A construction method and system for the missing outer line of a high-precision map

Abstract

The present invention provides a method and system for constructing the outer line of a missing road in a high-precision map. The method includes: S1, obtaining lane boundary lines, road network topology, the outer line of the road, and the correlation relationship data between the outer line of the road and the road in the map; S2, extracting the outermost lane boundary line from the lane boundary lines; obtaining all the roads that need to update the outer line of the road according to the outer line of the road and the correlation relationship between the outer line of the road and the road; using a shape extrapolation algorithm to update the outer line of the corresponding road along the outermost lane boundary line; S3, connecting adjacent outer lines of the road according to the road network topology, and updating the map with the new outer line of the road. The present invention realizes the update of the outer line of the road in the high-precision map, realizes a more accurate match between the high-precision map data and the requirements of autonomous driving, and improves data accuracy and driving safety.

Description

Technical Field

[0001] The present invention relates to the field of high-precision electronic map production, and more specifically, to a method and system for constructing outer lines of missing roads in high-precision maps. Background Art

[0002] When driving autonomously, it is necessary to obtain the outer lines of the road on both sides of the road to calculate the maximum drivable range of the road, so as to control the vehicle within a safe driving range. When manually collecting map data, due to road obstructions and equipment accuracy loss, it is impossible to collect all the outermost physical isolation facilities of the road, resulting in the inability to draw all the outer lines of the road during manual mapping, or the outer lines of the road have errors, which brings difficulties to the production of high-precision electronic maps.

[0003] Therefore, it is necessary to design a solution to update the outer lines of roads in high-precision maps in order to achieve a more accurate match of high-precision map data to the needs of autonomous driving and improve data accuracy and driving safety. 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 constructing the outer lines of roads that are missing in high-precision maps, which realizes the update of the outer lines of roads in high-precision maps, achieves a more accurate matching of high-precision map data with autonomous driving requirements, and improves data accuracy and driving safety.

[0005] According to a first aspect of the present invention, a method for constructing a high-precision map with missing road outer lines is provided, comprising:

[0006] S1, obtaining lane edges, road network topology, road outer lines, and association data between road outer lines and roads in the map;

[0007] S2, extracting the outermost lane edge line of the road from the lane edge lines; obtaining all roads whose outer road lines need to be updated according to the relationship between the outer road edge lines, the outer road edge lines and the roads; and updating the outer road edge lines of the corresponding roads along the outermost lane edge lines by using a shape extrapolation algorithm;

[0008] S3, connecting adjacent road outer lines according to the road network topology, and updating the map with the new road outer lines.

[0009] Based on the above technical solution, the present invention can also make the following improvements.

[0010] Optionally, in step S2, extracting the lane edgeline located at the outermost side of the road from the lane edgelines includes:

[0011] S201, traversing each lane edge, and collecting a lane edge set of each road section according to road section information associated with the lane edge;

[0012] S202. Sort the set of lane boundaries of each road section in sequence along the vehicle driving direction. For the lane boundaries within a single road section, sort them from left to right in ascending order of the serial numbers. The lane boundary with the smallest serial number in the sorted set of lane boundaries is the leftmost lane boundary, and the lane boundary with the largest serial number in the set is the rightmost lane boundary.

[0013] Optionally, in step S2, obtaining all the roads that need to update the road outer lines according to the association relationship between the road outer lines and the roads includes:

[0014] S203. Traverse all the roads according to the association relationship between the road outer lines and the roads to obtain the set A of roads associated with the road outer lines.

[0015] S204. When it is determined that the current road in the set A of roads is a road outside the intersection, find the preceding and succeeding roads of the current road according to the road network topology; determine whether the road outer line of the current road is continuous with the road outer lines of the preceding and succeeding roads: if both are continuous, no update is required, otherwise further judgment is needed.

[0016] S205. Calculate and compare the total length len1 of the road outer line of the current road and the total length len2 of the lane boundaries on the same side. When len1 ≤ 80% len2, it is determined that the road outer line of the current road needs to be updated, otherwise it does not need to be updated.

[0017] S206. Traverse all the roads in the set A of roads to obtain all the roads that need to update the road outer lines.

[0018] Optionally, in step S205, calculating the total length len1 of the road outer line of the current road includes:

[0019] Judge the number of unilateral road outer lines of the current road:

[0020] If there is only one road outer line on the current side of the current road, the length of this road outer line is used as the total length len1.

[0021] If there are multiple road outer lines on the current side of the current road, first sort the multiple road outer lines according to the shape continuity of the road outer lines: if the sorting is successful, indicating that the shapes of all the road outer lines are continuous, calculate the length of each road outer line and accumulate them, and use the obtained accumulated value as the total length len1 of the road outer line; if the sorting fails, indicating that there is a situation where the shapes of the road outer lines are not continuous, calculate the length of the first road outer line among the multiple road outer lines as the total length len1 of the road outer line.

[0022] Optionally, in step S205, calculate the total length len2 of the lane boundaries on the same side of the current road outer line in the current road, including:

[0023] Connect the lane boundaries on the same side within all continuous road intervals of the current road to obtain the lane boundaries on the same side as the current road outer line;

[0024] Accumulate the lengths of the lane boundaries on the same side as the current road outer line within the continuous road intervals to obtain the total length len2 of the lane boundaries.

[0025] Optionally, in step S2, use the shape extrapolation algorithm to update the road outer line of the corresponding road along the outermost lane boundary; including:

[0026] S207, Obtain the lane boundaries on the outermost side of all road intervals on the current road, sort the lane boundaries on the same side obtained in the order of the road intervals to obtain the lane boundary set LDS, and splice the adjacent lane boundaries in the lane boundary set LDS in sequence according to the serial numbers to obtain the lane boundary linear shape LD1 on the same side;

[0027] S208, Obtain the starting point S1 of the road outer line on the same side, calculate the shortest distance dist from the starting point S1 to the lane boundary linear shape LD1 on the same side; translate each shape point in the lane boundary linear shape LD1 outward by the distance dist to the outside of the current road to obtain a new linear shape LD1', and use the linear shape LD1' to update the road outer line of the corresponding road.

[0028] Optionally, in step S2, for obtaining all the roads that need to update the road outer line according to the association relationship between the road outer line, the road outer line and the road, it further includes:

[0029] S209, If the current road is a road inside a non-intersection and has no associated road outer line, then determine that a new road outer line needs to be constructed for the current road;

[0030] S210, Obtain the preceeding / succeeding roads connected to the current road according to the road network topology relationship. When there are more than one preceeding / succeeding roads, determine the outermost road among the preceeding / succeeding roads according to the road angle; if the outermost road among the preceeding / succeeding roads has no associated road outer line, then a new road outer line needs to be constructed for it;

[0031] S211, Traverse all roads to obtain the road set B of all roads that need to construct new road outer lines.

[0032] Optionally, in step S2, use the shape extrapolation algorithm to update the road outer line of the corresponding road along the outermost lane boundary; it further includes:

[0033] S212. Obtain the lane boundary lines on the outermost side within all road sections of the current road in the road set B, sort the obtained lane boundary lines on the same side in the order of road sections to obtain the lane boundary line set LDS2, and sequentially connect the adjacent lane boundary lines in the lane boundary line set LDS2 according to the serial numbers to obtain the lane boundary line shape LD2 on the same side;

[0034] S213. Translate each shape point of the lane boundary line shape LD2 outward from the current road by a distance L, and use the new shape LD2' obtained as the newly built road outer line;

[0035] S214. Traverse the road set B until all new road outer lines are constructed.

[0036] Optionally, in step S3, the connecting adjacent road outer lines according to the road network topology and updating the map with the new road outer lines includes:

[0037] S301. Obtain the updated road outer line set C;

[0038] S302. According to the road network topology, obtain the previous / successor roads of the road where the current road outer line in the road outer line set C is located. If there are multiple previous / successor roads, select the outermost previous / successor road according to the angle;

[0039] S303. Update the starting point coordinates of the current road outer line with the tail point coordinates of the road outer line of the outermost previous road, and update the tail point coordinates of the current road outer line with the head point coordinates of the road outer line of the outermost successor road;

[0040] S304. Traverse the road outer line set C until the new connected road outer lines are obtained, and update the new road outer lines to the map.

[0041] According to the second aspect of the present invention, there is provided a construction system for missing road outer lines of a high-precision map, including:

[0042] An acquisition module, configured to acquire lane boundary lines, road network topology, road outer lines, and the associated relationship data between road outer lines and roads in the map;

[0043] An update module, configured to extract the lane boundary lines on the outermost side of the road from the lane boundary lines; is also configured to obtain all the roads that need to update the road outer lines according to the road outer lines and the associated relationship between the road outer lines and the roads; is also configured to use the shape extrapolation algorithm to update the road outer lines of the corresponding roads along the outermost lane boundary lines;

[0044] A fusion module, configured to connect adjacent road outer lines according to the road network topology, and is also configured to update the map with the new road outer lines.

[0045] According to a third aspect of the present invention, there is provided an electronic device, including a memory and a processor. When the processor executes a computer management program stored in the memory, the steps of the method for constructing the missing road outer line of the high-precision map are implemented.

[0046] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the method for constructing the missing road outer line of the high-precision map are implemented.

[0047] A method, system, electronic device and storage medium for constructing a missing road outer line of a high-precision map provided by the present invention use lane boundary lines, road network topology, road outer lines, and the correlation relationship data between the road outer line and the road to determine whether the road outer line needs to be updated. Then, using the shape extrapolation algorithm, the road outer line of the corresponding road is corrected and updated along the lane boundary line. Finally, using the road network topology relationship, all the updated road outer lines are connected and updated to the map to ensure the continuity of the shape of the road outer line, and a more accurate map is obtained. The present invention uses simple planar-level data calculation problems to reduce the time-consuming of manual drawing, reduce the workload of manually drawing virtual road outer lines, improve the drawing efficiency and the accuracy of the high-precision map; it can make the vehicle drive within a safe range and improve the driving safety of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flowchart of a method for constructing a missing road outer line of a high-precision map provided by the present invention;

[0049] Figure 2 It is a schematic diagram of a high-precision road, road nodes, lane boundary lines, and road outer lines in a certain embodiment;

[0050] Figure 3 It is a schematic diagram of shape extrapolation of lane boundary lines in a certain embodiment;

[0051] Figure 4 It is a schematic diagram of updating the coordinates of the start and end points of the road outer line in a certain embodiment;

[0052] Figure 5 It is a block diagram of the composition of a system for constructing a missing road outer line of a high-precision map provided by the present invention;

[0053] Figure 6 It is a schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0054] Figure 7 It is a schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0056] Figure 1 A flow chart of a method for constructing a high-precision map with missing road outer lines provided by the present invention, such as Figure 1 As shown, the method includes:

[0057] S1, obtaining lane edges, road network topology, road outer lines, and association data between road outer lines and roads in the map;

[0058] S2, extracting the outermost lane edge line of the road from the lane edge lines; obtaining all roads whose outer road lines need to be updated according to the relationship between the outer road edge lines, the outer road edge lines and the roads; and updating the outer road edge lines of the corresponding roads along the outermost lane edge lines by using a shape extrapolation algorithm;

[0059] S3, connecting adjacent road outer lines according to the road network topology, and updating the map with the new road outer lines.

[0060] It is understandable that, based on the defects in the background technology, the embodiment of the present invention proposes a method for constructing the outer line of the road that is missing in the high-precision map. The lane edge and the shape data of the lane edge loaded in step S1 are subsequently used to update the shape of the road outer line, or to construct the shape of the missing road outer line. The loaded road network topology data is used to subsequently find the roads before and after the road. The outer line of the road and the data on its association with the road are loaded to obtain the outer line information of the road on the left and right sides of the road.

[0061] The method of this embodiment uses lane edge lines, road network topology, road outer lines, and the relationship data between road outer lines and roads to determine whether the road outer lines need to be updated, and then uses the shape extrapolation algorithm to update the road outer lines of the corresponding roads along the lane edge lines. Finally, the road network topology relationship is used to connect all the updated road outer lines and update them to the map, ensuring the continuity of the shape of the road outer lines, and obtaining a more accurate map. The present invention uses simple plane-level data calculation problems to reduce the time consumption of manual drawing, reduce the workload of manual drawing of virtual road outer lines, improve drawing efficiency and the accuracy of high-precision maps; it can make the vehicle drive within a safe range and improve the safety of autonomous driving.

[0062] In a possible implementation manner, in step S2, obtaining all roads whose road outer lines need to be updated according to the road outer lines and the association between the road outer lines and the roads includes:

[0063] In step S2, extracting the lane boundary line located on the outermost side of the road from the lane boundary lines includes:

[0064] S201, traversing each lane boundary line, and aggregating the lane boundary line sets of each road section according to the road section information associated with the lane boundary line;

[0065] S202, sequentially sorting the lane boundary line sets of each road section along the vehicle driving direction. Within a single road section, sort the lane boundary lines from left to right in ascending order of the serial number. The lane boundary line with the smallest serial number in the sorted lane boundary line set is the leftmost lane boundary line, and the lane boundary line with the largest serial number in the set is the rightmost lane boundary line.

[0066] It can be understood that, as Figure 2 shown, there are two road sections on Road 1. The road sections are sequentially numbered starting from 1 along the road driving direction. Therefore, the serial number of Road Section 1 is smaller than that of Road Section 2. There are two lane boundary lines in Road Section 1. The serial numbers of the lane boundary lines are sequentially numbered starting from 1 from left to right along the road direction. Therefore, after sorting in ascending order of the serial number, the lane boundary line set of Road Section 1 is {Lane Boundary Line 1, Lane Boundary Line 2}. Lane Boundary Line 1 is the leftmost lane boundary line of Road Section 1, and Lane Boundary Line 2 is the rightmost lane boundary line of Road Section 1. Similarly, the lane boundary line set of Road Section 2 is {Lane Boundary Line 3, Lane Boundary Line 4}. Lane Boundary Line 3 is the leftmost lane boundary line of Road Section 2, and Lane Boundary Line 4 is the rightmost lane boundary line of Road Section 2.

[0067] In a possible implementation manner, in step S2, obtaining all the roads that need to update the road outer line according to the association relationship between the road outer line, the road outer line, and the road includes:

[0068] S203, according to the association relationship between the road outer line and the road, traversing all the roads to obtain the road set A associated with the road outer line; wherein, the association relationship between the road outer line and the road records the position information of the road outer line (for example, it is located on the left side or the right side of the road);

[0069] It can be understood that the road set A obtained in step S203 aggregates the left road outer line set and the right road outer line set associated with each road. As Figure 2 shown, on the right side of Road 1, Road Outer Line 1 and Road Outer Line 2 are associated, and on the left side of Road 1, Road Outer Line 3 is associated.

[0070] S204. If the current road is a road within an intersection, no processing is performed. When it is determined that the current road in the road set A is not a road within an intersection, the preceding and succeeding roads of the current road are found according to the road network topology. Determine whether the outer road line of the current road is continuous with the outer road lines of the preceding and succeeding roads: If both are continuous, no update is required; otherwise, further judgment is needed.

[0071] For example, in Figure 2 the right outer road line of road 4 is continuous with the right outer road line of its preceding road (road 1) and also continuous with the right outer road line of its succeeding road (road 5). Therefore, the right outer road line of road 4 does not need to be updated.

[0072] S205. For the roads that need further judgment obtained in step S204, calculate and compare the total length len1 of the outer road line of the current road and the total length len2 of the lane boundary lines on the same side. When len1 ≤ 80% len2, it is determined that the outer road line of the current road needs to be updated; when len1 > 80% len2, no update is required.

[0073] In this embodiment, 80% len2 is set as the threshold for judging the total length len1 of the outer road line. When len1 ≤ 80% len2, it may be considered that the total length of the outer road line of the current road is abnormal, and the position of the outer road line may be inaccurate. Therefore, it needs to be updated.

[0074] S206. Traverse all the roads in the road set A to obtain all the roads whose outer road lines need to be updated, which is convenient for centralized updating of the outer road lines of these roads in the subsequent steps.

[0075] In a possible embodiment, in step S205, calculating the total length len1 of the outer road line of the current road includes:

[0076] Judge the number of single-sided outer road lines of the current road:

[0077] If there is only one outer road line on the current side of the current road, the length of this outer road line is used as the total length len1;

[0078] If there are multiple outer road lines on the current side of the current road, first sort the multiple outer road lines according to the shape continuity of the outer road lines: If the sorting is successful, indicating that the shapes of all outer road lines are continuous, calculate the length of each outer road line and accumulate them, and use the obtained accumulated value as the total length len1 of the outer road line; if the sorting fails, indicating that there is a situation where the shapes of the outer road lines are not continuous, calculate the length of the first outer road line among the multiple outer road lines as the total length len1 of the outer road line.

[0079] It can be understood that there may be one or multiple consecutive outer lines on one side of the current road. Therefore, it is necessary to first judge the left and / or right outer lines of the current road respectively, and then calculate the total length len1 of the outer line on one side of the road.

[0080] As Figure 2 shown, there are two outer lines on the right side of Road 1, and the end point of Outer Line 1 coincides with the start point of Outer Line 2. The set of right outer lines sorted by shape continuity is {Outer Line 1, Outer Line 2}, and the sum of their lengths is the total length len1 of the right outer line of Road 1. The length of the left outer line of Road 1 is the length of Outer Line 3.

[0081] In a possible embodiment, in step S205, calculating the total length len2 of the lane boundaries on the same side of the current outer line of the current road includes:

[0082] Connect the lane boundaries on the same side within all consecutive road sections of the current road to obtain the lane boundaries on the same side as the current outer line of the road;

[0083] Accumulate the lengths of the lane boundaries on the same side as the current outer line of the road within the consecutive road sections to obtain the total length len2 of the lane boundaries.

[0084] It can be understood that in this embodiment, the lengths of the lane boundaries on the same side as the leftmost or rightmost outer line of the road are calculated. Specifically, which side of the lane boundary length is calculated depends on which side of the outer line of the road is currently being judged. As in Figure 2 , Road 1 has two road sections (Road Section 1 and Road Section 2) arranged along the vehicle driving direction (i.e., the arrow direction in Figure 2 ). The total length of the leftmost lane boundary is the length of Lane Boundary 1 + the length of Lane Boundary 3, and the total length of the rightmost lane boundary is the length of Lane Boundary 2 + the length of Lane Boundary 4. And the length of the outer line 3 associated with the left side of Road 1 is less than 80% of the total length of the leftmost lane boundary, so it is necessary to update the shape of the outer line 3.

[0085] In a possible embodiment, in step S2, using the shape extrapolation algorithm to update the outer line of the corresponding road along the outermost lane boundary; including:

[0086] S207, Obtain the lane boundaries located on the outermost side of the road within all road sections of the current road, sort the lane boundaries on the same side obtained according to the order of the road sections to obtain the lane boundary set LDS, and splice the adjacent lane boundaries in the lane boundary set LDS in sequence according to the serial numbers to obtain the lane boundary line shape LD1 on the same side.

[0087] In step S207, if the outer line of the left - hand side road is updated, the left - most lane boundary line of each road section of the current road is obtained; if the outer line of the right - hand side road is updated, the right - most lane boundary line of each road section of the current road is obtained. Each of the left - most (or right - most) lane boundary lines forms a boundary line set LDS. Each lane boundary line in the set LDS is sorted in ascending order according to the road section number. If there are multiple lane boundary lines in the set LDS, the shapes of the lane boundary lines are spliced in sequence, and the spliced shape is used as the shape of the left - most (or right - most) lane boundary line.

[0088] As Figure 2 shown, the set of the left - most lane boundary lines of Road 1 sorted by road section number is LDS{lane boundary line 1, lane boundary line 3}. The set of shape points of lane boundary line 1 is {P1, P2…Pn}, and the set of shape points of lane boundary line 3 is {Q1, Q2…Qn}. Then the set of shape points after splicing lane boundary line 1 and lane boundary line 3 in sequence is {P1, P2…Pn, Q1, Q2…Qn}, and the connection of each shape point in this set of shape points forms the lane boundary line shape LD1.

[0089] S208, obtain the starting point S1 of the left - most or right - most outer road line, calculate the shortest distance dist from the starting point S1 to the lane boundary line shape LD1 on the same side of the current road; translate each shape point in the lane boundary line shape LD1 outwards by the distance dist in sequence towards the outside of the current road. Specifically, if the outer line of the left - hand side road is updated, each shape point in the lane boundary line shape LD1 is translated leftwards in sequence, and if the outer line of the right - hand side road is updated, each shape point in the lane boundary line shape LD1 is translated rightwards in sequence; after the shape points in the lane boundary line shape LD1 are translated, a new shape LD1’ is obtained, and the outer road line of the corresponding road is updated with the shape LD1’, that is, the new shape LD1’ is used as the new shape of the outer road line on the same side corresponding to the lane boundary line shape LD1.

[0090] As Figure 3 shown, assume that the set of shape points of the original lane boundary line is {P1, P2, P3, P4, P5}, and the line segments formed by adjacent two shape points are translated outwards by the distance dist in sequence to form a new set of shape points {S1, S2, S3, S4, S5}, and the new set of shape points {S1, S2, S3, S4, S5} is used as the set of shape points of the new outer road line.

[0091] In a possible embodiment, in step S2, the step of obtaining all the roads whose outer road lines need to be updated according to the association relationship between the outer road line, the outer road line and the road further includes:

[0092] S209. If the current road is a road inside a non-intersection and the outer road line is not associated, it is determined that a new outer road line needs to be constructed for the current road.

[0093] It can be understood that in the original map, due to the lack of some outer road lines, the associated relationship between the outer road line and the road may not record the section where the outer road line is missing. Therefore, it is necessary to identify such roads and complete their outer road lines. For roads inside intersections, there is no need to construct outer road lines, so such roads are excluded. For roads inside non-intersections, considering driving safety, outer road lines need to be set. In the previous steps S203 - S208, the outer road lines of the roads associated with the outer road lines have been updated. Therefore, in this embodiment, mainly the outer road lines of the sections where the outer road lines are partially or completely missing are constructed.

[0094] S210. Obtain the pre - successor roads connected to the current road according to the road network topology relationship. When there are more than 1 pre - successor roads, it is considered that there is a situation of multiple roads intersecting. Determine the outermost (such as the leftmost or rightmost) road among the pre - successor roads according to the intersection angle between the roads; if the outermost road among the pre - successor roads is not associated with the outer road line, a new outer road line needs to be constructed for it.

[0095] S211. Traverse all roads to obtain the set B of all roads that need to construct new outer road lines.

[0096] As Figure 2 shown, in the direction of vehicle travel, Road 1 has two connected successor roads (Road 2 and Road 4). Road 2 is on the left and Road 4 is on the right. The left side of Road 2 is not associated with the outer road line, so Road 2 needs to construct a new outer road line on the left; the right side of Road 4 is associated with the right outer road line, so Road 4 does not need to construct an outer road line.

[0097] In a possible embodiment, in step S2, the shape extrapolation algorithm is used to update the outer road line of the corresponding road along the outermost lane boundary line; it further includes:

[0098] S212. Obtain all the lane boundary lines on the outermost side of the current road in all road intervals of the road set B, sort the lane boundary lines on the same side obtained in the order of the road intervals to obtain the lane boundary line set LDS2, and sequentially connect the adjacent lane boundary lines in the lane boundary line set LDS2 according to the serial numbers to obtain the lane boundary line shape LD2 on the same side;

[0099] S213. Translate each shape point of the lane boundary line shape LD2 outward from the current road by a distance L (for example, set the distance L to 20 cm), and use the new shape LD2’ obtained as the newly constructed outer road line;

[0100] S214, traverse the road set B until all new outer road lines are constructed.

[0101] It can be understood that in this embodiment, by successively moving the shape points of the lane boundary line LD2 on the outermost side of the road outward, new outer road lines are constructed for the corresponding roads. If the left outer road line is to be constructed, the shape of the leftmost lane boundary line of the road is obtained; if the right outer road line is to be constructed, the shape of the rightmost lane boundary line of the road is obtained. The method for obtaining the lane boundary line shape LD2 is similar to that of the lane boundary line shape LD1.

[0102] In a possible embodiment, in step S3, the process of connecting adjacent outer road lines according to the road network topology and updating the map with the new outer road lines includes:

[0103] S301, obtain the updated outer road line set C, which at least contains all the new outer road lines obtained in the above embodiments, such as all the line shapes LD1' and all the line shapes LD2' obtained in step S2;

[0104] S302, according to the road network topology, obtain the previous / next road of the road where the current outer road line in the outer road line set C is located. If there are multiple previous / next roads, select the outermost previous / next road according to the angle, such as the leftmost previous / next road and the rightmost previous / next road.

[0105] More specifically, if the current outer road line is on the left, obtain the outer road lines on the left of the previous and next roads respectively; if the current outer road line is on the right, obtain the outer road lines on the right of the previous and next roads respectively.

[0106] If there are multiple previous / next roads, obtain the left outer road line of the leftmost previous / next road and the right outer road line of the rightmost previous / next road.

[0107] S303, use the tail point coordinates of the outer road line of the outermost previous road to update the start point coordinates of the current outer road line, and use the head point coordinates of the outer road line of the outermost next road to update the tail point coordinates of the current outer road line, so as to ensure the continuity of the shapes of the front and rear outer road lines.

[0108] As Figure 4 shown, after adjusting the coordinates of the start and end points of the outer road line 2, it is continuous with the shapes of the front and rear two outer road lines.

[0109] S304, traverse the outer road line set C until a continuous new outer road line is obtained, and update the new outer road line to the map.

[0110] It is understandable that the updated road outer line information is output through step S304 for autonomous driving to ensure that the vehicle travels within a safe range. Especially during autonomous driving, by obtaining the road outer lines associated with both sides of the road, the maximum drivable range of the road is determined, so as to control the vehicle within a safe driving range and ensure the safety of users.

[0111] Figure 5 FIG. is a structural diagram of a system for constructing missing road outer lines in a high-precision map provided by an embodiment of the present invention, as Figure 5 shown, a system for constructing missing road outer lines in a high-precision map includes an acquisition module, an update module, and a fusion module, where:

[0112] The acquisition module is used to acquire lane boundary lines, road network topologies, road outer lines, and the associated relationship data between the road outer lines and the road in the map;

[0113] The update module is used to extract the lane boundary line located on the outermost side of the road from the lane boundary lines; it is also used to obtain all the roads that need to update the road outer lines according to the road outer lines and the associated relationship between the road outer lines and the road; it is also used to adopt a shape extrapolation algorithm to update the road outer lines of the corresponding roads along the outermost lane boundary line;

[0114] The fusion module is used to connect adjacent road outer lines according to the road network topology, and is also used to update the map with the new road outer lines.

[0115] It is understandable that a system for constructing missing road outer lines in a high-precision map provided by the present invention corresponds to the method for constructing missing road outer lines in a high-precision map provided in the foregoing embodiments. The relevant technical features of the system for constructing missing road outer lines in a high-precision map can refer to the relevant technical features of the method for constructing missing road outer lines in a high-precision map, and will not be elaborated here.

[0116] Please refer to Figure 6 , Figure 6 FIG. is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 6 shown, an embodiment of the present invention provides an electronic device 600, including a memory 610, a processor 620, and a computer program 611 stored on the memory 610 and executable on the processor 620. When the processor 620 executes the computer program 611, the following steps are implemented:

[0117] S1, acquiring lane boundary lines, road network topologies, road outer lines, and the associated relationship data between the road outer lines and the road in the map;

[0118] S2. Extract the outermost lane boundary from the lane boundaries; based on the relationship between the road outer boundary, the road outer boundary and the road, obtain all the roads that need to update the road outer boundary; use the shape extrapolation algorithm to update the road outer boundary of the corresponding road along the outermost lane boundary.

[0119] S3. Connect adjacent road outer boundaries according to the road network topology, and update the map with the new road outer boundary.

[0120] Please refer to Figure 7 , Figure 7 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 7 shown, this embodiment provides a computer-readable storage medium 700, on which a computer program 711 is stored. When the computer program 711 is executed by a processor, the following steps are implemented:

[0121] S1. Obtain the lane boundaries, road network topology, road outer boundaries and the relationship data between the road outer boundaries and the roads in the map.

[0122] S2. Extract the outermost lane boundary from the lane boundaries; based on the relationship between the road outer boundary, the road outer boundary and the road, obtain all the roads that need to update the road outer boundary; use the shape extrapolation algorithm to update the road outer boundary of the corresponding road along the outermost lane boundary.

[0123] S3. Connect adjacent road outer boundaries according to the road network topology, and update the map with the new road outer boundary.

[0124] A method, system and storage medium for constructing a missing road outer boundary of a high-precision map provided by an embodiment of the present invention use road topology relationships, line segment length calculations and length comparison methods to determine whether the road outer boundary associated with a road needs to be shape-updated, and then use a shape splicing algorithm to splice the shapes of the leftmost or rightmost lane boundaries of all road sections on the road. Then, use the shape extrapolation algorithm to use the shape of the spliced lane boundaries to update or construct the shape of the new road outer boundary. Finally, use the road topology relationship to update the first and last point coordinates of the inferred road outer boundary with the shapes of the front and back connected road outer boundaries, ensuring the continuity of the road outer boundary shape, enabling the vehicle to drive within a safe range, and using simple planar-level data calculation problems to reduce the time-consuming of manual drawing and improve the driving safety of autonomous vehicles.

[0125] It should be noted that in the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not detailedly described in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] Those skilled in the art will understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0127] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0128] These computer program instructions can 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, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0130] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0131] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for constructing the outer line of a missing road in a high-precision map, characterized in that, include: S1, obtaining lane edges, road network topology, road outer lines, and association data between road outer lines and roads in the map; S2, extracting the outermost lane edge line of the road from the lane edge lines; obtaining all roads whose outer road lines need to be updated according to the relationship between the outer road edge lines, the outer road edge lines and the roads; and updating the outer road edge lines of the corresponding roads along the outermost lane edge lines by using a shape extrapolation algorithm; S3, connecting adjacent road outer lines according to the road network topology, and updating the map with the new road outer lines.

2. The method for constructing the outer line of a missing road in a high-precision map according to claim 1, characterized in that, In step S2, extracting the lane edgeline located at the outermost side of the road from the lane edgelines includes: S201, traversing each lane edge, and collecting a lane edge set of each road section according to road section information associated with the lane edge; S202, sorting the lane edge set of each road section in sequence along the vehicle travel direction, and sorting the lane edge sets from left to right in a single road section according to the sequence numbers from small to large, the lane edge set with the smallest sequence number in the sorted lane edge set being the leftmost lane edge, and the lane edge set with the largest sequence number in the set being the rightmost lane edge.

3. The method for constructing the outer line of a missing road in a high-precision map according to claim 1 or 2, characterized in that, In step S2, the step of obtaining all roads whose road outer lines need to be updated according to the road outer lines, the association between the road outer lines and the roads includes: S203, traversing all roads according to the association relationship between the road outer lines and the roads, and obtaining a road set A associated with the road outer lines; S204, when it is determined that the current road in the road set A is a non-intersection road, the front and rear connecting roads of the current road are found according to the road network topology; it is determined whether the outer line of the current road is connected to the outer lines of the front and rear connecting roads: if they are connected, no update is required, otherwise further determination is required; S205, calculating and comparing the total length len1 of the road outer line of the current road and the total length len2 of the lane edge line on the same side, and when len1≤80%len2, determining that the road outer line of the current road needs to be updated, otherwise it does not need to be updated; S206, traverse all roads in the road set A to obtain all roads whose outer lines need to be updated.

4. The method for constructing the outer line of a missing road in a high-precision map according to claim 3, characterized in that, Step S205, calculating the total length len1 of the road outer line of the current road, including: Determine the number of outer lines on one side of the current road: If there is only one road outer line on the current side of the current road, the length of the road outer line is taken as the total length len1; If there are multiple road outer lines on the current side of the current road, the multiple road outer lines are first sorted according to the shape continuity of the road outer lines: if the sorting is successful, the length of each road outer line is calculated and accumulated, and the accumulated value is used as the total length len1 of the road outer lines; if the sorting fails, the length of the first road outer line among the multiple road outer lines is calculated as the total length len1 of the road outer lines.

5. The method for constructing the outer line of a missing road in a high-precision map according to claim 3, characterized in that, Step S205, calculating the total length len2 of the lane edge lines on the same side of the current road outer line in the current road, including: Connect the lane edge lines on the same side of all continuous road sections of the current road to obtain the lane edge line on the same side as the outer line of the current road; Accumulate the lengths of the lane boundaries on the same side as the current road's outer boundary within consecutive road sections to obtain the total length len2 of the lane boundaries.

6. The method for constructing the outer line of a missing road in a high-precision map according to claim 3, characterized in that, In step S2, using the shape extrapolation algorithm, update the road's outer boundary along the outermost lane boundary; including: S207, Obtain the lane boundaries on the outermost side of the current road within all road sections, sort the lane boundaries on the same side obtained in the order of the road sections to obtain the lane boundary set LDS, and sequentially splice the adjacent lane boundaries in the lane boundary set LDS according to the sequence numbers to obtain the lane boundary linear shape LD1 on the same side. S208, Obtain the starting point S1 of the road's outer boundary on the same side, calculate the shortest distance dist from the starting point S1 to the lane boundary linear shape LD1 on the same side; sequentially translate each shape point in the lane boundary linear shape LD1 outward by the distance dist from the current road to obtain the new linear shape LD1', and use the linear shape LD1' to update the road's outer boundary corresponding to the road.

7. The method for constructing the outer line of a missing road in a high-precision map according to claim 3, characterized in that, In step S2, for obtaining all the roads that need to update the road's outer boundary according to the association relationship between the road's outer boundary, the road's outer boundary, and the road, it also includes: S209, If the current road is a non-intersection road and is not associated with the road's outer boundary, then determine that the current road needs to construct a new road's outer boundary. S210, Obtain the previous / successor roads connected to the current road according to the road network topology relationship. When there are more than one previous / successor roads, determine the outermost road among the previous / successor roads according to the road angle; if the outermost road among the previous / successor roads is not associated with the road's outer boundary, then a new road's outer boundary needs to be constructed for it. S211, Traverse all roads to obtain the road set B of all roads that need to construct new road's outer boundaries.

8. The method for constructing the outer line of a missing road in a high-precision map according to claim 7, characterized in that, In step S2, using the shape extrapolation algorithm, update the road's outer boundary along the outermost lane boundary; it also includes: S212, Obtain the lane boundaries on the outermost side of the current road within all road sections of the road in the road set B, sort the lane boundaries on the same side obtained in the order of the road sections to obtain the lane boundary set LDS2, and sequentially connect the adjacent lane boundaries in the lane boundary set LDS2 according to the sequence numbers to obtain the lane boundary linear shape LD2 on the same side. S213, Sequentially translate each shape point of the lane boundary linear shape LD2 outward by the distance L to obtain the new linear shape LD2' as the newly constructed road's outer boundary. S214, Traverse the road set B until all new road's outer boundaries are constructed.

9. A method for constructing the outer line of a missing road in a high-precision map according to claim 1, characterized in that, In step S3, for updating the map using the new road's outer boundary according to the road network topology to connect adjacent road's outer boundaries, it includes: S301, Obtain the updated road's outer boundary set C. S302, According to the road network topology, obtain the previous / successor roads of the road where the current road's outer boundary in the road's outer boundary set C is located. If there are multiple previous / successor roads, select the outermost previous / successor road according to the angle. S303. Update the starting point coordinates of the current road outer line using the tail point coordinates of the outer line of the outermost preceding road, and update the tail point coordinates of the current road outer line using the head point coordinates of the outer line of the outermost succeeding road; S304. Traverse the set C of road outer lines until a new continuous road outer line is obtained, and update the new road outer line in the map.

10. A system for constructing the outer line of a missing road in a high-precision map, characterized in that, Including: An acquisition module for acquiring lane boundary lines, road network topologies, road outer lines, and the associated relationship data between road outer lines and roads in the map; An update module for extracting the lane boundary line located on the outermost side of the road from the lane boundary lines; also for obtaining all the roads whose road outer lines need to be updated according to the road outer lines and the associated relationship between the road outer lines and the roads; also for updating the road outer line of the corresponding road along the outermost lane boundary line using the shape extrapolation algorithm; A fusion module for connecting adjacent road outer lines according to the road network topology, and also for updating the map with the new road outer line.

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