Method, System and Medium for Automatic Location and Drawing of High-Precision Map Intersection Surfaces

Abstract

The present invention discloses a method, system and medium for automatically positioning and drawing an intersection surface of a high-precision map. The method includes the following steps: constructing an rtree spatial index of the data of the section to be measured based on the rtree algorithm, and obtaining the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index; when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, positioning the intersection position of the section to be measured; obtaining two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line; constructing an intersection surface according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines; it can be automatically processed without manual intervention, improving production efficiency. At the same time, the accuracy of the intersection surface range is high, avoiding human errors.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision maps, and particularly to a method, system and medium for automatically positioning and drawing intersection surfaces of high-precision maps. Background Art

[0002] The intersection surface is a very important element for high-precision maps. At present, the high-precision map industry mainly uses manual drawing methods to draw intersection surfaces; however, manual drawing has high labor costs and limited accuracy, and it is difficult to cope with the need for rapid data updates for large-scale data production. Therefore, it is necessary to provide a solution for automatically positioning and drawing intersection surfaces of high-precision maps. Summary of the Invention

[0003] The present invention provides a method, system and medium for automatically positioning and drawing intersection surfaces of high-precision maps, which can perform automated processing without manual intervention, improve production efficiency, and at the same time have high accuracy in the intersection surface range and avoid manual errors.

[0004] In a first aspect, there is provided a method for automatically positioning and drawing intersection surfaces of high-precision maps, including the following steps:

[0005] Construct an rtree spatial index for the data of the road section to be measured based on the rtree algorithm, and obtain the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index;

[0006] When the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, the intersection position of the road section to be measured is located;

[0007] According to the intersection position and the outermost reference lane line, obtain the two outermost boundary lane lines of other roads that meet the preset conditions;

[0008] Construct an intersection surface according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines.

[0009] According to the first aspect, in a first possible implementation manner of the first aspect, the end of the outermost reference lane line has no connection relationship with other lane lines, and the end is the head end or the tail end.

[0010] According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of "when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, the intersection position of the road section to be measured is located" specifically includes the following steps:

[0011] When the vector directions at the ends of the outermost reference lane line and the outermost auxiliary lane line are within a preset angle range;

[0012] When the elevation values at the ends of the outermost reference lane line and the outermost auxiliary lane line are the same;

[0013] When the distance between the ends of the outermost reference lane line and the outermost auxiliary lane line is within a preset distance; and,

[0014] When the extension lines at the ends of the outermost reference lane line and the outermost auxiliary lane line intersect;

[0015] Then locate the ends of the outermost reference lane line and the outermost auxiliary lane line at the intersection position;

[0016] Wherein, the ends are the starting ends or the ending ends, and the starting ends and ending ends of the outermost reference lane line correspond to the starting ends and ending ends of the outermost auxiliary lane line.

[0017] According to the second possible implementation manner of the first aspect, in the third possible implementation manner of the first aspect, the step of "acquiring two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line" specifically includes the following steps:

[0018] Based on the ends of the outermost reference lane line at the intersection position, draw a perpendicular line to the outermost reference lane line. Excluding the outermost auxiliary lane line, acquire one outermost boundary lane line that intersects with both ends of the perpendicular line, is on the two roads adjacent to the outermost reference lane line, and is the closest to the ends of the outermost reference lane line respectively.

[0019] According to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, the step of "constructing an intersection plane according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines" specifically includes the following steps:

[0020] Based on the ends of the outermost reference lane line at the intersection position, draw two first perpendicular line segments to the two outermost boundary lane lines respectively. The two first perpendicular line segments are used as two starting sides of the intersection plane;

[0021] Taking the intersection point of one of the starting sides that intersects perpendicularly and one of the outermost lane boundary lines as the starting point, draw a second perpendicular line segment along one of the outermost lane boundary lines at a preset fixed distance interval towards the other outermost lane boundary line;

[0022] When the value obtained by dividing the length difference between two adjacent second vertical line segments by a preset fixed distance is less than a preset threshold, the last second vertical line segment is the end edge of the intersection surface;

[0023] Construct a surface enclosed by the two start edges, the two outermost boundary lane lines and the end edge as the intersection surface.

[0024] In a second aspect, there is provided a high-precision map intersection surface automatic positioning and drawing system, including:

[0025] A reference assistance module, configured to construct an rtree spatial index of the data of the road section to be measured based on the rtree algorithm, and obtain the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index;

[0026] A positioning module, communicatively connected to the reference assistance module, configured to locate the intersection position of the road section to be measured when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions;

[0027] A boundary module, communicatively connected to the reference assistance module and the positioning module, configured to obtain two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line; and,

[0028] An intersection surface construction module, communicatively connected to the reference assistance module, the positioning module and the boundary module, configured to construct an intersection surface according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines.

[0029] According to the second aspect, in the first possible implementation manner of the second aspect, the boundary module is configured to draw a perpendicular line to the outermost reference lane line at the end of the outermost reference lane line at the intersection position, and except for the outermost auxiliary lane line, obtain one outermost boundary lane line that intersects with both ends of the perpendicular line, is on two roads adjacent to the outermost reference lane line, and is closest to the end of the outermost reference lane line respectively.

[0030] According to the first possible implementation manner of the second aspect, in the second possible implementation manner of the second aspect, the intersection surface construction module is configured to respectively make two first perpendicular line segments of the outermost boundary lane lines based on the end parts of the outermost reference lane lines at the intersection position, and the two first perpendicular line segments serve as two starting edges of the intersection surface; taking the intersection point of one of the starting edges that intersects perpendicularly and one of the outermost lane boundary lines as the starting point, making a second perpendicular line segment along one of the outermost lane boundary lines at a preset fixed distance interval towards the other outermost lane boundary line; when the value obtained by dividing the length difference between two adjacent second perpendicular line segments by the preset fixed distance is less than the preset threshold, the last second perpendicular line segment is the end edge of the intersection surface; constructing the surface enclosed by the two starting edges, the two outermost boundary lane lines and the end edge as the intersection surface.

[0031] In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the high-precision map intersection surface automatic positioning and drawing method as described in any one of the above is implemented.

[0032] Compared with the prior art, the advantages of the present invention are as follows: First, an rtree spatial index of the data of the section to be measured is constructed based on the rtree algorithm, and the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line are obtained according to the rtree spatial index; then when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, the intersection position of the section to be measured is located; then according to the intersection position and the outermost reference lane line, two outermost boundary lane lines of other roads that meet the preset conditions are obtained; then according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines, an intersection surface is constructed; therefore, the whole process is automatically processed without manual intervention, which can greatly reduce costs, compress time, and improve production efficiency; at the same time, the accuracy of the intersection surface range is high, and the intersection range can be accurately drawn to avoid manual errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic flowchart of an embodiment of a high-precision map intersection surface automatic positioning and drawing method of the present invention;

[0034] Figure 2 is a schematic diagram of the lane line morphological characteristics of an intersection of the present invention;

[0035] Figure 3 is a schematic diagram of obtaining the outermost boundary lane lines of an intersection of the present invention;

[0036] Figure 4 is a schematic diagram of the starting edge of an intersection surface of the present invention;

[0037] Figure 5It is a schematic diagram of the intersection width change of the present invention;

[0038] Figure 6 It is a schematic diagram of the composition of the intersection surface of the present invention;

[0039] Figure 7 It is a schematic structural diagram of an automatic positioning and drawing system for intersection surfaces based on high-precision maps of the present invention. Description of the drawings:

[0041] 100. Automatic positioning and drawing system for intersection surfaces based on high-precision maps; 110. Reference auxiliary module; 120. Positioning module; 130. Boundary module; 140. Intersection surface construction module. Detailed implementation manners

[0042] Now, specific embodiments of the present invention will be described in detail. Examples of the present invention are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the described embodiments. On the contrary, it is intended to cover modifications, variations, and equivalents included within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0043] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0044] Note: The examples to be introduced next are only specific examples and do not limit the embodiments of the present invention to the following specific steps, numerical values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0045] See Figure 1 As shown, an embodiment of the present invention provides an automatic positioning and drawing method for intersection surfaces based on high-precision maps, including the following steps:

[0046] S100. Construct an rtree spatial index for the data of the road section to be measured based on the rtree algorithm, and obtain the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index;

[0047] S200. When the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, locate the intersection position of the road section to be measured;

[0048] S300. Obtain two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line.

[0049] S400. Construct an intersection plane according to the intersection position, the outermost reference lane line, and the two outermost boundary lane lines.

[0050] Specifically, in this embodiment, the main elements involved in the current road network topology include intersections, lane lines, guide strips, and isolation fences. Among them, the lane line refers to the virtual line that separates different lanes on the road surface. An intersection refers to an area where two or more roads converge and vehicle drivers are allowed or forced to make right-of-way choices. The guide strip is mainly applied to wide, irregular, or relatively complex intersections to regulate the vehicles to drive along the specified routes. The isolation fence is used to physically isolate roads or lanes.

[0051] Rtree is a spatial retrieval algorithm that can quickly find spatial data at the corresponding position. The data of the section to be measured includes ground object data such as lane lines, guide strips, and isolation fences. By constructing an rtree spatial index for all data such as lane lines, guide strips, and physical isolation fences, the spatial positions of the road data can be quickly retrieved.

[0052] Therefore, the present invention mainly solves the problems of automatic positioning and drawing of the intersection plane in the high-precision map. Compared with the prior art, it has the following main advantages: 1) The whole process is automatically processed without manual intervention, which can greatly reduce costs, compress time, and improve production efficiency; 2) The accuracy of the intersection plane range is high, and the intersection range can be accurately drawn to avoid manual errors.

[0053] Preferably, in another embodiment of the present application, the end of the outermost reference lane line has no connection relationship with other lane lines, and the end is the head end or the tail end.

[0054] Specifically, in this embodiment, as shown in Figure 2 , based on the rtree spatial index, traverse the outermost reference lane line lane_line1 in the data of the section to be measured. The lane line lane_line1 is broken at the first point or the last point, and there is no connected other lane line. For example, Lane_lane1 is a non-connected lane line (the tail end is not connected to other lane lines), while lane_line2 may be connected to other lane lines.

[0055] Preferably, in another embodiment of the present application, the step of "S200. When the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, then locate the intersection position of the section to be measured" specifically includes the following steps:

[0056] S210, when the vector directions at the ends of the outermost reference lane line and the outermost auxiliary lane line are within a preset angle range;

[0057] S220, when the elevation values at the ends of the outermost reference lane line and the outermost auxiliary lane line are the same;

[0058] S230, when the distance between the ends of the outermost reference lane line and the outermost auxiliary lane line is within a preset distance; and,

[0059] S240, when the extension lines at the ends of the outermost reference lane line and the outermost auxiliary lane line intersect;

[0060] S250, then locate the ends of the outermost reference lane line and the outermost auxiliary lane line at the intersection position;

[0061] Wherein, the ends are the starting ends or the ending ends, and the starting ends and ending ends of the outermost reference lane line correspond to the starting ends and ending ends of the outermost auxiliary lane line.

[0062] Specifically, in this embodiment, as shown in Figure 2 shown,

[0063] 1. The vector directions of lane line lane_line1 and lane line lane_line2 are substantially the same at the starting point or the ending point;

[0064] 2. The elevation values of lane line lane_line1 and lane line lane_line2 are substantially the same at the starting point or the ending point;

[0065] 3. The distance between lane line lane_line1 and lane line lane_line2 at the starting end or the ending end cannot be too far (within a preset distance);

[0066] 4. The extensions of lane line lane_line1 and lane line lane_line2 at the starting end or the ending end intersect (key geometric feature).

[0067] If the above preset shape features are satisfied, then the starting point or the ending point of these two lane lines is at the intersection, and the intersection position is located.

[0068] Preferably, in another embodiment of the present application, the step of "S300, obtaining two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line" specifically includes the following steps:

[0069] Draw a perpendicular line to the outermost reference lane line at the end of the outermost reference lane line at the intersection position. Excluding the outermost auxiliary lane line, obtain one outermost boundary lane line on each of the two roads that intersect with both ends of the perpendicular line, are adjacent to the outermost reference lane line, and are closest to the end of the outermost reference lane line.

[0070] Specifically, in this embodiment, refer to Figure 3 As shown, based on the end (s_pt) of the outermost reference lane line at the intersection position, draw perpendicular lines clockwise and counterclockwise to the lane line lane_line1. Through the perpendicular lines, find the two outermost boundary lane lines lane_line3 and lane_line4 on the two roads closest to the break point.

[0071] Preferably, in another embodiment of the present application, the step of "S400, construct an intersection surface according to the intersection position, the outermost reference lane line, and the two outermost boundary lane lines" specifically includes the following steps:

[0072] S410, respectively draw two first perpendicular line segments to the two outermost boundary lane lines from the end of the outermost reference lane line at the intersection position. The two first perpendicular line segments serve as the two starting sides of the intersection surface;

[0073] S420, starting from the intersection point of one of the starting sides that intersects perpendicularly and one of the outermost lane boundary lines, draw a second perpendicular line segment along one of the outermost lane boundary lines at a preset fixed distance interval towards the other outermost lane boundary line;

[0074] S430, when the value obtained by dividing the length difference between two adjacent second perpendicular line segments by the preset fixed distance is less than the preset threshold, the last second perpendicular line segment is the end side of the intersection surface;

[0075] S440, construct the surface enclosed by the two starting sides, the two outermost boundary lane lines, and the end side as the intersection surface.

[0076] Specifically, in this embodiment, refer to Figure 4 As shown, draw perpendicular lines from the end s_pt to the outermost boundary lane lines lane_line3 and lane_line4 of the road respectively. These two first perpendicular line segments v_line1 and v_line2 form the starting sides of the intersection surface.

[0077] Refer to Figure 5As shown in the figure, starting from the intersection point of the vertical line segment v_line1 and the lane line lane_line3, going upstream of the intersection surface, perpendicular lines are drawn to another lane line lane_line4 at a preset fixed distance Δdist each time. The length of the second vertical line segment is calculated as the road width road_dist of the intersection surface. Then, if the value obtained by dividing the difference Δroad_dist between the road widths corresponding to two adjacent points by the preset fixed distance Δdist is less than the preset threshold, it is determined that the road width change is stable. At this time, the upstream traversal is terminated, and the last second vertical line segment is the end edge of the intersection surface.

[0078] See Figure 6 As shown in the figure, then the outermost boundary lane lines lane_line3 and lane_line4 of the road are trimmed using the end edge end_line and the starting edge of the intersection surface to obtain the two side boundaries of the intersection surface. Then, the starting edge, the end edge, and the two side boundaries of the intersection surface are assembled into a surface in a clockwise direction, thus forming the intersection surface.

[0079] Also see Figure 7 As shown in the figure, an embodiment of the present invention also provides a high-precision map intersection surface automatic positioning and drawing system 100, including: a reference assistance module 110, a positioning module 120, a boundary module 130, and an intersection surface construction module 140;

[0080] The reference assistance module 110 is used to construct an rtree spatial index of the data of the section to be measured based on the rtree algorithm, and obtain the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index;

[0081] The positioning module 120 is communicatively connected to the reference assistance module 110, and is used to locate the intersection position of the section to be measured when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions;

[0082] The boundary module 130 is communicatively connected to the reference assistance module 110 and the positioning module 120, and is used to obtain the two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line; and,

[0083] The intersection surface construction module 140 is communicatively connected to the reference assistance module 110, the positioning module 120, and the boundary module 130, and is used to construct an intersection surface according to the intersection position, the outermost reference lane line, and the two outermost boundary lane lines.

[0084] The boundary module 130 is configured to draw a perpendicular line to the outermost reference lane line based on the end of the outermost reference lane line at the intersection position. Excluding the outermost auxiliary lane line, one outermost boundary lane line that intersects with both ends of the perpendicular line, is on each of the two roads adjacent to the outermost reference lane line, and is closest to the end of the outermost reference lane line is obtained for each road.

[0085] The intersection surface construction module 140 is configured to respectively draw two first perpendicular line segments of the two outermost boundary lane lines based on the ends of the outermost reference lane line at the intersection position. The two first perpendicular line segments serve as the two starting sides of the intersection surface; taking the intersection point of one of the starting sides that intersects perpendicularly and one of the outermost lane boundary lines as the starting point, draw a second perpendicular line segment along one of the outermost lane boundary lines at a preset fixed distance interval towards the other outermost lane boundary line; when the value obtained by dividing the length difference between two adjacent second perpendicular line segments by the preset fixed distance is less than a preset threshold, the last second perpendicular line segment is the ending side of the intersection surface; construct the surface enclosed by the two starting sides, the two outermost boundary lane lines, and the ending side as the intersection surface.

[0086] Therefore, in the embodiment of the present invention, first, an rtree spatial index of the data of the road section to be measured is constructed based on the rtree algorithm, and the outermost reference lane line and the outermost auxiliary lane lines of the roads adjacent to the outermost reference lane line are obtained according to the rtree spatial index; then, when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, the intersection position of the road section to be measured is located; then, according to the intersection position and the outermost reference lane line, two outermost boundary lane lines of other roads that meet the preset conditions are obtained; then, according to the intersection position, the outermost reference lane line, and the two outermost boundary lane lines, an intersection surface is constructed; therefore, the present invention mainly solves the problems of automatic positioning and drawing of intersection surfaces in high-precision maps. Compared with the prior art, it mainly has the following advantages: 1) The whole process is automatically processed without manual intervention, which can greatly reduce costs, compress time, and improve production efficiency; 2) The accuracy of the intersection surface range is high, and the intersection range can be accurately drawn to avoid manual errors.

[0087] Specifically, this embodiment corresponds one-to-one with the above method embodiment, and the functions of each module have been described in detail in the corresponding method embodiment, so they will not be elaborated one by one here.

[0088] Based on the same inventive concept, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0089] The implementation of all or part of the processes in the above method of the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0090] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0091] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the computer device and connects various parts of the entire computer device through various interfaces and lines.

[0092] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory and invoking the data stored in the memory, the processor realizes various functions of the computer device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0093] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, a server, 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 memories and optical memories, etc.) containing computer-usable program code.

[0094] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to the 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 processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0095] 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, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the steps of the process Figure 1 in one process or a plurality of processes and / or blocks Figure 1 or steps of the functions specified in one block or a plurality of blocks.

[0097] Obviously, those skilled in the art can make various modifications and variations 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. An automatic positioning and drawing method for high-precision map intersection surfaces, characterized in that, Including the following steps: Construct an rtree spatial index for the data of the road section to be measured based on the rtree algorithm, and obtain the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index; When the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, locate the intersection position of the road section to be measured; According to the intersection position and the outermost reference lane line, obtain the two outermost boundary lane lines of other roads that meet the preset conditions; Construct an intersection surface according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines; There is no connection relationship between the end of the outermost reference lane line and other lane lines, and the end is the head end or the tail end; The step of "when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions, locate the intersection position of the road section to be measured" specifically includes the following steps: When the vector directions at the ends of the outermost reference lane line and the outermost auxiliary lane line are within a preset angle range; When the elevation values at the ends of the outermost reference lane line and the outermost auxiliary lane line are the same; When the distance between the end of the outermost reference lane line and the end of the outermost auxiliary lane line is within a preset distance; and, When the extension lines at the ends of the outermost reference lane line and the outermost auxiliary lane line intersect; Then locate the intersection position of the end of the outermost reference lane line and the end of the outermost auxiliary lane line at the intersection; Wherein, the end is the head end or the tail end, and the head end and the tail end of the outermost reference lane line correspond to the head end and the tail end of the outermost auxiliary lane line; The step of "according to the intersection position and the outermost reference lane line, obtain the two outermost boundary lane lines of other roads that meet the preset conditions" specifically includes the following steps: Make a perpendicular line to the outermost reference lane line based on the end of the outermost reference lane line at the intersection position. Excluding the outermost auxiliary lane line, obtain one outermost boundary lane line on each of the two roads adjacent to the outermost reference lane line that intersects with both ends of the perpendicular line and is closest to the end of the outermost reference lane line.

2. The automatic positioning and drawing method for high-precision map intersection surfaces according to claim 1, characterized in that, The step of "construct an intersection surface according to the intersection position, the outermost reference lane line and the two outermost boundary lane lines" specifically includes the following steps: Make two first perpendicular line segments to the two outermost boundary lane lines respectively based on the end of the outermost reference lane line at the intersection position, and the two first perpendicular line segments serve as the two starting sides of the intersection surface; Taking the intersection point of one of the starting sides that intersects perpendicularly and one of the outermost lane boundary lines as the starting point, make a second perpendicular line segment along one of the outermost lane boundary lines at a preset fixed distance interval to the other outermost lane boundary line; When the value obtained by dividing the length difference between two adjacent second perpendicular line segments by the preset fixed distance is less than the preset threshold, the last second perpendicular line segment is the end side of the intersection surface; The surface formed by enclosing the two starting edges, the two outermost boundary lane lines, and the ending edge is defined as the intersection surface.

3. A high-precision map intersection surface automatic positioning and drawing system, characterized in that, It includes: A reference assistance module, which is used to construct an rtree spatial index for the data of the section to be measured based on the rtree algorithm, and obtain the outermost reference lane line and the outermost auxiliary lane line of the road adjacent to the outermost reference lane line according to the rtree spatial index; there is no connection continuity between the end of the outermost reference lane line and other lane lines, and the end is the starting end or the ending end. A positioning module, which is communicatively connected to the reference assistance module and is used to locate the intersection position of the section to be measured when the outermost reference lane line and the outermost auxiliary lane line meet the preset shape feature conditions. A boundary module, which is communicatively connected to the reference assistance module and the positioning module and is used to obtain two outermost boundary lane lines of other roads that meet the preset conditions according to the intersection position and the outermost reference lane line; and An intersection surface construction module, which is communicatively connected to the reference assistance module, the positioning module, and the boundary module and is used to construct an intersection surface according to the intersection position, the outermost reference lane line, and the two outermost boundary lane lines. The positioning module is used when the vector directions at the ends of the outermost reference lane line and the outermost auxiliary lane line are within a preset angle range; when the elevation values at the ends of the outermost reference lane line and the outermost auxiliary lane line are the same; when the distance between the end of the outermost reference lane line and the end of the outermost auxiliary lane line is within a preset distance; and when the extension lines at the ends of the outermost reference lane line and the outermost auxiliary lane line intersect; then locate the ends of the outermost reference lane line and the outermost auxiliary lane line at the intersection position; where the end is the starting end or the ending end, and the starting end and the ending end of the outermost reference lane line correspond to the starting end and the ending end of the outermost auxiliary lane line. The boundary module is used to draw a perpendicular line to the outermost reference lane line at the end of the outermost reference lane line at the intersection position, excluding the outermost auxiliary lane line, and obtain one outermost boundary lane line that intersects with both ends of the perpendicular line, is on two roads adjacent to the outermost reference lane line, and is the closest to the end of the outermost reference lane line respectively.

4. The high-precision map intersection surface automatic positioning and drawing system according to claim 3, characterized in that, The intersection surface construction module is configured to respectively draw two first perpendicular line segments of the two outermost boundary lane lines based on the end portions of the outermost reference lane lines at the intersection position, and the two first perpendicular line segments serve as the two starting edges of the intersection surface; taking the intersection point of one of the starting edges that intersects perpendicularly and one of the outermost lane boundary lines as the starting point, drawing a second perpendicular line segment along one of the outermost lane boundary lines at a preset fixed distance interval towards the other outermost lane boundary line; when the value obtained by dividing the length difference between two adjacent second perpendicular line segments by the preset fixed distance is less than a preset threshold, the last second perpendicular line segment is the ending edge of the intersection surface; constructing the surface enclosed by the two starting edges, the two outermost boundary lane lines and the ending edge as the intersection surface.

5. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by a processor, it implements the high-precision map intersection surface automatic positioning and drawing method according to any one of claims 1 to 2.

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