A method and system for deriving ramp road alignment elevations based on road alignment hierarchy.

Abstract

This invention discloses a method and system for deriving the elevation of ramp road lines based on road line hierarchy. The method filters high-level road line data from high-precision map road line data; identifies lower-level road lines close to high-level road lines as potential ramp road line trajectories; compares the length of the potential ramp road line trajectory with a preset ramp length; and confirms whether it is a ramp road line trajectory based on the comparison result. Based on the preset hierarchy height and the coordinates of the trajectory points on the ramp road line trajectory, the virtual elevation of the trajectory points is calculated, thus obtaining the virtual elevation of the ramp road line trajectory. Finally, based on the road line ID, the ramp road edge trajectories with elevation are merged again to obtain the ramp road line with elevation, thereby improving the visual experience.

Description

Technical Field

[0001] This invention relates to high-precision road scene production technology, and in particular to a method and system for deriving the elevation of a ramp road line based on the hierarchical relationship of road lines. Background Technology

[0002] With the rapid development of autonomous driving technology, the requirements for displaying high-precision maps are becoming increasingly stringent. However, high-precision map data cannot contain real road elevation information. In order to display complete and smooth three-dimensional road lines on elevated road sections, the hierarchical information of the road lines alone is not enough. Therefore, it is necessary to derive a virtual elevation data for the road lines in the high-precision map. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a method and system for deriving the elevation of a ramp road line based on the hierarchical relationship of road lines, thereby solving the problem that existing road scenarios also lack the effect of displaying road elevations, resulting in a poor user experience.

[0004] To achieve the above-mentioned technical objectives, the first aspect of the present invention provides a method for deriving the elevation of a ramp road line based on the hierarchical relationship of road lines, which includes the following steps:

[0005] High-level road line data is obtained by filtering from high-precision map road line data;

[0006] The lower-level road lines that are close to the higher-level road lines are identified as suspected slope road lines. The length of the suspected slope road line is compared with the preset slope length. Based on the comparison results, it is confirmed whether it is a slope road line.

[0007] Based on the preset level height and the coordinates of the trajectory points on the ramp road trajectory, the virtual elevation of the trajectory points on the ramp road trajectory is calculated, and thus the virtual elevation of the ramp road trajectory is obtained.

[0008] Based on the road line ID, the elevation-bearing slope road edge trajectory is re-merged to obtain the elevation-bearing slope road line.

[0009] A second aspect of the present invention provides a system for deriving the elevation of a ramp road alignment based on road alignment hierarchy, comprising the following functional modules:

[0010] The data filtering module is used to filter high-level road line data from high-precision map road line data;

[0011] The ramp search module is used to find low-level road lines that are close to high-level road lines as suspected ramp road line trajectories. It compares the length of the suspected ramp road line trajectory with the preset ramp length and confirms whether it is a ramp road line trajectory based on the comparison result.

[0012] The virtual elevation calculation module is used to calculate the virtual elevation of the track points on the slope road line trajectory based on the preset level height and the coordinates of the track points on the slope road line trajectory, and thus obtain the virtual elevation of the slope road line trajectory.

[0013] The elevation road line synthesis module is used to re-merge the elevation-bearing slope road edge trajectory based on the road line ID to obtain the elevation-bearing slope road line.

[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, wherein the processor executes the computer program to implement the above-described method for deriving the elevation of a ramp road line based on a road line hierarchy relationship.

[0015] 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 deriving the elevation of a ramp road line based on a road line hierarchy.

[0016] Compared with existing technologies, the method and system for deriving slope road line elevation based on road line hierarchy described in this invention filters high-level road line data from high-precision map road line data; identifies lower-level road lines close to high-level road lines as potential slope road line trajectories; compares the length of the potential slope road line trajectory with a preset slope length; confirms whether it is a slope road line trajectory based on the comparison result; calculates the virtual elevation of the slope road line trajectory points based on the preset hierarchy height and the coordinates of the trajectory points on the slope road line trajectory, thereby obtaining the virtual elevation of the slope road line trajectory; and re-merges the slope road edge line trajectories with elevation based on the road line ID to obtain the slope road line with elevation, thereby improving the visual experience. Attached Figure Description

[0017] Figure 1 This is a flowchart of the method for deriving the elevation of a ramp road line based on the road line hierarchy relationship described in an embodiment of the present invention;

[0018] Figure 2 This is a flowchart illustrating the steps of the method for deriving the elevation of a ramp road line based on the hierarchical relationship of road lines as described in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram showing the distribution of trajectory points on the road line according to an embodiment of the present invention;

[0020] Figure 4 This is another flowchart of the method for deriving the elevation of a ramp road line based on the road line hierarchy described in this embodiment of the invention;

[0021] Figure 5 This is a block diagram of the system for deriving the elevation of a ramp road line based on the hierarchical relationship of road lines, as described in an embodiment of the present invention.

[0022] Figure 6 This is another module block diagram of the system for deriving the elevation of a ramp road line based on the road line hierarchy relationship described in this embodiment of the invention. Detailed Implementation

[0023] 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.

[0024] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a method for deriving the elevation of a ramp road line based on the road line hierarchy, which includes the following steps:

[0025] S1. Filter the high-precision map road line data to obtain high-level road line data.

[0026] The high-precision map road data includes a lot of information, such as lane elevation information, lane level information, road line ID and vector information, road trajectory direction, road line length information, and coordinate information of road trajectory points. Therefore, high-level road line data, i.e., road information of elevated road sections, can be directly filtered from the high-precision map road data.

[0027] After obtaining the road information of the elevated road section, the road lines belonging to the same road section are determined according to the road vector IDs corresponding to the road lines in the high-precision map data. For road lines with alternating high and low hierarchical relationships in the same road section, the road lines between the first and last high-level road lines are all corrected to high-level relationships.

[0028] S2. Locate the lower-level road lines that are close to the higher-level road lines as suspected slope road line trajectories, compare the length of the suspected slope road line trajectory with the preset slope length, and confirm whether it is a slope road line trajectory based on the comparison result.

[0029] Step S2 includes the following sub-steps:

[0030] S21. Locate the low-level road line that is close to the high-level road line as the suspected main road ramp road line trajectory, compare the length of the suspected main road ramp road line trajectory with the preset main road ramp length, and confirm whether it is the main road ramp road line trajectory based on the comparison result.

[0031] S22. In the process of searching for the trajectory of a suspected main road ramp, the trajectory of a suspected branch road ramp is found based on the road vector of the road line in the trajectory of the suspected main road ramp. The length of the trajectory of the suspected branch road ramp is compared with the preset length of the branch road ramp. Based on the comparison result, it is confirmed whether it is the trajectory of the branch road ramp.

[0032] Specifically, step S21 includes the following sub-steps:

[0033] S21a. Locate the lower-level road line adjacent to the higher-level road line as the main road boundary road line;

[0034] S21b: Using the main road boundary line as the first road line of the suspected main road ramp road line trajectory, compare the suspected main road ramp road line trajectory with the preset ramp length.

[0035] S21c. If the suspected main road ramp trajectory is less than the preset ramp length, then recursively search for the next road line in the direction of the lower-level road line; if the next road line is a higher-level road line, then exit the search; if the next road line is a lower-level road line, then add it to the suspected main road ramp trajectory; if the suspected main road ramp trajectory is greater than the preset ramp length, then confirm that the suspected main road ramp trajectory is the ramp trajectory.

[0036] Specifically, step S22 includes the following sub-steps:

[0037] S22a. After finding the main road ramp road line trajectory, find other road lines with the same road vector based on the last road line of the main road ramp road line trajectory. Match the road vectors of all road lines with the same road vector with the road vectors of all known main road ramp road line trajectories. The road lines that cannot be matched are the branch road boundary road lines.

[0038] S22b: Using the branch road boundary line as the first road line of the suspected branch road slope trajectory, compare the suspected branch road slope trajectory with the preset branch road slope length.

[0039] S22c. If the trajectory of a suspected branch road ramp is less than the preset branch road ramp length, then recursively search for the next road line in the direction of the lower-level road line; if the next road line is a higher-level road line, then exit the search; if the next road line is a lower-level road line, then add it to the trajectory of the suspected branch road ramp; if the trajectory of the suspected branch road ramp is greater than the preset branch road ramp length, then confirm that the trajectory of the suspected branch road ramp is the trajectory of the branch road ramp.

[0040] S3. Based on the preset level height and the coordinates of the trajectory points on the ramp road trajectory, calculate the virtual elevation of the trajectory points on the ramp road trajectory, and then obtain the virtual elevation of the ramp road trajectory.

[0041] Based on the principle of proportional triangles, the proportional height of each trajectory point on the slope is calculated by comprehensively considering the height difference between the high-level and low-level road sections, the difference in abscissa between the first and last trajectory points on the slope road trajectory, and the difference in abscissa between each trajectory point and the first trajectory point. The proportional height is then added to the virtual elevation of the low-level road section to obtain the virtual elevation of each trajectory point. Finally, the virtual elevation of the slope road trajectory is obtained based on the virtual elevation of each trajectory point.

[0042] S4. Based on the road line ID, merge the elevation-bearing slope road edge trajectory to obtain the elevation-bearing slope road line.

[0043] This invention filters high-level road line data from high-precision map road line data; identifies lower-level road lines close to high-level road lines as potential slope road line trajectories; compares the length of the potential slope road line trajectory with a preset slope length; confirms whether it is a slope road line trajectory based on the comparison result; calculates the virtual elevation of the slope road line trajectory points based on the preset level height and the coordinates of the trajectory points on the slope road line trajectory, thereby obtaining the virtual elevation of the slope road line trajectory; and re-merges the slope road edge trajectories with elevation based on the road line ID to obtain the slope road line with elevation, thereby improving the visual experience.

[0044] like Figure 5 As shown, this invention also discloses a system for deriving the elevation of a ramp road line based on the road line hierarchy, which includes the following functional modules:

[0045] Data filtering module 10 is used to filter high-level road line data from high-precision map road line data;

[0046] The ramp search module 20 is used to find low-level road lines that are close to high-level road lines as suspected ramp road line trajectories, compare the length of the suspected ramp road line trajectory with the preset ramp length, and confirm whether it is a ramp road line trajectory based on the comparison result.

[0047] The virtual elevation calculation module 30 is used to calculate the virtual elevation of the track points of the slope road line trajectory based on the preset level height and the coordinates of the track points on the slope road line trajectory, and thus obtain the virtual elevation of the slope road line trajectory.

[0048] The elevation road line synthesis module 40 is used to re-merge the elevation-bearing slope road edge trajectory according to the road line ID to obtain the elevation-bearing slope road line.

[0049] The execution method of this embodiment of the system for deriving the elevation of a ramp road line based on the road line hierarchy is basically the same as the above-mentioned method for deriving the elevation of a ramp road line based on the road line hierarchy, so it will not be described in detail.

[0050] 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.

[0051] 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.

[0052] The system contains an executable program that describes a method for deriving slope road line elevations based on road line hierarchy relationships. 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 data filtering module 10, a slope lookup module 20, a virtual elevation calculation module 30, and an elevation road line synthesis module 50.

[0053] 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.

[0054] 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.

[0055] The server should include at least a CPU, chipset, memory, and disk system; other components will not be described in detail here.

[0056] In this embodiment of the invention, the executable program executed by the processor included in the terminal is specifically: a method for deriving the elevation of a ramp road line based on the road line hierarchy, which includes the following steps:

[0057] High-level road line data is obtained by filtering from high-precision map road line data;

[0058] The lower-level road lines that are close to the higher-level road lines are identified as suspected slope road lines. The length of the suspected slope road line is compared with the preset slope length. Based on the comparison results, it is confirmed whether it is a slope road line.

[0059] Based on the preset level height and the coordinates of the trajectory points on the ramp road trajectory, the virtual elevation of the trajectory points on the ramp road trajectory is calculated, and thus the virtual elevation of the ramp road trajectory is obtained.

[0060] Based on the road line ID, the elevation-bearing slope road edge trajectory is re-merged to obtain the elevation-bearing slope road line.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for deriving the elevation of a ramp road alignment based on road alignment hierarchy, characterized in that, Includes the following steps: High-level road line data is obtained by filtering from high-precision map road line data; Find the low-level road line that is close to the high-level road line as the suspected main road ramp road line trajectory. Compare the length of the suspected main road ramp road line trajectory with the preset main road ramp length. Based on the comparison result, confirm whether it is a ramp road line trajectory. Based on the preset level height and the coordinates of the trajectory points on the ramp road trajectory, the virtual elevation of the trajectory points on the ramp road trajectory is calculated, and thus the virtual elevation of the ramp road trajectory is obtained. Based on the road line ID, the elevation-bearing slope road edge trajectory is re-merged to obtain the elevation-bearing slope road line. The process of identifying lower-level road lines that are close to higher-level road lines as suspected main road ramp trajectories involves comparing the length of the suspected main road ramp trajectories with the preset main road ramp length, and confirming whether it is a ramp trajectories based on the comparison result. This includes: Identify the lower-level road lines adjacent to the higher-level road lines as the main road boundary lines; The first road line of the suspected main road ramp is taken as the boundary road line of the main road. The suspected main road ramp road line trajectory is compared with the preset main road ramp length. If the suspected main road ramp trajectory is less than the preset main road ramp length, then recursively search for the next road line in the direction of the lower-level road line; if the next road line is a higher-level road line, then exit the search; if the next road line is a lower-level road line, then add it to the suspected main road ramp trajectory; if the suspected main road ramp trajectory is greater than the preset main road ramp length, then confirm that the suspected main road ramp trajectory is the ramp trajectory.

2. The method for deriving the elevation of a ramp road alignment based on the hierarchical relationship of road alignments according to claim 1, characterized in that, After filtering out high-level road line data from high-precision map road line data, for road lines in the same road segment where the hierarchical relationship alternates between high and low, the road lines between the first and last high-level road lines are all corrected to a high-level relationship.

3. The method for deriving the elevation of a ramp road line based on the hierarchical relationship of road lines according to claim 2, characterized in that, Based on the road vector IDs corresponding to road lines in high-precision map data, determine the road lines belonging to the same road segment.

4. The method for deriving the elevation of a ramp road alignment based on the hierarchical relationship of road alignments according to claim 1, characterized in that, Also includes: In the process of searching for the trajectory of a suspected main road ramp, the trajectory of a suspected branch road ramp is found based on the road vector of the road line in the trajectory of the suspected main road ramp. The length of the trajectory of the suspected branch road ramp is compared with the preset length of the branch road ramp, and the comparison result is used to confirm whether it is the trajectory of the branch road ramp.

5. The method for deriving the elevation of a ramp road line based on the road line hierarchy relationship according to claim 4, characterized in that, In the process of searching for the trajectory of a suspected main road ramp, the trajectory of a suspected side road ramp is found based on the road vector of the road line in the suspected main road ramp trajectory. The length of the suspected side road ramp trajectory is compared with the preset side road ramp length, and the comparison result is used to confirm whether it is a side road ramp trajectory; specifically including: After finding the main road ramp road trajectory, find other road lines with the same road vector based on the last road line of the main road ramp road trajectory. Match the road vectors of all road lines with the same road vector with the road vectors of all known main road ramp road trajectories. The road lines that cannot be matched are the branch road boundary road lines. The first road line of the suspected branch road slope trajectory is taken as the boundary road line of the branch road, and the suspected branch road slope trajectory is compared with the preset branch road slope length. If the trajectory of a suspected branch road ramp is less than the preset branch road ramp length, the search for the next road line is recursively performed towards the lower-level road line. If the next road line is a higher-level road line, the search is terminated. If the next road line is a lower-level road line, it is added to the trajectory of the suspected branch road ramp. If the trajectory of a suspected branch road ramp is greater than the preset branch road ramp length, the suspected branch road ramp trajectory is confirmed as the branch road ramp trajectory.

6. A system for deriving the elevation of a ramp road alignment based on road alignment hierarchy, characterized in that, Includes the following functional modules: The data filtering module is used to filter high-level road line data from high-precision map road line data; The ramp search module is used to find low-level road lines that are close to high-level road lines and are suspected main road ramp road line trajectories. The length of the suspected main road ramp road line trajectory is compared with the preset main road ramp length, and the comparison result is used to confirm whether it is a ramp road line trajectory. The virtual elevation calculation module is used to calculate the virtual elevation of the track points on the slope road line trajectory based on the preset level height and the coordinates of the track points on the slope road line trajectory, and thus obtain the virtual elevation of the slope road line trajectory. The elevation road line synthesis module is used to re-merge the elevation-bearing slope road edge trajectory based on the road line ID to obtain the elevation-bearing slope road line. The ramp search module is specifically used for: Identify the lower-level road lines adjacent to the higher-level road lines as the main road boundary lines; The first road line of the suspected main road ramp is taken as the boundary road line of the main road. The suspected main road ramp road line trajectory is compared with the preset main road ramp length. If the suspected main road ramp trajectory is less than the preset main road ramp length, then recursively search for the next road line in the direction of the lower-level road line; if the next road line is a higher-level road line, then exit the search; if the next road line is a lower-level road line, then add it to the suspected main road ramp trajectory; if the suspected main road ramp trajectory is greater than the preset main road ramp length, then confirm that the suspected main road ramp trajectory is the ramp trajectory.

7. 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 the elevation of a ramp road line based on the road line hierarchy relationship as described in any one of claims 1 to 5.

8. 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 the elevation of a ramp road line based on the road line hierarchy relationship as described in any one of claims 1 to 5.

Images