Method and system for generating three-dimensional bridge columns in three-dimensional space based on high-precision maps

Abstract

The present invention provides a method and system for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map. The method includes: generating a road surface based on road edges; screening out roads for which bridge columns need to be generated based on road attributes, and grouping them based on spatial connectivity; determining the upper section position of each bridge column for each road in each road group; determining whether there is a road below the road surface where any bridge column is located; if so, adjusting the upper section position of any bridge column; if not, not adjusting the upper section position; and then using the height of the center of the upper section as the height of the bridge column to project and generate the bridge column. The present invention generates three-dimensional bridge columns in three-dimensional space based on map road data in two-dimensional space, and performs three-dimensional road rendering. In the process of generating bridge columns, the generation position of the bridge columns must conform to the logic in the real world. For example, in the case of multi-layer overpasses, the lower bridge columns cannot stand on the upper road, etc., to adapt to the three-dimensional presentation of the road.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional road construction, and more specifically, to a method and system for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map. Background Art

[0002] The presentation of three-dimensional roads is relatively simple except for the curbs having a certain three-dimensional effect (with a certain height), and there are also significant differences from the real world.

[0003] The main reason is that traditional roads are still displayed in a two-dimensional plane. Their sense of space needs to be reflected in order to restore the real three-dimensional scene of the road. Constructing evenly distributed bridge columns through high-precision maps and creating a more realistic sense of space through height perception have become urgent issues that need to be solved. Summary of the Invention

[0004] In response to the technical problems existing in the prior art, the present invention provides a method and system for generating three-dimensional bridge columns in three-dimensional space based on high-precision maps.

[0005] According to a first aspect of the present invention, a method for generating a three-dimensional bridge column in a three-dimensional space based on a high-precision map is provided, comprising:

[0006] Generate road surface based on road edge lines and mesh the road data;

[0007] Filter out the roads that need to generate bridge columns based on road attributes, and group the spatially connected roads that need to generate bridge columns into one group. Break the groups at the road bifurcations to obtain multiple road groups that need to generate bridge columns.

[0008] For each road in the road group, determine the upper section position of each bridge column;

[0009] Perform spatial position determination on the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located;

[0010] If not, then based on the upper cross-section position of any of the bridge columns, the height of the center of the upper cross-section is used as the height of the bridge column, and the bridge column is generated by projection; if yes, then the upper cross-section position of any of the bridge columns is adjusted, and the height of the center of the upper cross-section is used as the height of the bridge column, and the bridge column is generated by projection.

[0011] On the basis of the above technical solution, the present invention can also make the following improvements.

[0012] Optionally, generating a road surface based on road edges and meshing the road data includes:

[0013] According to the left and right edge line data of the road, a road surface circumscribed rectangle is constructed to generate the road surface, and the generated road surface is meshed.

[0014] Optionally, the method filters out roads requiring bridge pillar generation based on road attributes, and groups spatially connected roads requiring bridge pillar generation into a group, and breaks the groups at road bifurcations to obtain multiple road groups requiring bridge pillar generation, including:

[0015] Roads with the attribute of bridge or elevated road are regarded as roads that need to generate bridge columns, and roads with spatial continuity are divided into a group;

[0016] When roads with a continuous relationship encounter a fork, they are interrupted and grouped at the fork to form multiple road groups that require the generation of bridge columns.

[0017] Optionally, determining the upper cross-section position of each bridge column for each road in each road group includes:

[0018] Starting from the starting point of the first road in each group of roads, a point is taken at every first set distance as the center point of the upper cross-section of the bridge column, and the upper cross-section position of each bridge column is determined in turn.

[0019] Optionally, performing spatial position determination on the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located includes:

[0020] Determine the spatial positions of all road surfaces in the grid and the road surface where any bridge pillar is located in a two-dimensional space. If there is no road surface intersecting with the road surface where any bridge pillar is located, it is determined that there is no road below the road surface where any bridge pillar is located.

[0021] If there is a road surface that intersects with the road surface where any of the bridge columns is located, the road surface at the same level as the road surface where any of the bridge columns is located is eliminated, and the remaining road surface is a road surface at a different level from the road surface where any of the bridge columns is located, that is, the road surface above or below the road surface where any of the bridge columns is located.

[0022] Optionally, performing spatial position determination on the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located includes:

[0023] According to the cross-pressure levels of each road surface in the two-dimensional space, it is determined whether there is a road below the road surface where any bridge column is located.

[0024] Optionally, if any, adjusting the upper cross-sectional position of any bridge column includes:

[0025] If there is a road surface below the road surface where any of the bridge columns is located, the upper cross-sectional position of any of the bridge columns will be moved from its original position to a second set distance in a direction away from the upper cross-sectional position of the previous bridge column, so that the road surface where the moved bridge column is located avoids the road surface below.

[0026] Optionally, the height of the center of the upper cross-section of any bridge column is relative to the sea level, and the step of using the height of the center of the upper cross-section as the height of the bridge column and projecting to generate the bridge column includes:

[0027] Select one ordinary road from each of the front and rear sides of the road group for which bridge columns are to be generated, obtain the height of the center of the upper cross-section of any bridge column relative to sea level and the average height of the two ordinary roads relative to sea level, and use the difference between the height of the center of the upper cross-section of any bridge column relative to sea level and the average height of the two ordinary roads relative to sea level as the height of any bridge column;

[0028] Based on the height of any one of the bridge columns and according to the upper cross section of any one of the bridge columns, a bridge column is generated by projection.

[0029] According to a second aspect of the present invention, a system for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map is provided, comprising:

[0030] The first generation module is used to generate a road surface based on the road edge line and to mesh the road data;

[0031] A screening module is used to screen out roads that need to generate bridge columns based on road attributes, and to group spatially connected roads that need to generate bridge columns into a group. The groups are then broken up at road bifurcations to obtain multiple road groups that need to generate bridge columns.

[0032] A first determining module is configured to determine the upper cross-section position of each bridge column for each road in each road group;

[0033] The second determination module is used to perform spatial position determination between the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located;

[0034] The second generation module is used to project and generate the bridge column if there is no road below the road surface where any bridge column is located, and use the height of the center of the upper section as the height of the bridge column according to the upper section position of any bridge column; if there is a road below the road surface where any bridge column is located, adjust the upper section position of any bridge column, use the height of the center of the upper section as the height of the bridge column, and project and generate the bridge column.

[0035] According to a third aspect of the present invention, an electronic device is provided, comprising a memory and a processor, wherein the processor is configured to implement the steps of a method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map when executing a computer management program stored in the memory.

[0036] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of a method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map are implemented.

[0037] The present invention provides a method and system for generating three-dimensional bridge columns in three-dimensional space based on high-precision maps. According to the map road data in two-dimensional space, three-dimensional bridge columns are generated in three-dimensional space and three-dimensional road rendering is performed. In the process of generating bridge columns, the generation position of the bridge columns must conform to the logic in the real world. For example, in the case of multi-layer overpasses, the lower bridge columns cannot stand on the upper road, etc., which is adapted to the three-dimensional presentation of the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flow chart of a method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map provided by the present invention;

[0039] Figure 2 A schematic diagram for grouping roads where bridge pillars need to be generated;

[0040] Figure 3 Schematic diagram to determine the cross-section location on each bridge column;

[0041] Figure 4 Schematic diagram of the cross section on each bridge column;

[0042] Figure 5 This is a schematic diagram of deleting the same-layer road surface from the road surface intersecting with the road surface where the current bridge column is located;

[0043] Figure 6 A schematic diagram of deleting the upper road surface from the road surface intersecting with the road surface where the current bridge column is located;

[0044] Figure 7 Schematic diagram for adjusting the cross-section position on the bridge column;

[0045] Figure 8 Schematic diagram for determining bridge column height;

[0046] Figure 9 This is a schematic diagram of the generated three-dimensional effect of the bridge column;

[0047] Figure 10 This is the overall flow chart of the method for generating three-dimensional bridge columns in three-dimensional space based on high-precision maps;

[0048] Figure 11 A schematic structural diagram of a three-dimensional bridge column generation system in three-dimensional space based on a high-precision map provided by the present invention;

[0049] Figure 12 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0050] Figure 13 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be arbitrarily combined with each other to form a feasible technical solution. This combination is not restricted by the sequence of steps and / or structural composition mode, but must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] Figure 1 The present invention provides a flow chart of a method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map, such as Figure 1 As shown, the method mainly includes the following steps:

[0053] S1, generate the road surface based on the road edge line and divide the road data into grids.

[0054] As an embodiment, generating a road surface based on road edges and meshing the road data includes: constructing a road surface circumscribed rectangle based on the left and right edge line data of the road to generate the road surface, and meshing the generated road surface.

[0055] It is understandable that the road surface is generated by the road edge (the left and right edge data of the road), and the road data is divided according to the grid in the navigation data (such as the Level 13 grid in the NDS data format or the Level 1 grid in the KIWI navigation data format).

[0056] S2, screening out roads that need to generate bridge columns according to road attributes, and dividing spatially connected roads that need to generate bridge columns into a group, and breaking the grouping at the road bifurcation to obtain multiple road groups that need to generate bridge columns.

[0057] As an embodiment, the roads requiring bridge columns to be generated are screened out according to road attributes, and the spatially connected roads requiring bridge columns to be generated are divided into a group, and the groups are interrupted at the road bifurcations to obtain multiple road groups requiring bridge columns to be generated, including: roads with road attributes of bridges or elevated roads are regarded as roads requiring bridge columns to be generated, and roads with spatial continuity relationships are divided into a group; when roads with continuity relationships encounter bifurcations, the groups are interrupted at the bifurcations to form multiple road groups requiring bridge columns to be generated.

[0058] It is understandable that the roads where bridge pillars need to be generated are selected based on the road attributes. For example, if the road is a bridge or an elevated road, then bridge pillars need to be generated under these roads. It is determined whether there are multiple roads that need bridge pillars to be generated. If there are, they are divided into a road group for management. If the connected roads have forks, they are disconnected at the forks and organized into multiple road groups. Figure 2 , and finally we get multiple groups of roads that need to generate bridge pillars.

[0059] S3. For each road in the road group, determine the upper section position of each bridge column.

[0060] As an embodiment, for each road in each road group, determining the upper cross-section position of each bridge column includes: starting from the starting point of the first road in each group of roads, taking a point as the center point of the upper cross-section of the bridge column at every first set distance, and determining the upper cross-section position of each bridge column in turn.

[0061] It can be understood that for each group of bridge column positions that need to be generated, starting from the starting point of the first road in the group, a point is taken every 50 meters as the center point of the upper section of the bridge column, and the upper section position of each bridge column is determined in turn.

[0062] Among them, traverse each road group that needs to generate bridge columns. Starting from the starting point of the first road, determine a bridge column upper section every 50m. If the final remaining distance of a road is less than 50m, for example, there is 10m left, then determine another bridge column upper section 40m forward from the starting point of the second road. Figure 3 , is a schematic diagram of the bridge column position. For each bridge column, the upper cross section of the bridge column is determined with the point selected on the road surface as the center. For example, if the bridge column is a rectangular parallelepiped, the side length of its upper cross section is 2*2m. The schematic diagram of the upper cross section of the bridge column can be found in Figure 4 .

[0063] S4, judge the spatial position of the road surface where any bridge column is located with all road surfaces in this grid to determine whether there is a road below the road surface where any bridge column is located; if not, then based on the upper cross-sectional position of any bridge column, use the height of the center of the upper cross-sectional view as the height of the bridge column, and project the bridge column; if yes, adjust the upper cross-sectional position of any bridge column, use the height of the center of the upper cross-sectional view as the height of the bridge column, and project the bridge column.

[0064] As an embodiment, if any, the upper cross-sectional position of any bridge column is adjusted, including: if there is a road surface below the road surface where any bridge column is located, the upper cross-sectional position of any bridge column is moved backward from the original position by a second set distance, so that the upper cross-sectional position of the bridge column after the move avoids the road surface below.

[0065] It is understandable that the position of the cross section on each bridge column is preliminarily determined according to step S3. If the bridge column is directly generated based on the projection of the cross section position of each bridge column, in a three-dimensional multi-layer road, if there is a road surface below the road surface where the bridge column is located, then the generated bridge column will be directly generated on the road surface below, seriously affecting the traffic on the road surface below, and not in line with the actual bridge column position scenario. Therefore, for each cross-sectional position of the bridge column determined, it is necessary to determine whether there is a road surface below the road surface where the bridge column is located. If there is a road surface below, the cross-sectional position of the bridge column needs to be adjusted. For example, the cross-sectional position of the current bridge column is moved 8m away from the cross-sectional position of the previous bridge column, that is, the cross-sectional position of the current bridge column is 58m away from the cross-sectional position of the previous bridge column, to avoid the generated bridge column standing on the road below. See. Figure 5 , which is a schematic diagram after adjusting the cross-section position on the bridge column.

[0066] As an embodiment, the spatial position determination of the road surface where any bridge column is located and all road surfaces in the current grid to determine whether there is a road below the road surface where any bridge column is located includes: spatial position determination of all road surfaces in the current grid and the road surface where any bridge column is located in two-dimensional space; if there is no road surface intersecting with the road surface where any bridge column is located, then it is determined that there is no road below the road surface where any bridge column is located. If there is a road surface intersecting with the road surface where any bridge column is located, the road surface on the same layer as the road surface where any bridge column is located is eliminated, and the remaining road surface is a road surface on a different layer from the road surface where any bridge column is located, that is, a road surface above or below the road surface where any bridge column is located.

[0067] It can be understood that when judging whether there are other road surfaces below the road surface where each bridge column is located, the spatial position of the road surface where any bridge column is located and all road surfaces in this grid are judged in two-dimensional space to determine whether there is a road below the road surface where any bridge column is located.

[0068] Specifically, determine whether there are other road surfaces in this grid that intersect with the road surface where the current bridge column is located. If there are no intersecting road surfaces in two-dimensional space, then there are definitely no road surfaces that intersect with the road surface where the current bridge column is located in three-dimensional space. In this case, the height of the bridge column is directly used as the height of the center of the upper section, and the entire bridge column is projected to generate the height.

[0069] If there are other road surfaces that intersect with the road surface where the current bridge column is located in two-dimensional space, then in three-dimensional space, these other road surfaces may be above or below the road surface where the current bridge column is located, or they may be on the same level as the road surface where the current bridge column is located. It is necessary to filter out the roads below the road surface where the current bridge column is located. If the road surface is connected to the road surface where the current bridge column is located, it means that the road surface and the road surface where the current bridge column is located are on the same level. See Figure 6 , delete the road surfaces at the same level as the road surface where the current bridge column is located from all intersecting road surfaces, then the other road surfaces are the road surfaces above or below the road surface where the current bridge column is located. At this time, when adjusting the cross-section position of the current bridge column, the road surfaces above or below the road surface where the current bridge column is located can be avoided. If each road in the two-dimensional map has a corresponding cross-pressure level (the Zlevel corresponding to each road represents the height level of each road), then for the intersecting road surfaces, the road surfaces below the road surface where the current bridge column is located can be directly filtered out based on the cross-pressure levels of these road surfaces and the road surface where the current bridge column is located, and the road surfaces at the same level as the road surface where the current bridge column is located and the road surfaces above it can be deleted. Please refer to Figure 7 , to delete the road surface above the road surface where the current bridge column is located.

[0070] As an embodiment, the height of the center of the upper cross-section of any bridge column is the height relative to the sea level, and the projecting generation of the bridge column based on the height of the center of the upper cross-section as the height of the bridge column includes: taking an ordinary road in front and behind the road group where the bridge column needs to be generated, and obtaining the height of the center of the upper cross-section of any bridge column relative to the sea level and the average height of the two ordinary roads above the sea level respectively, and taking the difference between the height of the center of the upper cross-section of any bridge column relative to the sea level and the average height of the two ordinary roads above the sea level as the height of any bridge column; based on the height of any bridge column, projecting generation of the bridge column according to the upper cross-section of any bridge column.

[0071] It is understandable that after determining the position of each bridge column cross section, when generating the corresponding bridge column, the height of the bridge column needs to be determined. It is usually understood that the height of the bridge column is the height from the position of the bridge column cross section to the ground. However, in the map, the height of the road surface is usually relative to the sea level. Therefore, when determining the height of the bridge column, refer to Figure 8 , select an ordinary road from the front and back of the road group where the bridge column needs to be generated. Select two shape points on each of the two ordinary roads according to the direction of traffic, for a total of four shape points. Calculate the average height H2 of these four shape points relative to sea level. Subtract the average height H2 of the bridge head road from the height H1 of the current bridge column cross section center point relative to sea level to calculate the height H1-H2 of the generated bridge column. Finally, based on the cross section position and height of each bridge column, the corresponding bridge column is projected and generated. The three-dimensional rendering of the generated bridge column can be seen in Figure 9 .

[0072] See also Figure 10 , which is the entire flow chart of the method for generating three-dimensional bridge columns in three-dimensional space based on high-precision maps provided by the present invention. First, the road network data is divided according to the grid to establish a spatial index, and the road surface is generated by forming a circumscribed rectangle of the road surface using the left and right edges of the road. According to the attributes of each road, the roads that need to generate bridge columns are screened out, and it is determined whether there are any subsequent roads that also need to generate bridge columns. The roads that need to generate bridge columns that are spatially connected and have a continuous relationship are divided into a group. It is determined whether there is a fork in the group of roads that need to generate bridge columns. If there is a fork, it is disconnected from the fork to obtain multiple groups of roads that need to generate bridge columns. For each group of roads that need to generate bridge columns, starting from the starting point of the first road, a point is selected every 50m as the cross-sectional position of the bridge column. For other roads, the remaining distance from the last bridge column of the previous road to the end point is found. The bridge columns of the next road are generated at an interval of [50m-remaining distance] starting from the starting point, ensuring that a bridge column is generated every 50m.

[0073] For each bridge column, determine whether there is a road surface below the bridge column. If no road surface exists, directly project the cross-section of the bridge column downward to generate the entire bridge column. If there is a road surface below the bridge column, adjust the cross-section of the bridge column to avoid the road surface below, and then project the entire bridge column.

[0074] To determine the height of the bridge pillars, select two regular roads, one in front of and one behind the road group where the bridge pillars are to be generated. Select two shape points on each of these roads, closest to the direction of travel, for a total of four shape points. Calculate the average height H2 of these four shape points. Subtract the average height H2 of the road at the bridgehead from the height H1 of the current bridge pillar center point to calculate the height of the generated bridge pillar (H1 - H2). Based on the position of the upper cross-section of the bridge pillar and the height of the bridge pillar, project the corresponding bridge pillars.

[0075] See also Figure 11 , a three-dimensional bridge column generation system in three-dimensional space based on a high-precision map provided by the present invention, the system includes a first generation module 1101, a screening module 1102, a first determination module 1103, a second determination module 1104 and a second generation module 1103, wherein:

[0076] The first generation module 1101 is used to generate a road surface based on the road edge line and to divide the road data into grids;

[0077] A screening module 1102 is configured to screen out roads requiring bridge pillar generation based on road attributes, group spatially connected roads requiring bridge pillar generation into a group, and break the groups at road bifurcations to obtain multiple road groups requiring bridge pillar generation.

[0078] A first determining module 1103 is configured to determine the upper cross-section position of each bridge column for each road in each road group;

[0079] The second determination module 1104 is configured to perform spatial position determination between the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located;

[0080] The second generation module 1105 is used to project and generate the bridge column if there is no road below the road surface where any bridge column is located, and use the height of the center of the upper section as the height of the bridge column according to the upper section position of any bridge column; if there is a road below the road surface where any bridge column is located, adjust the upper section position of any bridge column, use the height of the center of the upper section as the height of the bridge column, and project and generate the bridge column.

[0081] It can be understood that the three-dimensional bridge column generation system based on high-precision maps in three-dimensional space provided by the present invention corresponds to the three-dimensional bridge column generation method based on high-precision maps in three-dimensional space provided by the aforementioned embodiments. The relevant technical features of the three-dimensional bridge column generation system based on high-precision maps in three-dimensional space can refer to the relevant technical features of the three-dimensional bridge column generation method based on high-precision maps in three-dimensional space, which will not be repeated here.

[0082] See also Figure 12 , Figure 12 Schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. Figure 12 As shown, an embodiment of the present invention provides an electronic device 1200, including a memory 1210, a processor 1220, and a computer program 1211 stored in the memory 1210 and executable on the processor 1220. When the processor 1220 executes the computer program 1311, the steps of a method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map are implemented.

[0083] See also Figure 13 , Figure 13 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 13 As shown, this embodiment provides a computer-readable storage medium 1300 on which a computer program 1311 is stored. When the computer program 1311 is executed by a processor, the steps of a method for generating a three-dimensional bridge column in a three-dimensional space based on a high-precision map are implemented.

[0084] The embodiment of the present invention provides a method and system for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map, which has the following advantages:

[0085] (1) When generating the road surface, it does not rely on the road surface data in the high-precision map, but generates the road surface by itself through the left and right side lines to solve the problem that the high-precision map only provides a small amount of road surface data at the intersection, resulting in incomplete road surface data.

[0086] (2) The bridge columns generated by the present invention are evenly spaced and logically positioned, supporting multi-layer interchanges. This can prevent bridge columns from being generated on lower-level roads, causing "traffic obstructions." Bridge columns will not be generated in tunnels, or, in contrast, on high-level roads, to avoid logical confusion.

[0087] (3) Bridge column generation is directly processed offline. The bridge column positions are generated in advance based on high-precision maps and organized according to existing data formats. There is no need for dynamic construction during rendering, and the performance overhead of bridge column rendering is minimized.

[0088] (4) Some map data do not have specific road surface height data, but provide relative cross-pressure levels (ZLevel) to express relative height. By mapping different Zlevels to different height values, this method can also adapt to such data well and is not strongly dependent on the height value.

[0089] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0090] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0094] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0095] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map, characterized in that: include: Generate road surface based on road edge lines and mesh the road data; Filter out the roads that need to generate bridge columns based on road attributes, and group the spatially connected roads that need to generate bridge columns into one group. Break the groups at the road bifurcations to obtain multiple road groups that need to generate bridge columns. For each road in the road group, determine the upper section position of each bridge column; Perform spatial position determination on the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located; If not, then based on the upper cross-section position of any bridge column, the height of the center of the upper cross-section is used as the height of the bridge column, and the bridge column is generated by projection; if yes, then the upper cross-section position of any bridge column is adjusted, the height of the center of the upper cross-section is used as the height of the bridge column, and the bridge column is generated by projection, wherein the height of the center of the upper cross-section of any bridge column is the height relative to the sea level; For each road in the road group, determining the upper cross-section position of each bridge column includes: Starting from the starting point of the first road in each group of roads, a point is selected at every first set distance as the center point of the upper cross section of the bridge column, and the position of the upper cross section of each bridge column is determined in sequence; If so, adjusting the upper cross-sectional position of any bridge column includes: If there is a road surface below the road surface where any of the bridge columns is located, the upper cross-sectional position of any of the bridge columns will be moved from its original position in a direction away from the upper cross-sectional position of the previous bridge column by a second set distance, so that the road surface where the moved bridge column is located avoids the road surface below.

2. The method for generating a three-dimensional bridge column according to claim 1, characterized in that: The generating of the road surface based on the road edge and meshing the road data includes: According to the left and right edge line data of the road, a road surface circumscribed rectangle is constructed to generate the road surface, and the generated road surface is meshed.

3. The method for generating a three-dimensional bridge column according to claim 1, characterized in that: The method filters out roads requiring bridge pillar generation based on road attributes, and groups spatially connected roads requiring bridge pillar generation into a group. The groups are then broken down at road bifurcations to obtain multiple road groups requiring bridge pillar generation, including: Roads with the attribute of bridge or elevated road are regarded as roads that need to generate bridge columns, and roads with spatial continuity are divided into a group; When roads with a continuous relationship encounter a fork, they are interrupted and grouped at the fork to form multiple road groups that require the generation of bridge columns.

4. The method for generating a three-dimensional bridge column according to claim 1, characterized in that: The spatial position determination of the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located includes: Determine the spatial positions of all road surfaces in the grid and the road surface where any bridge pillar is located in a two-dimensional space. If there is no road surface intersecting with the road surface where any bridge pillar is located, it is determined that there is no road below the road surface where any bridge pillar is located. If there is a road surface that intersects with the road surface where any of the bridge columns is located, the road surface at the same level as the road surface where any of the bridge columns is located is eliminated, and the remaining road surface is a road surface at a different level from the road surface where any of the bridge columns is located, that is, the road surface above or below the road surface where any of the bridge columns is located.

5. The method for generating a three-dimensional bridge column according to claim 4, characterized in that: The spatial position determination of the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located includes: According to the cross-pressure levels of each road surface in the two-dimensional space, it is determined whether there is a road below the road surface where any bridge column is located.

6. The method for generating a three-dimensional bridge column according to claim 1, characterized in that: The method of using the height of the center of the upper section as the height of the bridge column and projecting to generate the bridge column includes: Select one ordinary road from each of the front and rear sides of the road group for which bridge columns are to be generated, obtain the height of the center of the upper cross-section of any bridge column relative to sea level and the average height of the two ordinary roads relative to sea level, and use the difference between the height of the center of the upper cross-section of any bridge column relative to sea level and the average height of the two ordinary roads relative to sea level as the height of any bridge column; Based on the height of any one of the bridge columns and according to the upper cross section of any one of the bridge columns, a bridge column is generated by projection.

7. A three-dimensional bridge column generation system in three-dimensional space based on high-precision maps, characterized in that: include: The first generation module is used to generate a road surface based on the road edge line and to mesh the road data; A screening module is used to screen out roads that need to generate bridge columns based on road attributes, and to group spatially connected roads that need to generate bridge columns into a group. The groups are then broken up at road bifurcations to obtain multiple road groups that need to generate bridge columns. A first determining module is configured to determine the upper cross-section position of each bridge column for each road in each road group; The second determination module is used to perform spatial position determination between the road surface where any bridge column is located and all road surfaces in the grid to determine whether there is a road below the road surface where any bridge column is located; The second generation module is used to, if there is no road below the road surface where any of the bridge columns is located, use the height of the center of the upper section as the height of the bridge column according to the position of the upper section of the bridge column, and project the bridge column to generate the bridge column; if there is a road below the road surface where any of the bridge columns is located, adjust the position of the upper section of the bridge column, use the height of the center of the upper section as the height of the bridge column, and project the bridge column, wherein the height of the center of the upper section of the bridge column is the height relative to the sea level; For each road in the road group, determining the upper cross-section position of each bridge column includes: Starting from the starting point of the first road in each group of roads, a point is selected at every first set distance as the center point of the upper cross section of the bridge column, and the position of the upper cross section of each bridge column is determined in sequence; Adjusting the upper section position of any bridge column includes: If there is a road surface below the road surface where any of the bridge columns is located, the upper cross-sectional position of any of the bridge columns will be moved from its original position in a direction away from the upper cross-sectional position of the previous bridge column by a second set distance, so that the road surface where the moved bridge column is located avoids the road surface below.

8. A computer-readable storage medium, characterized in that A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the method for generating three-dimensional bridge columns in three-dimensional space based on a high-precision map are implemented as described in any one of claims 1 to 6.

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