The relative and absolute hierarchical relationships of the ordinary road segments are the same, and the relative hierarchical relationship of the ordinary road segments is set to 1.

[0034] If the relative hierarchy of an interchange segment containing interchange information is rated as 1, then the height change value of the road needs to be calculated by using the height values ​​between the interchange segment and the two ordinary road segments before and after it. The height change value is then compared with a set height difference threshold. If the height change value exceeds the set height difference threshold, then the absolute hierarchy of the interchange segment is determined to be higher than the relative hierarchy of the ordinary road segments, i.e., the absolute hierarchy of the interchange segment is determined to be 2. If the height change value does not exceed the set height difference threshold, then the absolute hierarchy of the interchange segment is determined to be consistent with the relative hierarchy of the ordinary road segments, i.e., the absolute hierarchy of the interchange segment is determined to be 1.

[0035] S3. By combining the relative and absolute hierarchical relationships of roads at the interchange, error correction is performed on the hierarchical relationships of other roads at the interchange to obtain the final hierarchical relationship of the overall road data at the interchange.

[0036] When the relative hierarchical relationship of a road is the same as its absolute hierarchical relationship, the relative hierarchical relationship is taken as the final hierarchical relationship of the road. When the relative hierarchical relationship of a road is different from its absolute hierarchical relationship, the absolute hierarchical relationship is taken as the final hierarchical relationship of the road.

[0037] When an intersection is a multi-level interchange, the final hierarchy of other levels can be derived from the absolute and relative hierarchy of one intersection segment. For example, when an intersection is a four-level interchange, the information of the lowest-level interchange segment may have been missed during data collection. After verifying the height difference, the absolute hierarchy of the intersection segment with a relative hierarchy of 1 is found to be 2. Therefore, the absolute hierarchy of the intersection segment with a relative hierarchy of 2 can be derived as 3, which can greatly reduce the computational load of the system.

[0038] S4. Based on the set hierarchical elevation correspondence list, match the corresponding road elevation according to the final hierarchical relationship.

[0039] Based on the above method, the final hierarchical relationship of the overall road data at the intersections and interchanges is obtained. By setting a corresponding list of different fixed virtual elevations for different final hierarchical relationships, corresponding elevations are set for road segments of different levels. Transitional uphill or downhill ramps are configured between roads with different final hierarchical relationships, so as to relatively realistically restore the real 3D scene, assist the display on the rendering end, provide accurate driving services, and improve the driving experience.

[0040] like Figure 4 As shown in the figure, this invention also discloses a system for rendering 3D road elevation scenes based on road hierarchy relationships, which includes the following functional modules:

[0041] The relative hierarchy acquisition module 10 is used to acquire the grade-separated intersection information of the intersection based on high-precision road data, and to obtain the relative hierarchy relationship of the road on the intersection based on the grade-separated intersection information.

[0042] The absolute hierarchy judgment module 20 is used to determine the absolute hierarchy of a road at the current interchange based on the actual height difference between the road on a regular road surface and at an interchange.

[0043] The hierarchy correction module 30 is used to combine the relative and absolute hierarchy relationships of roads at the intersection to correct the error in the hierarchy relationships of other roads at the intersection, so as to obtain the final hierarchy relationship of the overall road data at the intersection.

[0044] The elevation rendering module 40 is used to match the corresponding road elevation based on the set hierarchical elevation correspondence list and the final hierarchical relationship.

[0045] The execution method of the system for rendering 3D road elevation scenes based on road hierarchy relationships in this embodiment is basically the same as the method for rendering 3D road elevation scenes based on road hierarchy relationships described above, so it will not be described in detail.

[0046] In this embodiment, the server is a device that provides computing services, typically referring to a computer with high computing power that is provided to multiple consumers via a network. The server in this embodiment includes a memory, a processor, and a system bus. The memory includes executable programs stored thereon. Those skilled in the art will understand that the terminal device structure of this embodiment does not constitute a limitation on the terminal device and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0047] The memory can be used to store software programs and modules. The processor executes various terminal functions and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as sound playback, image playback, etc.), etc.; the data storage area can store data created according to the use of the terminal (such as audio data, phonebook, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0048] An executable program containing a method for rendering a 3D road elevation scene based on road hierarchy relationships is stored in memory. This executable program can be divided into one or more modules / units, which are stored in the memory and executed by a processor to complete the information acquisition and implementation process. Each module / unit can be a series of computer program instruction segments capable of performing a specific function, describing the execution process of the computer program on the server. For example, the computer program can be divided into a relative hierarchy acquisition module 10, an absolute hierarchy judgment module 20, a hierarchy correction module 30, and an elevation rendering module 40.

[0049] The processor is the control center of the server, connecting various parts of the terminal device through various interfaces and lines. It performs various terminal functions and processes data by running or executing software programs and / or modules stored in memory, and by calling data stored in memory, thereby providing overall monitoring of the terminal. Optionally, the processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, applications, etc., and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor.

[0050] The system bus connects various functional components within a computer, transmitting data, address, and control information. Types of system buses include PCI, ISA, and VESA. Processor instructions are transmitted to memory via the bus, and memory sends data back to the processor. The system bus handles the data and instruction exchange between the processor and memory. Of course, the system bus can also connect to other devices, such as network interfaces and display devices.

[0051] The server should include at least a CPU, chipset, memory, and disk system; other components will not be described in detail here.

[0052] In this embodiment of the invention, the executable program executed by the processor included in the terminal is specifically: a method for rendering a 3D road elevation scene based on road hierarchy relationships, which includes the following steps:

[0053] Based on high-precision road data, the information on grade-separated intersections is obtained, and the relative hierarchical relationship of roads on the grade-separated intersections is obtained based on the information on grade-separated intersections.

[0054] The absolute hierarchical relationship of a road at a given intersection is determined by the actual height difference between the road on a regular surface and at an interchange.

[0055] By combining the relative and absolute hierarchical relationships of roads at the interchange, the hierarchical relationships of other roads at the interchange are corrected for errors, and the final hierarchical relationship of the overall road data at the interchange is obtained.

[0056] Based on the set hierarchical elevation correspondence list, the corresponding road elevation is matched according to the final hierarchical relationship, and transition ramps are configured between roads with different final hierarchical relationships.

[0057] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0058] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0059] Those skilled in the art will recognize that the modules, units, and / or method steps of the various embodiments described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0060] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for rendering 3D road elevation scenes based on road hierarchy relationships, characterized in that, Includes the following steps: Based on high-precision road data, the information on grade-separated intersections is obtained, and the relative hierarchical relationship of roads on the grade-separated intersections is obtained based on the information on grade-separated intersections. The absolute hierarchical relationship of a road at a given intersection is determined by the actual height difference between the road on a regular surface and at an interchange. By combining the relative and absolute hierarchical relationships of roads at the interchange, the hierarchical relationships of other roads at the interchange are corrected for errors, and the final hierarchical relationship of the overall road data at the interchange is obtained. Based on the set hierarchical elevation correspondence list, match the corresponding road elevation according to the final hierarchical relationship; The absolute hierarchical relationship of a road at a given intersection is determined based on the actual height difference between the road surface and the intersection itself. This includes: Based on the road relationship, find the preceding and following ordinary road sections connected to the intersection / interchange section; The height change of the road is calculated based on the current height of the road between the intersection and the two ordinary road sections before and after it. The absolute hierarchical relationship of the road sections at intersections is determined by the changes in road height. This process is repeated to obtain the absolute hierarchical relationship of roads at all intersections.

2. The method for rendering a 3D road elevation scene based on road hierarchy relationships according to claim 1, characterized in that, The road association relationship is the road ID information.

3. The method for rendering a 3D road elevation scene based on road hierarchy relationships according to claim 1, characterized in that, The method of determining the absolute hierarchical relationship of interchange segments based on road height variation values ​​specifically includes: If the height change value exceeds the set threshold, it is determined that the absolute hierarchical relationship of the interchange section is higher than the relative hierarchical relationship of the ordinary road section. If the height change value does not exceed the set threshold, it is determined that the absolute hierarchical relationship of the interchange section is consistent with the relative hierarchical relationship of the ordinary road section.

4. The method for rendering a 3D road elevation scene based on road hierarchy relationships according to claim 1, characterized in that, The relative and absolute hierarchical relationships of the ordinary road sections are the same.

5. The method for rendering a 3D road elevation scene based on road hierarchy relationships according to claim 1, characterized in that, Based on the current relative and absolute hierarchical relationships of roads at intersections, the hierarchical relationships of other roads at intersections will be optimized and adjusted, specifically including: If the relative hierarchy of the intersection segment differs from the absolute hierarchy, the absolute hierarchy is selected as the hierarchy of the current road at the intersection. Based on the relative hierarchy of the current road and other roads at the intersection, the hierarchy of other roads at the intersection is adjusted accordingly.

6. The method for rendering a 3D road elevation scene based on road hierarchy relationships according to claim 1, characterized in that, Different final hierarchical relationships correspond to different fixed virtual elevations.

7. A system for rendering 3D road elevation scenes based on road hierarchy relationships, characterized in that, Includes the following functional modules: The relative hierarchy acquisition module is used to obtain the grade-separated intersection information of the intersection based on high-precision road data, and to obtain the relative hierarchy relationship of the road on the intersection based on the grade-separated intersection information; The absolute hierarchy determination module is used to determine the absolute hierarchy of a road at the current interchange based on the actual height difference between the road on a regular road surface and at an interchange. The hierarchy correction module is used to correct the error of the hierarchy of other roads at the intersection by combining the relative and absolute hierarchy of roads at the intersection, so as to obtain the final hierarchy of the overall road data at the intersection. The elevation rendering module is used to match the corresponding road elevation based on a set list of corresponding elevation levels and the final hierarchical relationship. The absolute hierarchy determination module is specifically used for: Based on the road relationship, find the preceding and following ordinary road sections connected to the intersection / interchange section; The height change of the road is calculated based on the current height of the road between the intersection and the two ordinary road sections before and after it. The absolute hierarchical relationship of the road sections at intersections is determined by the changes in road height. This process is repeated to obtain the absolute hierarchical relationship of roads at all intersections.

8. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for rendering a 3D road elevation scene based on road hierarchy as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for rendering a 3D road elevation scene based on road hierarchy as described in any one of claims 1 to 6.

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