Method and System for Deriving Virtual Data of Viaduct Piers Based on Lane Line Data

Abstract

The present invention discloses a method and system for deriving virtual data of viaduct piers based on lane line data, which differentiates the states of viaduct lane lines according to the curvature threshold of the viaduct lane lines; for the viaduct lane lines that are relatively curved and the number of lane line acquisition points is greater than the preset point number threshold, the positions and heights of the piers are sequentially derived according to the distances between the viaduct lane line acquisition points and the preset pier spacing; for the viaduct lane lines that are relatively straight and the number of lane line acquisition points is less than the preset point number threshold, the positions and heights of the piers are sequentially derived according to the position where the first acquisition point of the viaduct lane line is located and the preset pier spacing; thus, the piers of the viaduct can be rendered in a 3D road scene to enhance the visual experience of the picture.

Description

Technical Field

[0001] The present invention relates to the technology of high-precision road scene production, and in particular to a method and system for deriving virtual data of viaduct piers based on lane line data. Background Art

[0002] With the increasing maturity of autonomous driving technology and the increasing popularity of intelligent navigation-assisted driving, higher requirements are put forward for the display of road information. When a map data collection vehicle scans and collects data on the road, it generally does not collect data of piers, which will result in the lack of pier data in road information and the lack of the display effect of piers in the 3D road scene, being inconsistent with the state on the real road and resulting in poor user experience. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above technical deficiencies, and propose a method and system for deriving virtual data of viaduct piers based on lane line data, so as to solve the problem that the display effect of piers is lacking in the existing 3D road scene and the user experience is poor.

[0004] To achieve the above technical purpose, the first aspect of the technical solution of the present invention provides a method for deriving virtual data of viaduct piers based on lane line data, which includes the following steps:

[0005] Obtain high-precision map road data, and extract viaduct lane line data from the high-precision map road data;

[0006] Set the curvature threshold of the viaduct lane line, and judge the state of the viaduct lane line according to the curvature threshold of the viaduct lane line;

[0007] If it is judged that the state of the viaduct lane line is relatively curved and the number of lane line collection points is greater than the preset point threshold, then deduce the position and height of the pier in sequence according to the distance between the viaduct lane line collection points and the preset distance between piers;

[0008] If it is judged that the state of the viaduct lane line is relatively straight and the number of lane line collection points is less than the preset point threshold, then deduce the position and height of the pier in sequence according to the position where the first collection point of the viaduct lane line is located and the preset distance between piers.

[0009] The second aspect of the present invention provides a system for deriving virtual data of viaduct piers based on lane line data, which includes the following functional modules:

[0010] A data acquisition module, configured to obtain high-precision map road data and extract viaduct lane line data from the high-precision map road data;

[0011] A state judgment module, configured to set the curvature threshold of the viaduct lane line and judge the state of the viaduct lane line according to the curvature threshold of the viaduct lane line;

[0012] A curved elevated bridge pier derivation module, configured to, if it is determined that the state of the elevated bridge lane line is relatively curved and the number of lane line acquisition points is greater than a preset point number threshold, sequentially derive the position and height of the bridge pier according to the distance between the elevated bridge lane line acquisition points and the preset distance between the bridge piers.

[0013] A straight elevated bridge pier derivation module, configured to, if it is determined that the state of the elevated bridge lane line is relatively straight and the number of lane line acquisition points is less than the preset point number threshold, sequentially derive the position and height of the bridge pier according to the position where the first acquisition point of the elevated bridge lane line is located and the preset distance between the bridge piers.

[0014] 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. When the processor executes the computer program, the above method for deriving virtual data of an elevated bridge pier based on lane line data is implemented.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above method for deriving virtual data of an elevated bridge pier based on lane line data is implemented.

[0016] Compared with the prior art, the method for deriving virtual data of an elevated bridge pier based on lane line data according to the present invention differentiates the state of the elevated bridge lane line according to the curvature threshold of the elevated bridge lane line; for an elevated bridge lane line that is relatively curved and the number of lane line acquisition points is greater than the preset point number threshold, the position and height of the bridge pier are sequentially derived according to the distance between the elevated bridge lane line acquisition points and the preset distance between the bridge piers; for an elevated bridge lane line that is relatively straight and the number of lane line acquisition points is less than the preset point number threshold, the position and height of the bridge pier are sequentially derived according to the position where the first acquisition point of the elevated bridge lane line is located and the preset distance between the bridge piers; thereby enabling the rendering of the bridge piers of the elevated bridge in a 3D road scene to enhance the visual experience of the picture. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flowchart of a method for deriving virtual data of an elevated bridge pier based on lane line data according to an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of rendering the bridge piers of an elevated bridge in a 3D road scene;

[0019] Figure 3 is a block diagram of modules of a system for deriving virtual data of an elevated bridge pier based on lane line data according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] As Figure 1 and Figure 2 shown, an embodiment of the present invention provides a method for deriving virtual data of viaduct piers based on lane line data, which includes the following steps:

[0022] S1. Obtain high-precision map road data, and extract viaduct lane line data from the high-precision map road data.

[0023] The high-precision map road data includes a lot of information, such as lane line elevation information, lane interchange level information, viaduct lane line curvature information, viaduct lane line length information, and longitude and latitude information of viaduct lane line collection points, etc. Therefore, the viaduct lane line data can be directly distinguished from the high-precision map road data.

[0024] S2. Set a viaduct lane line curvature threshold, and judge the state of the viaduct lane line according to the viaduct lane line curvature threshold.

[0025] That is, compare the viaduct lane line curvature information obtained from the high-precision map road data with the viaduct lane line curvature threshold. If the viaduct lane line curvature is greater than the viaduct lane line curvature threshold, it is judged that the state of the viaduct lane line is relatively curved; if the viaduct lane line curvature is less than the viaduct lane line curvature threshold, it is judged that the state of the viaduct lane line is relatively straight.

[0026] S3. If it is judged that the state of the viaduct lane line is relatively curved and the number of lane line collection points is greater than a preset point threshold, then derive the position and height of the pier in turn according to the distance between the viaduct lane line collection points and the preset distance between piers.

[0027] Specifically, first derive the position of the pier in turn according to the distance between the viaduct lane line collection points and the preset distance between piers, which includes:

[0028] Calculate the distances between adjacent collection points on the viaduct lane line respectively, that is, the lane line lengths between adjacent collection points.

[0029] Taking the position of the first collection point of the viaduct lane line as the starting position, calculate the lane line length of the next collection point from the first collection point in turn according to the lane line direction until the lane line length between the next collection point and the first collection point reaches the preset distance between piers, then determine the position of the first pier.

[0030] Taking the collection point corresponding to the first pier as the starting position, and determining the positions of subsequent piers in sequence by analogy.

[0031] Then, the height of the pier is derived based on the position of the pier, specifically including:

[0032] Comparing the height information of the collection points corresponding to adjacent piers, and judging the position of the pier according to the comparison result of the height information.

[0033] If the height information of two collection points is different, it means that the pier is located below the on-ramp. Then, the height of the pier is calculated according to the Pythagorean theorem. That is, first find the starting position collection point and the ending position collection point of the on-ramp, and calculate the lane line length of the on-ramp according to the starting position collection point and the ending position collection point. Then, determine the maximum height of the on-ramp according to the height of the ending position collection point. Finally, based on the Pythagorean theorem, calculate the height of the pier according to the lane line length of the on-ramp, the maximum height of the on-ramp, and the lane line length of the pier from the starting position collection point of the on-ramp. Wherein, the starting position collection point of the on-ramp is the first collection point of the viaduct lane line.

[0034] If the height information of two collection points is the same, it means that the pier is located below the horizontal viaduct, then the height of the pier is the same as the height of the viaduct.

[0035] S4. If it is judged that the state of the viaduct lane line is relatively straight and the number of lane line collection points is less than the preset point number threshold, then the positions and heights of the piers are sequentially derived according to the position of the first collection point of the viaduct lane line and the preset pier spacing.

[0036] Specifically, first, the positions of the piers are sequentially derived according to the position of the first collection point of the viaduct lane line and the preset pier spacing, which includes:

[0037] Taking the position of the first collection point of the viaduct lane line as the starting position, and linearly shifting integer multiples of the preset pier spacing along the lane line direction respectively, so as to sequentially determine the positions of the piers.

[0038] Then, the height of the pier is derived based on the position of the pier, specifically including:

[0039] If the height information of two collection points is different, it means that the pier is located below the on-ramp, then the height of the pier is calculated according to the Pythagorean theorem;

[0040] If the height information of two collection points is the same, it means that the pier is located below the horizontal viaduct, then the height of the pier is the same as the height of the viaduct.

[0041] The present invention distinguishes the states of viaduct lane lines according to the curvature threshold of viaduct lane lines; for viaduct lane lines that are relatively curved and the number of lane line acquisition points is greater than the preset point number threshold, the positions and heights of bridge piers are sequentially derived based on the distances between viaduct lane line acquisition points and the preset distance between bridge piers; for viaduct lane lines that are relatively straight and the number of lane line acquisition points is less than the preset point number threshold, the positions and heights of bridge piers are sequentially derived based on the position where the first acquisition point of the viaduct lane line is located and the preset distance between bridge piers; thereby, the bridge piers of the viaduct can be rendered in a 3D road scene to enhance the visual experience of the picture.

[0042] As Figure 3 shown, an embodiment of the present invention also discloses a system for deriving virtual data of viaduct bridge piers based on lane line data, which includes the following functional modules:

[0043] A data acquisition module 10, configured to acquire high-precision map road data and extract viaduct lane line data from the high-precision map road data;

[0044] A state judgment module 20, configured to set a curvature threshold for viaduct lane lines and judge the states of viaduct lane lines according to the curvature threshold of viaduct lane lines;

[0045] A curved viaduct bridge pier derivation module 30, configured to, if it is judged that the state of the viaduct lane line is relatively curved and the number of lane line acquisition points is greater than the preset point number threshold, sequentially derive the positions and heights of the bridge piers based on the distances between viaduct lane line acquisition points and the preset distance between bridge piers;

[0046] A straight viaduct bridge pier derivation module 40, configured to, if it is judged that the state of the viaduct lane line is relatively straight and the number of lane line acquisition points is less than the preset point number threshold, sequentially derive the positions and heights of the bridge piers based on the position where the first acquisition point of the viaduct lane line is located and the preset distance between bridge piers.

[0047] The execution manner of the system for deriving virtual data of viaduct bridge piers based on lane line data in this embodiment is basically the same as the method for deriving virtual data of viaduct bridge piers based on lane line data described above, so it will not be elaborated in detail.

[0048] The server in this embodiment is a device that provides computing services, usually referring to a computer with relatively high computing power and provided to multiple consumers through a network. The server in this embodiment includes: a memory, a processor, and a system bus. The memory includes a program that can run thereon. Those skilled in the art can understand that the structure of the terminal device in this embodiment does not constitute a limitation on the terminal device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0049] The memory can be used to store software programs and modules. By running the software programs and modules stored in the memory, the processor can execute various functional applications and data processing of the terminal. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function (such as the sound playback function, image playback function, etc.); the data storage area can store data created according to the use of the terminal (such as audio data, phone book, etc.). In addition, the memory can include high-speed random access memory and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.

[0050] A runnable program containing a method for deriving virtual data of viaduct piers based on lane line data is included in the memory. The runnable program can be divided into one or more modules / units. The one or more modules / units are stored in the memory and executed by the processor to complete the information acquisition and implementation process. The one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program in the server. For example, the computer program can be divided into a data acquisition module 10, a status judgment module 20, a curved viaduct pier derivation module 30, and a straight viaduct pier derivation module 40.

[0051] The processor is the control center of the server. It uses various interfaces and lines to connect all parts of the entire terminal device. By running or executing the software programs and / or modules stored in the memory, and by calling the data stored in the memory, it executes various functions of the terminal and processes data, thereby monitoring the terminal as a whole. Optionally, the processor can include one or more processing units; preferably, the processor can integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor.

[0052] The system bus is used to connect various functional components inside the computer and can transmit data information, address information, and control information. Its types can be, for example, PCI bus, ISA bus, VESA bus, etc. The instructions of the processor are transmitted to the memory through the bus, and the memory feeds back data to the processor. The system bus is responsible for the data and instruction interaction between the processor and the memory. Of course, the system bus can also connect to other devices, such as a network interface, a display device, etc.

[0053] The server should at least include a CPU, a chipset, a memory, a disk system, etc. Other components will not be elaborated here.

[0054] In an embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a method for deriving virtual data of viaduct piers based on lane line data, which includes the following steps:

[0055] Obtain high-precision map road data, and extract viaduct lane line data from the high-precision map road data;

[0056] Set a curvature threshold for the viaduct lane line, and judge the state of the viaduct lane line according to the curvature threshold of the viaduct lane line;

[0057] If it is judged that the state of the viaduct lane line is relatively curved and the number of lane line acquisition points is greater than a preset point number threshold, then deduce the position and height of the pier in sequence according to the distance between the viaduct lane line acquisition points and the preset distance between piers;

[0058] If it is judged that the state of the viaduct lane line is relatively straight and the number of lane line acquisition points is less than the preset point number threshold, then deduce the position and height of the pier in sequence according to the position where the first acquisition point of the viaduct lane line is located and the preset distance between piers.

[0059] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0060] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0061] Those of ordinary skill in the art can realize that the modules, units, and / or method steps of the various embodiments described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0062] As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for deriving virtual data of viaduct piers based on lane line data, characterized in that It includes the following steps: Obtain high-precision map road data, and extract viaduct lane line data from the high-precision map road data; Set the curvature threshold of the viaduct lane line, and judge the state of the viaduct lane line according to the curvature threshold of the viaduct lane line; If it is judged that the state of the viaduct lane line is relatively curved and the number of lane line acquisition points is greater than the preset point number threshold, then deduce the position and height of the pier in turn according to the distance between the viaduct lane line acquisition points and the preset pier distance; If it is judged that the state of the viaduct lane line is relatively straight and the number of lane line acquisition points is less than the preset point number threshold, then deduce the position and height of the pier in turn according to the position where the first acquisition point of the viaduct lane line is located and the preset pier distance; The step of deducing the position of the pier in turn according to the distance between the viaduct lane line acquisition points and the preset pier distance specifically includes: Calculate the distances between adjacent acquisition points on the viaduct lane line respectively, that is, the lane line lengths between adjacent acquisition points; Taking the position where the first acquisition point of the viaduct lane line is located as the starting position, calculate the lane line length from the next acquisition point to the first acquisition point in turn according to the lane line direction until the lane line length between the next acquisition point and the first acquisition point reaches the preset pier distance, then determine the position of the first pier; Taking the acquisition point corresponding to the first pier as the starting position, and so on to determine the positions of subsequent piers in turn; Deducing the height of the pier according to the position of the pier specifically includes: Compare the height information of the acquisition points corresponding to adjacent piers, and judge the position of the pier according to the comparison result of the height information; If the height information of two acquisition points is different, indicating that the pier is located below the on-ramp, then calculate the height of the pier according to the Pythagorean theorem; If the height information of two acquisition points is the same, indicating that the pier is located below the horizontal viaduct, then the height of the pier is the same as the height of the viaduct.

2. The method for deriving virtual data of viaduct piers based on lane line data according to claim 1, wherein The step of calculating the height of the pier according to the Pythagorean theorem specifically includes: Find the starting position acquisition point and the ending position acquisition point of the on-ramp, and calculate the lane line length of the on-ramp according to the starting position acquisition point and the ending position acquisition point; Determine the maximum height of the on-ramp according to the height of the ending position acquisition point; Based on the Pythagorean theorem, calculate the height of the pier according to the lane line length of the on-ramp, the maximum height of the on-ramp, and the lane line length from the pier to the starting position acquisition point of the on-ramp.

3. The method for deriving virtual data of viaduct piers based on lane line data according to claim 2, wherein The starting position acquisition point of the on-ramp is the first acquisition point of the viaduct lane line.

4. The method for deriving virtual data of viaduct piers based on lane line data according to claim 1, wherein, The step of deducing the position of the pier in turn according to the position where the first acquisition point of the viaduct lane line is located and the preset pier distance specifically includes: Taking the position where the first acquisition point of the viaduct lane line is located as the starting position, linearly shift integer multiples of the preset pier distance along the lane line direction respectively, so as to determine the positions of the piers in turn.

5. A system for deriving virtual data of viaduct piers based on lane line data, characterized in that, It includes the following functional modules: A data acquisition module, which is used to acquire high-precision map road data and extract viaduct lane line data from the high-precision map road data; A state judgment module, which is used to set the curvature threshold of the viaduct lane line and judge the state of the viaduct lane line according to the curvature threshold of the viaduct lane line; The curved viaduct pier derivation module is used to, if it is determined that the state of the viaduct lane line is relatively curved and the number of lane line acquisition points is greater than the preset point number threshold, sequentially derive the position and height of the pier according to the spacing between the viaduct lane line acquisition points and the preset pier spacing; The straight viaduct pier derivation module is used to, if it is determined that the state of the viaduct lane line is relatively straight and the number of lane line acquisition points is less than the preset point number threshold, sequentially derive the position and height of the pier according to the position where the first acquisition point of the viaduct lane line is located and the preset pier spacing; The sequentially deriving the position of the pier according to the spacing between the viaduct lane line acquisition points and the preset pier spacing specifically includes: Calculating the spacing between adjacent acquisition points on the viaduct lane line respectively, that is, the length of the lane line between adjacent acquisition points; Taking the position where the first acquisition point of the viaduct lane line is located as the starting position, sequentially calculating the length of the lane line from the next acquisition point to the first acquisition point in the lane line direction until the length of the lane line between the next acquisition point and the first acquisition point reaches the preset pier spacing, then determining the position of the first pier; Taking the acquisition point corresponding to the first pier as the starting position, and so on to sequentially determine the positions of subsequent piers; Deriving the height of the pier according to the position of the pier specifically includes: Comparing the height information of the acquisition points corresponding to adjacent piers, and judging the position of the pier according to the result of the height information comparison; If the height information of two acquisition points is different, indicating that the pier is located below the on-ramp, then calculating the height of the pier according to the Pythagorean theorem; If the height information of two acquisition points is the same, indicating that the pier is located below the horizontal viaduct, then the height of the pier is the same as the height of the viaduct.

6. 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 deriving virtual data of viaduct piers based on lane line data as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for deriving virtual data of viaduct piers based on lane line data as described in any one of claims 1 to 4.

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