A method and device for processing elevation information of a map road line

Abstract

The application discloses a kind of elevation information processing method and device of map road line, which comprises: obtaining the node sequence on target road line;Based on the point cloud coordinate information of starting node, and the point cloud coordinate information of terminal node, elevation correction processing is carried out, to obtain starting elevation information, and terminal elevation information;Abnormal point detection is carried out on at least one intermediate node in turn until the first elevation abnormal point is detected, in the case where there is intermediate node after the first elevation abnormal point, the first elevation abnormal point and the intermediate node after the first elevation abnormal point are determined as target elevation abnormal point, based on the slope information of target road line, from multiple preset correction operation types, determine the target correction operation type of target elevation abnormal point;Based on target correction operation, the elevation information of target elevation abnormal point is corrected to obtain the corrected elevation information of target elevation abnormal point;The elevation information of the present application can be automatically corrected elevation abnormal point.

Description

Technical Field

[0001] This invention relates to the field of digital map technology, specifically to a method and apparatus for processing elevation information of road lines on a map. Background Technology

[0002] High-precision maps carry information about the physical world's elements, including their shapes, attributes, and semantics. This rich information content inevitably leads to greater challenges in their production and maintenance. In recent years, with the increasing application of high-precision maps in the field of intelligent driving, the requirements for their production have become increasingly sophisticated. How to quickly process and repair high-precision map data and improve data quality is a problem that must be solved for the development and industrialization of high-precision maps. Currently, road elevation anomalies are unavoidable during high-precision map production, and their automated processing is still under development; the ability to automatically correct road lines needs further enhancement and improvement. Summary of the Invention

[0003] To overcome the shortcomings and deficiencies of existing technologies, this invention discloses a method and apparatus for processing elevation information of map road lines, capable of automatically correcting the elevation information of elevation anomalies. The method includes:

[0004] Obtain the node sequence on the target road line, wherein the node sequence includes a starting node, at least one intermediate node, and an ending node in sequence;

[0005] Based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node, elevation correction processing is performed to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node.

[0006] Anomaly detection is performed sequentially on at least one intermediate node until the first elevation anomaly is detected; the absolute value of the angle difference between the first included angle corresponding to the first elevation anomaly and the second included angle corresponding to the first elevation anomaly is greater than or equal to the first angle; the first included angle is the angle between the first line segment and the horizontal plane, and the first line segment is the line segment between the elevation anomaly and the preceding adjacent intermediate node of the elevation anomaly; the second included angle is the angle between the second line segment and the horizontal plane, and the second line segment is the line segment between the elevation anomaly and the following adjacent intermediate node of the elevation anomaly.

[0007] If there are intermediate nodes after the first elevation anomaly, the first elevation anomaly and the intermediate nodes after the first elevation anomaly are determined as target elevation anomalies.

[0008] Based on the starting elevation information and the ending elevation information, the slope information of the target road line is determined;

[0009] Based on the slope information, the target correction operation type for the target elevation anomaly point is determined from a variety of preset correction operation types;

[0010] The elevation information of the target elevation anomaly point is corrected based on the target correction operation to obtain the corrected elevation information of the target elevation anomaly point.

[0011] Furthermore, the elevation correction processing based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node includes:

[0012] Based on the point cloud coordinate information of the starting node, determine the point cloud elevation information of the starting node;

[0013] If the absolute value of the difference between the point cloud elevation information and the map elevation information of the starting node is greater than or equal to a first preset difference, the point cloud elevation information is determined to be the starting elevation information.

[0014] Determine the elevation information of the termination point cloud based on the point cloud coordinate information of the termination node;

[0015] If the difference between the elevation information of the termination point cloud and the initial elevation information of the termination node is greater than or equal to the first preset difference, the elevation information of the termination point cloud is determined to be the termination elevation information.

[0016] Furthermore, determining the point cloud elevation information of the starting node based on the point cloud coordinate information of the starting node includes:

[0017] The starting point cloud region is determined based on the starting node; the starting point cloud region is determined based on the neighboring region of the starting node.

[0018] The starting point cloud elevation information is determined based on the point cloud coordinate information of the multiple point clouds; the starting point cloud elevation information is the median elevation information of the multiple point cloud coordinate information.

[0019] Furthermore, before correcting the elevation information of the target elevation anomaly point based on the target correction operation to obtain the corrected elevation information of the target elevation anomaly point, the method further includes:

[0020] Multiple line segments are obtained; the multiple line segments are obtained by sequentially connecting each node in the node sequence.

[0021] The first elevation anomaly in the node sequence is identified as the target anomaly, and the target anomaly is used as the current correction node.

[0022] Determine a target line segment between the starting node and the current correction node; the target line segment includes at least one of the plurality of line segments.

[0023] Based on the starting elevation information and the ending elevation information, a first elevation difference is determined;

[0024] Determine the ratio of the length of the target line segment to the sum of the line segments; the sum of the line segments is the sum of the lengths of the plurality of line segments;

[0025] Based on the initial elevation information, the first elevation difference, and the ratio, the fitted elevation information of the current correction node is determined;

[0026] The next node of the current correction node is determined as the current correction node;

[0027] Repeat the following steps: determine the target line segment between the starting node and the current correction node, and determine the fitted elevation information of the current correction node based on the starting elevation information, the first elevation difference, and the ratio, until the current correction node becomes the termination node.

[0028] Furthermore, the various preset correction operation types include a first operation type;

[0029] The step of determining the target correction operation for the target elevation anomaly point from a variety of preset correction operations based on the slope information includes:

[0030] If the slope information is less than the second angle, the target operation is determined to be the first type of operation;

[0031] The step of correcting the elevation information of the target elevation anomaly point based on the target correction operation to obtain the corrected elevation information of the elevation anomaly point includes:

[0032] When the target operation is the first type of operation, the fitted elevation information of the first elevation anomaly point and each node after the first elevation anomaly point is determined as the corrected elevation information of the elevation anomaly point.

[0033] Furthermore, the various preset correction operation types also include a second operation type;

[0034] The step of determining the target correction operation for the target elevation anomaly point from a variety of preset correction operations based on the slope information includes:

[0035] If the slope information is greater than or equal to the second angle, the target operation is determined to be the second type of operation;

[0036] The step of correcting the elevation information of the target elevation anomaly point based on the target correction operation to obtain the corrected elevation information of the elevation anomaly point includes:

[0037] When the target operation is the second type of operation, the point cloud elevation information of the current correction node is determined based on the point cloud coordinate information of the current correction node;

[0038] If the second difference is greater than or equal to the second preset difference, and the first difference is less than the second difference, the fitted elevation information of the current correction node is determined as the corrected elevation information of the current correction node; the first difference is the difference between the fitted elevation information of the current correction node and the map elevation information of the current correction node; the second difference is the difference between the point cloud elevation information of the current correction node and the map elevation information of the current correction node.

[0039] Furthermore, the method also includes:

[0040] If the point cloud coordinate information of the current correction node is not detected, the fitted elevation information of the current correction node is determined as the corrected elevation information of the current correction node.

[0041] On the other hand, this application also provides a map road line elevation information processing device, comprising:

[0042] The acquisition module is used to acquire the node sequence on the target road line, wherein the node sequence includes a starting node, at least one intermediate node, and an ending node in sequence.

[0043] The first correction module is used to perform elevation correction processing based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node.

[0044] The detection module is used to sequentially detect anomalies at at least one intermediate node until the first elevation anomaly is detected; the absolute value of the angle difference between the first included angle corresponding to the first elevation anomaly and the second included angle corresponding to the first elevation anomaly is greater than or equal to the first angle; the first included angle is the angle between a first line segment and the horizontal plane, and the first line segment is the line segment between the elevation anomaly and the preceding adjacent intermediate node of the elevation anomaly; the second included angle is the angle between a second line segment and the horizontal plane, and the second line segment is the line segment between the elevation anomaly and the following adjacent intermediate node of the elevation anomaly.

[0045] The first determining module is used to determine the first elevation anomaly and the intermediate node after the first elevation anomaly as the target elevation anomaly when there is an intermediate node after the first elevation anomaly.

[0046] The slope information determination module is used to determine the slope information of the target road line based on the starting elevation information and the ending elevation information;

[0047] The second determining module is used to determine the target correction operation type for the target elevation anomaly point from a variety of preset correction operation types based on the slope information.

[0048] The second correction module is used to correct the elevation information of the target elevation anomaly point based on the target correction operation type, so as to obtain the corrected elevation information of the elevation anomaly point.

[0049] Thirdly, this application also provides an electronic device, the device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the elevation information processing method for map road lines as described above.

[0050] Fourthly, the present invention also provides a computer-readable storage medium, characterized in that the storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded by a processor and executed as described above for the elevation information processing method of map road lines.

[0051] Implementing this invention has the following beneficial effects:

[0052] This invention selects multiple nodes sequentially along the target road line on the map. Based on the point cloud coordinates of the starting and ending nodes, it determines the starting and ending point cloud information. The elevation information of the starting and ending nodes is then corrected. If at least one intermediate node has an elevation anomaly, that node needs correction. The anomaly node is identified by determining the relationship between the angle difference between the first and second included angles and the first angle. Since the anomaly point requires the angle corresponding to the previous intermediate node for judgment, if the previous node has an elevation anomaly, all subsequent intermediate nodes are also identified as anomalies, thus improving the efficiency of anomaly point inspection. Batch correction of target elevation anomalies is achieved, enabling the location of target elevation anomalies. Slope information can characterize the degree of deviation between the starting and ending elevation information. Based on the slope information, a matching target type operation is determined, and the target elevation anomaly point is corrected through this operation, achieving automatic correction of target elevation anomalies and improving the efficiency of elevation information correction and the accuracy of high-precision map drawing. Attached Figure Description

[0053] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A flowchart of a method for processing elevation information of map road lines provided in an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of elevation anomalies in a target road line provided in an embodiment of the present invention;

[0056] Figure 3 This is a flowchart of the method for determining fitted elevation information provided in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of the overall offset of the middle node of the target road line provided in an embodiment of the present invention;

[0058] Figure 5 This is a structural block diagram of a map road line elevation information processing device provided in an embodiment of the present invention. Detailed Implementation

[0059] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0060] In this embodiment, the technical problem to be solved by the present invention is to automatically correct the elevation information of elevation anomalies, and the method includes:

[0061] S110: Obtain the node sequence on the target road line. The node sequence includes the starting node, at least one intermediate node, and the ending node in sequence.

[0062] The execution entity in this embodiment is a map server. The high-precision map includes multiple road lines, which include road reference lines, lane center lines, and lane boundary lines. Starting from the starting point of the target road line, a starting node, at least one intermediate node, and an ending node are selected sequentially along the road line to form a node sequence. Multiple nodes in the node sequence can be manually selected or generated by algorithmic tracking. The number of intermediate nodes is determined based on the complexity of the target road line. In sections of the road line with complex road conditions, the number of intermediate nodes is increased as much as possible to ensure the accuracy of the elevation information of the target road line. In sections of the road line with simple road conditions, the number of intermediate nodes can be reduced to reduce the processing pressure on the server. The node sequence includes a starting node, at least one intermediate node, and an ending node in sequence. In some road sections with extremely gentle slopes and extremely short road lines, the number of intermediate nodes can be zero.

[0063] S120: Based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node, perform elevation correction processing to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node.

[0064] Since elevation anomaly nodes are determined by using the preceding node as a benchmark, the accuracy of the preceding node's elevation information must be ensured. Therefore, before determining elevation anomaly nodes, the elevation information of the starting and ending nodes needs to be corrected. This is done by obtaining the point cloud coordinates of the starting and ending nodes, which include elevation information. The starting and ending elevation information can be obtained from the point cloud coordinates. High-precision maps include multiple road lines, and the ending node of the target road line is the starting node of the next road line. By determining the starting and ending elevation information of the high-precision map and using the starting elevation information as a benchmark, all elevation anomaly nodes can be determined.

[0065] S130: Perform outlier detection on at least one intermediate node sequentially until the first elevation outlier is detected; the absolute value of the angle difference between the first included angle corresponding to the first elevation outlier and the second included angle corresponding to the first elevation outlier is greater than or equal to the first angle; the first included angle is the angle between the first line segment and the horizontal plane, and the first line segment is the line segment between the elevation outlier and the previous adjacent intermediate node of the elevation outlier; the second included angle is the angle between the second line segment and the horizontal plane, and the second line segment is the line segment between the elevation outlier and the next adjacent intermediate node of the elevation outlier;

[0066] If the number of intermediate nodes in the target road line is zero, only the starting and ending nodes need to be corrected; if the number of intermediate nodes in the target road line is not zero, refer to... Figure 2 The first intermediate node is a geoid node. The first included angle is θ, and the second included angle is α. Angles below the horizontal plane are negative, and angles above the horizontal plane are positive. Both α and θ are less than or equal to 90°. If α - θ is greater than or equal to the first angle, the common node between the two first and second line segments is determined to be a geoid node. Figure 2 The first intermediate node is the elevation anomaly node. Since three nodes are needed to determine the two included angles, the above judgment method can only determine that at least one of the first and second intermediate nodes has an elevation information anomaly, provided that the initial elevation information is accurate. It cannot be determined whether the node with the anomaly is the first or the second intermediate node. Therefore, the first intermediate node is determined as the elevation anomaly node to prevent omissions in the elevation information correction.

[0067] S140: If there are intermediate nodes after the first elevation anomaly, the first elevation anomaly and the intermediate nodes after the first elevation anomaly are determined as the target elevation anomaly.

[0068] Since the elevation anomaly points need to be judged based on the angle corresponding to the previous intermediate node or the starting node, if there is an intermediate node after the first elevation anomaly point, the first elevation anomaly point and the intermediate nodes after the first elevation anomaly point are all judged as anomalies, and the target elevation anomaly nodes are corrected in batches.

[0069] S150: Determine the slope information of the target road line based on the starting elevation information and the ending elevation information;

[0070] The slope information is the angle between the line segment connecting the starting and ending points of the target road line and the horizontal plane, i.e., the slope of the target road line.

[0071] S160: Based on slope information, determine the target correction operation type for the target elevation anomaly point from a variety of preset correction operation types;

[0072] The preset operation types include fitting correction type and point cloud information correction type. The point cloud information correction type is a correction method that ensures the accuracy of correction, while the fitting correction type can improve the correction efficiency and is a correction method that does not require the use of point cloud coordinate information. It can prevent the point cloud coordinates from being hollow. Based on the slope information, the target type operation that matches it is determined to achieve the corresponding correction effect.

[0073] S160: Based on the target correction operation, the elevation information of the target elevation anomaly point is corrected to obtain the corrected elevation information of the elevation anomaly point.

[0074] Multiple nodes are selected sequentially along the target road line on the map. Based on the point cloud coordinates of the starting and ending nodes, the starting elevation information and ending point cloud information are determined. The starting and ending nodes are then corrected. If at least one intermediate node has an elevation anomaly, that node must be corrected. The elevation anomaly node is determined by judging the relationship between the angle difference between the first and second included angles and the first angle. Since the elevation anomaly point needs to be judged based on the angle corresponding to the previous intermediate node, the detection of subsequent intermediate nodes is invalid if the previous node has an elevation anomaly. Therefore, if there is one elevation anomaly node, all subsequent intermediate nodes are judged as elevation anomalies, thereby improving the detection efficiency of elevation anomalies. The target elevation anomaly nodes are corrected in batches. The correction operation type is determined based on the slope information of the target route. The slope information can represent the deviation slope between the starting and ending elevation information. Based on the slope information, the target type operation that matches it is determined, realizing the automatic correction of elevation anomalies, improving the efficiency of elevation information correction for target elevation anomalies and the drawing accuracy of high-precision maps.

[0075] In one implementation, elevation correction processing is performed based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node, including:

[0076] Determine the point cloud elevation information of the starting node based on the point cloud coordinate information of the starting node;

[0077] If the absolute value of the difference between the point cloud elevation information and the map elevation information of the starting node is greater than or equal to the first preset difference, the point cloud elevation information is determined to be the starting elevation information.

[0078] Determine the elevation information of the terminating point cloud based on the point cloud coordinate information of the terminating node;

[0079] If the difference between the elevation information of the termination point cloud and the initial elevation information of the termination node is greater than or equal to the first preset difference, the elevation information of the termination point cloud is determined to be the termination elevation information.

[0080] The map elevation information is the original elevation information of the starting node. The point cloud elevation information is determined by obtaining the point cloud coordinate information of the starting node. Sometimes, the elevation information of the starting node position on the actual ground does not change much. If the change is small, no elevation information correction is performed. The specific correction process is as follows: If the absolute value of the difference between the point cloud elevation information and the map elevation information of the starting node is greater than or equal to a first preset difference, the point cloud elevation information is determined as the starting elevation information, that is, the map elevation information is corrected to the point cloud elevation information; if the absolute value of the difference between the point cloud elevation information and the map elevation information of the starting node is less than the first preset difference, the map elevation information is determined as the starting elevation information, that is, no correction is performed. As a preferred implementation, the first preset difference is 0.03 meters. If the change in the elevation information of the starting node position on the actual ground does not exceed 0.03 meters, it can be determined that the elevation information of the starting node position has not changed, and no correction is required, reducing processing procedures and improving data processing efficiency; the method for determining the termination elevation information is the same as the method for determining the starting elevation information, and will not be described in detail here.

[0081] In one implementation, determining the point cloud elevation information of the starting node based on the point cloud coordinate information of the starting node includes:

[0082] The starting point cloud region is determined based on the starting node; however, the starting point cloud region is determined based on the neighboring region of the starting node.

[0083] Using the location coordinates of the starting node of the road line as the center, a circle with a preset radius is generated. The starting point cloud area is within this circle. Multiple point clouds located within this circle and on the ground are selected. In this embodiment, the preset radius can be 0.1 meters or 0.08 meters.

[0084] The starting point cloud elevation information is determined based on the point cloud coordinate information of multiple point clouds; the starting point cloud elevation information is the median elevation information of multiple point cloud coordinate information.

[0085] The median elevation of the point cloud coordinates of multiple point clouds is selected as the starting point cloud elevation. Compared with the average of the point cloud coordinates, this can eliminate the influence of ground noise and improve the accuracy of the starting point cloud elevation. Similarly, the method for determining the ending point cloud elevation is the same as that for the starting point cloud elevation, and will not be elaborated here.

[0086] In one implementation, the elevation information of the target elevation anomaly is corrected based on a target correction operation. Before obtaining the corrected elevation information of the target elevation anomaly, reference is made to... Figure 3 The methods also include:

[0087] S310: Obtain multiple line segments; multiple line segments are obtained by sequentially connecting each node in the node sequence;

[0088] S320: Determine the first elevation anomaly in the node sequence as the target anomaly and use the target anomaly as the current correction node;

[0089] Since the elevation anomaly point needs to be judged based on the angle corresponding to the previous intermediate node, if the previous node has an elevation anomaly, then in the case of an elevation anomaly node, the first elevation anomaly node and all subsequent intermediate nodes of the first elevation anomaly node are judged as anomalies. The elevation anomaly nodes are then batch-corrected. The first elevation anomaly point is determined as the target anomaly point and is used as the current correction node. After the first elevation anomaly point is corrected, the target anomaly point becomes the second elevation anomaly point, which is the next intermediate node adjacent to the first elevation anomaly point. After the target anomaly point is corrected, the correction of the elevation anomaly node ends when the current correction node becomes the termination node.

[0090] S330: Determine the target line segment between the starting node and the current correction node; the target line segment includes at least one of a plurality of line segments;

[0091] The elevation anomaly of the target road line also includes cases where intermediate nodes shift as a whole, such as... Figure 4 The elevation information shown on the map is the elevation of the top of the guardrail, which does not represent the actual road elevation. To correct the overall offset, linear fitting is used to correct the elevation anomalies by connecting each node with a line segment.

[0092] S340: Determine the first elevation difference based on the starting elevation information and the ending elevation information;

[0093] S350: Determine the ratio of the length of the target line segment to the sum of the line segments; the sum of the line segments is the sum of the lengths of multiple line segments;

[0094] S360: Based on the initial elevation information, the first elevation difference, and the ratio, determine the fitted elevation information of the current correction node;

[0095] S370: Determine the next node of the current correction node as the current correction node;

[0096] S380: Determine whether the current correction node is a termination node. If not, proceed to step S330; if yes, proceed to step S390.

[0097] S390: Elevation correction of elevation anomalies is complete.

[0098] The formula for calculating the fitted elevation information is:

[0099] Zi =S z +D z ×(L i ÷L)

[0100] Among them, D z The first elevation difference is given by S, where L is the sum of line segments (i.e., the sum of line segments connecting all nodes), and S is the sum of line segments connecting all nodes. z For the initial elevation information, L i The target line segment is the sum of all line segments before the current correction node. The ratio of the target line segment to the sum of line segments is calculated, and then multiplied by the first elevation difference to obtain the elevation offset information of the current correction node relative to the starting node. The elevation offset information is added to the starting elevation information to obtain the fitted elevation information of the current correction node. All target elevation anomalies are corrected in the above way, without relying on point cloud coordinate information, to prevent the inability to automatically correct elevation anomalies when there are holes in the point cloud or the point cloud data quality is low.

[0101] In one implementation, the multiple preset correction operation types include a first operation type;

[0102] Based on slope information, the target correction operation for elevation anomalies is determined from a variety of preset correction operations, including:

[0103] If the slope information is less than the second angle, the target operation is determined to be a first type of operation;

[0104] The slope information is the angle between the line segment connecting the starting and ending nodes and the horizontal plane. If this angle is less than a second angle, the target operation is determined to be a first type of operation. In this embodiment, the second angle is 10°. If the slope information is less than 10°, the target road line is determined to be a scenario of overall offset. If the target road line is an arch or U-shaped road, that is, the starting elevation information and ending elevation information at both ends of the road line are the same, but the elevation information of the middle node is higher, the slope information of the target road line is less than the second angle, and it is mistakenly regarded as an overall offset of the middle node, so linear fitting correction is performed. In this complex road condition, when dividing the road line, the road line can be divided into multiple road lines. Specifically, the uphill route is one road line, and the downhill route is one road line, so that the slope information of the target road line is greater than or equal to 10°, so that the elevation anomaly point is not corrected by linear fitting, thus preventing misjudgment.

[0105] The elevation information of the geoid points is corrected based on the target correction operation to obtain the corrected elevation information of the geoid points, including:

[0106] When the target operation is of type I, the fitted elevation information of the first elevation anomaly point and all subsequent nodes is determined as the corrected elevation information of the elevation anomaly point.

[0107] When the target operation is determined to be a first type of operation, that is, the overall offset of the intermediate nodes in the node sequence is determined, and the fitted elevation information of each node after the first elevation anomaly is determined as the corrected elevation information of the elevation anomaly, it can be done without relying on point cloud coordinate information, which is highly efficient. Furthermore, it only needs to detect the first elevation anomaly and determine the fitted elevation information corresponding to the target elevation anomaly as the corrected elevation information of the target elevation anomaly, which further improves the efficiency of data processing.

[0108] In one implementation, the multiple preset correction operation types also include a second operation type;

[0109] Based on slope information, the target correction operation for the target elevation anomaly point is determined from a variety of preset correction operations, including:

[0110] If the slope information is greater than or equal to the second angle, the target operation is determined to be a second type of operation;

[0111] The slope information is the angle between the line segment connecting the starting node and the ending node and the horizontal plane. If this angle is greater than or equal to a second angle, the target operation is determined to be a second type of operation.

[0112] The elevation information of the target elevation anomaly points is corrected based on the target correction operation to obtain the corrected elevation information of the target elevation anomaly points, including:

[0113] When the target operation is a second type of operation, the point cloud elevation information of the current correction node is determined based on the point cloud coordinate information of the current correction node.

[0114] The method for determining the point cloud elevation information of the current correction node is the same as the method for determining the starting point cloud elevation information. A circle with a preset radius is generated with the current correction node as the center. Multiple point clouds located within this circle and on the ground are selected. In this embodiment, the preset radius is 0.1 meters or 0.08 meters. The point cloud elevation information of the current correction node is determined based on the point cloud coordinate information of the multiple point clouds. The point cloud elevation information of the current correction node is the median elevation information of the multiple point cloud coordinate information. Selecting the median elevation information of the multiple point cloud coordinate information as the point cloud elevation information of the current correction node can eliminate the influence of ground noise compared to using the average of the point cloud coordinate information.

[0115] If the second difference is greater than or equal to the second preset difference, and the first difference is less than the second difference, the fitted elevation information of the current correction node is determined as the corrected elevation information of the current correction node; the first difference is the difference between the fitted elevation information of the current correction node and the map elevation information of the current correction node; the second difference is the difference between the point cloud elevation information of the current correction node and the map elevation information of the current correction node.

[0116] In this embodiment, the second preset difference is 0.1 meters or 0.2 meters. If at least one of the first difference and the second difference is greater than or equal to the second preset difference, the elevation information with the smaller difference is determined as the corrected elevation information of the current correction node. When the error of the corrected elevation information is too large, selecting the elevation information with the smaller difference can reduce the error of the corrected elevation information. For example, if the first difference is less than the second difference, the fitted elevation information of the current correction node is determined as the corrected elevation information of the current correction node; if the second difference is less than the first difference, the point cloud elevation information of the current correction node is determined as the corrected elevation information of the current correction node.

[0117] When both the first difference and the second difference are less than the second preset difference, the point cloud elevation information of the current correction node is determined as the corrected elevation information of the current correction node. Since both the first difference and the second difference are less than the second preset difference, even if there is a certain error in the corrected elevation information, it will not have a significant impact on the correction result. Therefore, the point cloud elevation information with higher accuracy is determined as the corrected elevation information of the current correction node. The fitted elevation information and point cloud elevation information of each elevation anomaly point are determined separately. By comparing the first difference and the second difference, the corrected elevation information of the current correction node is further determined, which can improve the determination accuracy of the corrected elevation information of the target elevation anomaly point.

[0118] In one implementation, the method further includes:

[0119] If the point cloud coordinates of the current correction node are not detected, the fitted elevation information of the current correction node is determined as the corrected elevation information of the current correction node.

[0120] Point cloud coordinate information acquisition involves various uncertainties. In some road sections, point cloud holes may occur, making it impossible to obtain the point cloud coordinate information corresponding to the nodes. In the absence of detected point cloud coordinate information, the fitted elevation information of the current correction node is directly determined as the corrected elevation information of the current correction node. When the point cloud data quality is poor, it is only necessary to ensure the accuracy of the starting and ending elevation information of the road line to guarantee the elevation information quality of the entire road line. This reduces the dependence on the quality of point cloud data and improves the drawing accuracy of high-precision maps.

[0121] This embodiment also provides a map road line elevation information processing device, which can implement all the above-described method steps, see reference. Figure 5 The device includes:

[0122] The acquisition module 510 is used to acquire the node sequence on the target road line. The node sequence includes a starting node, at least one intermediate node, and an ending node in sequence.

[0123] The first correction module 520 is used to perform elevation correction processing based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node, so as to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node.

[0124] The detection module 530 is used to sequentially detect anomalies at least one intermediate node until the first elevation anomaly is detected; the absolute value of the angle difference between the first included angle corresponding to the first elevation anomaly and the second included angle corresponding to the elevation anomaly is greater than or equal to the first angle; the first included angle is the angle between the first line segment and the horizontal plane, and the first line segment is the line segment between the elevation anomaly and the previous adjacent intermediate node; the second included angle is the angle between the second line segment and the horizontal plane, and the second line segment is the line segment between the elevation anomaly and the next adjacent intermediate node;

[0125] The first determining module 540 is used to determine the first elevation anomaly and the intermediate node after the first elevation anomaly as the target elevation anomaly when there is an intermediate node after the first elevation anomaly.

[0126] The slope information determination module 550 is used to determine the slope information of the target road line based on the starting elevation information and the ending elevation information.

[0127] The second determining module 560 is used to determine the target correction operation type for the target elevation anomaly point from a variety of preset correction operation types based on slope information.

[0128] The second correction module 570 is used to correct the elevation information of the target elevation anomaly point based on the target correction operation type, so as to obtain the corrected elevation information of the target elevation anomaly point.

[0129] The device also includes:

[0130] The third determination module is used to determine the point cloud elevation information of the starting node based on the point cloud coordinate information of the starting node;

[0131] The fourth determining module is used to determine the point cloud elevation information as the starting elevation information when the absolute value of the difference between the point cloud elevation information and the map elevation information of the starting node is greater than or equal to the first preset difference.

[0132] The fifth determination module is used to determine the elevation information of the termination point cloud based on the point cloud coordinate information of the termination node;

[0133] The sixth determining module is used to determine the termination point cloud elevation information as termination elevation information when the difference between the termination point cloud elevation information and the initial elevation information of the termination node is greater than or equal to a first preset difference.

[0134] The starting point cloud region determination module is used to determine the starting point cloud region based on the starting node; the starting point cloud region is determined based on the neighboring region of the starting node.

[0135] The starting point cloud elevation information determination module is used to determine the starting point cloud elevation information based on the point cloud coordinate information of multiple point clouds; the starting point cloud elevation information is the median elevation information of multiple point cloud coordinate information.

[0136] The line segment acquisition module is used to acquire multiple line segments; these multiple line segments are obtained by sequentially connecting the nodes in the node sequence.

[0137] The target anomaly determination module is used to determine the first elevation anomaly in the node sequence as the target anomaly and use the target anomaly as the current correction node.

[0138] The target line segment determination module is used to determine the target line segment between the starting node and the current correction node; the target line segment includes at least one of a plurality of line segments;

[0139] The first elevation difference determination module is used to determine the first elevation difference based on the starting elevation information and the ending elevation information.

[0140] The ratio determination module is used to determine the ratio of the length of the target line segment to the sum of the line segments; the sum of the line segments is the sum of the lengths of multiple line segments.

[0141] The fitted elevation information determination module is used to determine the fitted elevation information of the current correction node based on the initial elevation information, the first elevation difference, and the ratio.

[0142] The current correction node determination module is used to determine the next node of the current correction node as the current correction node;

[0143] The repeat execution module is used to repeatedly execute the following steps: determine the target line segment between the starting node and the current correction node, and determine the fitted elevation information of the current correction node based on the starting elevation information, the first elevation difference and the ratio, until the current correction node becomes the termination node.

[0144] The first type of operation determination module is used to determine the target operation as the first type of operation when the slope information is less than the second angle;

[0145] The first corrected elevation information determination module is used to determine the corrected elevation information of the first elevation anomaly point and the fitted elevation information of each node after the first elevation anomaly point as the corrected elevation information of the elevation anomaly point when the target operation is a first type of operation.

[0146] The second type of operation determination module is used to determine the target operation as the second type of operation when the slope information is greater than or equal to the second angle.

[0147] The seventh determination module is used to correct the elevation information of elevation anomalies based on the target correction operation, and obtain the corrected elevation information of the elevation anomalies, including:

[0148] When the target operation is a second type of operation, the point cloud elevation information of the current correction node is determined based on the point cloud coordinate information of the current correction node.

[0149] The second corrected elevation information determination module is used to determine the fitted elevation information of the current correction node as the corrected elevation information of the current correction node when the second difference is greater than or equal to the second preset difference and the first difference is less than the second difference; the first difference is the difference between the fitted elevation information of the current correction node and the map elevation information of the current correction node; the second difference is the difference between the point cloud elevation information of the current correction node and the map elevation information of the current correction node.

[0150] The third corrected elevation information determination module is used to determine the fitted elevation information of the current corrected node as the corrected elevation information of the current corrected node when the point cloud coordinate information of the current corrected node is not detected.

[0151] Implementing this embodiment has the following effects:

[0152] 1. In this embodiment, multiple nodes are sequentially selected on the target road line in the map. Based on the point cloud coordinate information of the starting and ending nodes, the starting elevation information and the ending point cloud information are determined. The elevation information of the starting and ending nodes is corrected respectively. If at least one intermediate node has an elevation, the node with the abnormal elevation needs to be corrected. The node with the abnormal elevation is determined by judging the relationship between the angle difference between the first and second included angles and the first angle. Since the elevation anomaly point needs to be judged by the angle corresponding to the previous intermediate node, if the previous node has an abnormal elevation, all subsequent intermediate nodes of the node with the abnormal elevation are judged as abnormal. The target elevation anomaly points are corrected in batches to realize the positioning of the target elevation anomaly points. The slope information can represent the degree of deviation between the starting and ending elevation information. Based on the slope information, the target type operation is determined and the target elevation anomaly points are corrected through the target type operation, realizing the automatic correction of the elevation anomaly points, improving the efficiency of the elevation information correction of the target elevation anomaly points and the drawing accuracy of the high-precision map.

[0153] 2. Given the overall offset of intermediate nodes in the node sequence, the fitted elevation information of each node after the first elevation anomaly is used as the corrected elevation information of the elevation anomaly. This method does not rely on point cloud coordinate information, resulting in high processing efficiency. Furthermore, it only requires detecting the first elevation anomaly, eliminating the need to detect anomalies in every intermediate node. Using the fitted elevation information of each node after the first elevation anomaly as the corrected elevation information of the elevation anomaly further improves the efficiency of data processing.

[0154] 3. When it is determined that the intermediate nodes of the node sequence are not globally offset, by comparing the first difference and the second difference, the first difference is the difference between the fitted elevation information of the current correction node and the map elevation information of the current correction node; the second difference is the difference between the point cloud elevation information of the current correction node and the map elevation information of the current correction node, the corrected elevation information of the current correction node can be further determined, which can improve the accuracy of the elevation information determination of the target elevation anomaly point.

[0155] Embodiments of the present invention also provide an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement a method for processing elevation information of map road lines as described in the method embodiment.

[0156] Embodiments of the present invention also provide a storage medium, which can be disposed in a server to store at least one instruction, at least one program, code set, or instruction set for implementing a method for processing elevation information of a map road line in the method embodiment. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the method for processing elevation information of a map road line provided in the above method embodiment.

[0157] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0158] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0159] The foregoing description has fully disclosed the specific embodiments of the present invention. It should be noted that any modifications made to the specific embodiments of the present invention by those skilled in the art do not depart from the scope of the claims. Accordingly, the scope of the claims is not limited to the foregoing specific embodiments.

Claims

1. A method for processing elevation information of road lines on a map, characterized in that, include: Obtain the node sequence on the target road line, wherein the node sequence includes a starting node, at least one intermediate node, and an ending node in sequence; Based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node, elevation correction processing is performed to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node. Anomaly detection is performed sequentially on at least one intermediate node until the first elevation anomaly is detected; the absolute value of the angle difference between the first included angle and the second included angle corresponding to the elevation anomaly is greater than or equal to the first angle; the first included angle is the angle between the first line segment and the horizontal plane, and the first line segment is the line segment between the elevation anomaly and the preceding adjacent intermediate node of the elevation anomaly; the second included angle is the angle between the second line segment and the horizontal plane, and the second line segment is the line segment between the elevation anomaly and the following adjacent intermediate node of the elevation anomaly; If there are intermediate nodes after the first elevation anomaly, the first elevation anomaly and the intermediate nodes after the first elevation anomaly are determined as target elevation anomalies. Based on the starting elevation information and the ending elevation information, the slope information of the target road line is determined; Based on the slope information, the target correction operation type for the target elevation anomaly point is determined from a variety of preset correction operation types; The various preset correction operation types include a first operation type; If the slope information is less than the second angle, the target correction operation type is determined to be the first operation type; The elevation information of the target elevation anomaly is corrected based on the target correction operation to obtain the corrected elevation information of the target elevation anomaly, including: when the target correction operation type is the first operation type, determining the fitted elevation information of the first elevation anomaly and each node after the first elevation anomaly as the corrected elevation information of the elevation anomaly.

2. The method for processing elevation information of map road lines according to claim 1, characterized in that, The elevation correction process based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node, to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node, includes: Based on the point cloud coordinate information of the starting node, determine the point cloud elevation information of the starting node; If the absolute value of the difference between the point cloud elevation information and the map elevation information of the starting node is greater than or equal to a first preset difference, the point cloud elevation information is determined to be the starting elevation information. Determine the elevation information of the termination point cloud based on the point cloud coordinate information of the termination node; If the difference between the elevation information of the termination point cloud and the initial elevation information of the termination node is greater than or equal to the first preset difference, the elevation information of the termination point cloud is determined to be the termination elevation information.

3. The method for processing elevation information of map road lines according to claim 2, characterized in that, Determining the point cloud elevation information of the starting node based on the point cloud coordinate information of the starting node includes: The starting point cloud region is determined based on the starting node; the starting point cloud region is determined based on the neighboring region of the starting node. The starting point cloud elevation information is determined based on the point cloud coordinate information of multiple point clouds; the starting point cloud elevation information is the median elevation information of the multiple point cloud coordinate information.

4. The method for processing elevation information of map road lines according to claim 1, characterized in that, Before correcting the elevation information of the target elevation anomaly point based on the target correction operation to obtain the corrected elevation information of the target elevation anomaly point, the method further includes: Multiple line segments are obtained; the multiple line segments are obtained by sequentially connecting each node in the node sequence. The first elevation anomaly in the node sequence is identified as the target anomaly, and the target anomaly is used as the current correction node. Determine a target line segment between the starting node and the current correction node; the target line segment includes at least one of the plurality of line segments. Based on the starting elevation information and the ending elevation information, a first elevation difference is determined; Determine the ratio of the length of the target line segment to the sum of the line segments; the sum of the line segments is the sum of the lengths of the plurality of line segments; Based on the initial elevation information, the first elevation difference, and the ratio, the fitted elevation information of the current correction node is determined; The next node of the current correction node is determined as the current correction node; Repeat the following steps: determine the target line segment between the starting node and the current correction node, and determine the fitted elevation information of the current correction node based on the starting elevation information, the first elevation difference, and the ratio, until the current correction node becomes the termination node.

5. The method for processing elevation information of map road lines according to claim 4, characterized in that, The various preset correction operation types also include a second operation type; The step of determining the target correction operation for the target elevation anomaly point from a variety of preset correction operations based on the slope information includes: If the slope information is greater than or equal to the second angle, the target operation is determined to be the second operation type; The step of correcting the elevation information of the target elevation anomaly point based on the target correction operation to obtain the corrected elevation information of the elevation anomaly point includes: When the target operation is the second operation type, the point cloud elevation information of the current correction node is determined based on the point cloud coordinate information of the current correction node; If the second difference is greater than or equal to the second preset difference, and the first difference is less than the second difference, the fitted elevation information of the current correction node is determined as the corrected elevation information of the current correction node; the first difference is the difference between the fitted elevation information of the current correction node and the map elevation information of the current correction node; the second difference is the difference between the point cloud elevation information of the current correction node and the map elevation information of the current correction node.

6. The method for processing elevation information of map road lines according to claim 5, characterized in that, The method further includes: If the point cloud coordinate information of the current correction node is not detected, the fitted elevation information of the current correction node is determined as the correction elevation information of the current correction node.

7. A device for processing elevation information of map road lines, characterized in that, include: The acquisition module is used to acquire the node sequence on the target road line, wherein the node sequence includes a starting node, at least one intermediate node, and an ending node in sequence. The first correction module is used to perform elevation correction processing based on the point cloud coordinate information of the starting node and the point cloud coordinate information of the ending node to obtain the starting elevation information corresponding to the starting node and the ending elevation information corresponding to the ending node. The detection module is used to sequentially detect anomalies at at least one intermediate node until the first elevation anomaly is detected; the absolute value of the angle difference between the first included angle and the second included angle corresponding to the elevation anomaly is greater than or equal to the first angle; the first included angle is the angle between a first line segment and the horizontal plane, and the first line segment is the line segment between the elevation anomaly and the preceding adjacent intermediate node of the elevation anomaly; the second included angle is the angle between a second line segment and the horizontal plane, and the second line segment is the line segment between the elevation anomaly and the following adjacent intermediate node of the elevation anomaly. The first determining module is used to determine the first elevation anomaly and the intermediate node after the first elevation anomaly as the target elevation anomaly when there is an intermediate node after the first elevation anomaly. The slope information determination module is used to determine the slope information of the target road line based on the starting elevation information and the ending elevation information; The second determining module is used to determine the target correction operation type for the target elevation anomaly point from a variety of preset correction operation types based on the slope information. The various preset correction operation types include a first operation type; If the slope information is less than the second angle, the target correction operation type is determined to be the first operation type; The second correction module is used to correct the elevation information of the target elevation anomaly point based on the target correction operation to obtain the corrected elevation information of the target elevation anomaly point, including: when the target correction operation type is the first operation type, determining the fitted elevation information of the first elevation anomaly point and each node after the first elevation anomaly point as the corrected elevation information of the elevation anomaly point.

8. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or the instruction set being loaded and executed by the processor to implement the elevation information processing method for map road lines as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded by a processor and executed by the elevation information processing method for map road lines as described in any one of claims 1 to 6.

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