Fine map intersection road surface production method, device, medium and equipment

Abstract

The application discloses a fine map intersection road surface manufacturing method, device, medium and equipment, and belongs to the map manufacturing field.The method mainly comprises the following steps: obtaining road guide lines and edge marks of intersecting roads according to point cloud data collected and acquired, and generating a common road surface according to the edge marks; obtaining a center point of the intersection road surface according to the road guide lines; and obtaining the intersection road surface according to the common road surface and the center point of the intersection road surface.The center point of the intersection road surface is obtained, and the intersection road surface is obtained according to the center point of the intersection road surface, so that the intersection road surface manufacturing in the high-fineness map manufacturing process can be fully automated, and the manufacturing efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of map making, in particular to a method and device for making intersection road surfaces of a refined map, a medium and equipment. BACKGROUND

[0002] When generating intersection road surfaces of a refined map from point data, errors in the collection process and errors in the work tend to accumulate slowly, resulting in various markings in reality that are in the same plane being not in the same plane when drawing due to errors, and thus unable to be processed using the method of using ordinary road segments to bring markings in the same plane closer to the guide line of the road. It is necessary to form a road surface of an intersection by connecting all the cross-sectional line segments of the ordinary road surfaces, and then smooth the intersection and the ordinary road surfaces to process the errors in the data and ensure co-planarity. The prior art requires manual judgment of the adjacency relationship of all the ordinary road surfaces connected according to the driving direction of each road and the relative relationship with other roads, and then manually connecting the various cross sections to form the intersection road surface, which is a large amount of work and low in efficiency. SUMMARY

[0003] In view of the problems in the prior art, the present application mainly provides a method and device for making intersection road surfaces of a refined map, a medium and equipment, which can make the process of making intersection road surfaces of a refined map fully automated instead of manual work.

[0004] To achieve the above-mentioned purpose, one technical solution adopted by the present application is to provide a method for making intersection road surfaces of a refined map, comprising:

[0005] According to the point cloud data collected and obtained, the road guide line and the edge marking of the intersecting road are obtained, and the ordinary road surface is generated according to the edge marking; the intersection road surface centroid point is obtained according to the road guide line; and the intersection road surface is obtained according to the ordinary road surface and the intersection road surface centroid point.

[0006] Another technical solution adopted by the present application is to provide a device for making intersection road surfaces of a refined map, comprising: a module for obtaining the road guide line and the edge marking of the intersecting road according to the point cloud data collected and obtained, and generating the ordinary road surface according to the edge marking; a module for obtaining the intersection road surface centroid point according to the road guide line; and a module for obtaining the intersection road surface according to the ordinary road surface and the intersection road surface centroid point.

[0007] Another technical solution adopted by the present application is to provide a computer readable storage medium storing computer instructions, which are operated to execute the method for making intersection road surfaces of a refined map in the first solution.

[0008] Another technical solution adopted by the present application is to provide a fine map intersection road surface manufacturing device, comprising a memory for storing a program; a processor for executing the program stored in the memory, when the program is executed, the processor is used to execute the fine map intersection manufacturing method in the first solution.

[0009] The beneficial effects that can be achieved by the technical solution of the present application are: the fine map intersection road surface manufacturing method of the present application, by obtaining the centroid point of the intersection road surface, and obtaining the intersection road surface according to the centroid point of the intersection road surface, so that when the high-fine map is manufactured, the manufacturing process of the intersection road surface can be fully automated instead of manual work, and the manufacturing efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0011] Figure 1 is a schematic diagram of an intersection of a fine map intersection road surface manufacturing method of the present application;

[0012] Figure 2 is a schematic diagram of a specific embodiment of a fine map intersection road surface manufacturing method of the present application;

[0013] Figure 3 is a schematic diagram of a specific embodiment of a fine map intersection road surface manufacturing method of the present application;

[0014] Figure 4 is a schematic diagram of a specific embodiment of a fine map intersection road surface manufacturing method of the present application;

[0015] Figure 5 is a schematic diagram of a specific embodiment of a fine map intersection road surface manufacturing method of the present application;

[0016] Figure 6 is a schematic diagram of a specific embodiment of a fine map intersection road surface manufacturing device of the present application;

[0017] The specific embodiments of the application have been shown and described in considerable detail in order to explain clearly how to make and use the application. These illustrations and descriptions are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate various embodiments by reference to specific examples. DETAILED DESCRIPTION

[0018] The preferred embodiments of the application will be described in detail in the following with reference to the drawings, so that the advantages and features of the application can be more easily understood by those skilled in the art, and the scope of protection of the application can be more clearly defined.

[0019] It should be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Also, the terms "comprises", "comprising", or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but also includes other elements not expressly listed, or other elements inherent in such a process, method, article, or apparatus. Without more limitations, the elements defined by the statement "comprise" do not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the elements.

[0020] In the process of fine mapping, after the device collects the point cloud, the road guide line is first made by automatic + manual method according to the point cloud data. The making of the road guide line includes the generation of guide line geometry and the assignment of guide line attribute. Many subsequent production processes need to rely on the geometric properties of the guide line for automatic operation, so the guide line production needs to be constantly quality inspected to ensure the correctness. Secondly, the road marking is generated by automatic + manual method, including lane marking and edge marking of the road. The edge marking of the road is needed for the generation of the road surface. In addition to the marking and guide line, the road objects such as traffic lights, street lamps, and arrows related to the road also need to be made. Then the road surface of the general road is generated by the edge marking of the road. The road surface is used for the subsequent object coplanar projection and lane line generation.

[0021] After the general road surface is completed, the intersection road surface needs to be completed. The present application is used for the intersection road surface production process, realizes that the program is automatically guided according to the road guide line that has been produced to identify the intersection, then the cross section line segment of the related road surface of the intersection is obtained, after analyzing the adjacent relationship, a three-dimensional surface is connected and generated; then the intersection road surface and the general road surface can be surface smoothed, that is, the connection point is forcibly connected by calculating the average of the elevation, then the beta curve is calculated, and the inside of the intersection surface and the general road surface is smoothed respectively, to ensure that all roads are connected to each other, forming a complete three-dimensional road network; then the road related objects such as street lamps, traffic lights and arrows produced before are projected onto the plane where the object belongs by the method of coplanar projection; finally, the lane line is produced by the road surface and the marking line in the road surface.

[0022] The present application mainly replaces manual operation in the step of "intersection road surface production". Since the road guide line is preferentially produced in the map operation, the centroid point of the intersection road surface can be obtained by relying on the data and attributes of the road guide line in the subsequent road surface generation and production process, and the intersection road surface is generated on this basis. Then the intersection road surface and the general road surface can be surface smoothed, that is, the connection point is forcibly connected by calculating the average of the elevation, then the beta curve is calculated, and the inside of the intersection surface and the general road surface is smoothed respectively, to ensure that all roads are connected to each other, forming a complete three-dimensional road network; then the road related objects such as street lamps, traffic lights and arrows produced before are projected onto the plane where the object belongs by the method of coplanar projection; finally, the lane line is produced by the road surface and the marking line in the road surface, and the lane line generation can use a lane level intersection guide line generation algorithm.

[0023] As shown in Figure 1 ,

[0024] Road guide line: In the map operation, the line describing the attributes of road position, driving direction, purpose, etc. (left turn, right turn, straight, bus lane).

[0025] Intersection road guide line: The part of the intersection where two road guide lines intersect.

[0026] Intersection: The intersection of two or more roads.

[0027] Road marking: Drawn on the road surface, used to control and guide traffic and disperse traffic flow, such as double yellow line. It conveys various fixed basic information of the road to vehicles and pedestrians, especially important for drivers. In the map operation, the edge line of the road in reality can also be mapped as a road marking.

[0028] Road surface: In the actual map operation process, the road surface in reality is converted into a surface object in three-dimensional space, which is used to describe the actual road surface, and the road surface is composed of two outermost marking lines of the road.

[0029] Road surface transverse line segment (i.e. the transverse line segment of the ordinary road surface): the vertical line of the arbitrary position point in the road surface intersects with the two side boundaries of the road surface to generate two points, and the line segment composed of the two points is the transverse line segment of the road surface.

[0030] Centroid point: refers to a hypothetical point on a material system where the mass is concentrated, and in map operation, the density of all objects is assumed to be uniform, and the hypothetical point is obtained.

[0031] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples combined with the accompanying drawings. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described again in some examples.

[0032] Figure 2 A specific embodiment of a fine map intersection road surface manufacturing method of the present application is shown.

[0033] In Figure 2 In the specific embodiment shown, the fine map intersection road surface manufacturing method of the present application mainly includes process S201, obtaining the road guide line and the edge marking line of the intersecting road according to the collected point cloud data, and generating the ordinary road surface according to the edge marking line; process S202, obtaining the intersection road surface centroid point according to the road guide line; and process S203, obtaining the intersection road surface according to the ordinary road surface and the intersection road surface centroid point.

[0034] The centroid point of the intersection road surface can be obtained, and the intersection road surface can be obtained according to the centroid point of the intersection road surface, so that when the high-fine map is manufactured, the manufacturing process of the intersection road surface can be fully automated instead of manual operation, and the manufacturing efficiency is greatly improved.

[0035] Figure 2 Process S201 shown represents obtaining the road guide line and the edge marking line of the intersecting road according to the collected point cloud data, and obtaining the ordinary road surface according to the edge marking line. The above ordinary road surface is the road surface in the real world that does not intersect with each other, and process S201 can facilitate further obtaining the intersection road surface according to the ordinary road surface.

[0036] Specifically, after the device acquires the point cloud, the road guide line is first made by means of automation + manual according to the point cloud data, the making of the road guide line includes the generation of the guide line geometry and the assignment of the guide line attribute, and in the subsequent many making processes, the geometric attribute of the guide line needs to be relied on for automatic operation, so the guide line making needs to be continuously quality inspected to ensure the correctness; secondly, the road marking is generated by means of automation + manual, including the lane marking in the road and the edge marking of the road, the edge marking of the road is needed for the subsequent generation of the road surface, and then the ordinary road surface is obtained by using the edge marking.

[0037] In one specific embodiment of the present application, the above process of obtaining the intersection road surface adopts a method for optimizing the triangulation based on the road control network in the prior art, and the ordinary road surface is generated by using the edge marking in the road marking, so as to further obtain the intersection road surface according to the obtained ordinary road surface.

[0038] Figure 2 The process S202 shown represents the process of obtaining the intersection road surface centroid point according to the road guide line, and then further obtaining the intersection road surface according to the intersection road surface centroid point.

[0039] In one specific embodiment of the present application, the above process of obtaining the intersection road surface centroid point according to the road guide line includes setting the elevation value of the road guide line to a preset elevation value, and obtaining the intersection road surface centroid point according to the intersection point coordinate value of the road guide line, as shown in step S302. Figure 3 Preferably, the elevation of the above road guide line is processed to 0.

[0040] Specifically, the elevation value of the road guide line in the intersection is set to a preset elevation value, that is, the horizontal and vertical coordinates of all road guide lines are retained, and the vertical coordinates are all set to the same value, so that all road guide lines are forcibly pressed to the same plane, all road guide lines intersect on the plane, and the intersection road surface centroid point can be calculated according to the intersection point coordinates. In the process of making a refined map, due to the error in actual collection and operation error, the roads in the real world that are in the same plane may be spatially disordered, resulting in different guide lines in the intersection being in different planes. Projecting all road guide lines in the intersection to the same plane can facilitate the obtaining of the intersection road surface centroid point and further obtaining the intersection road surface according to the intersection road surface centroid point.

[0041] In one embodiment of the present application, the process of obtaining the intersection road surface centroid point according to the road guide line comprises projecting the road guide line in the intersection onto the same plane, obtaining the intersection of the projected lines of the road guide line in the intersection, and calculating the intersection road surface centroid point according to the coordinates of the intersection.

[0042] In one embodiment of the present application, the process of obtaining the intersection road surface centroid point according to the coordinates of the intersection of the road guide line comprises obtaining the guide line intersection according to the road guide line with the preset elevation value in the intersection, and obtaining the average value of the horizontal coordinates, the average value of the vertical coordinates, and the average value of the vertical coordinates of all intersection points of the guide line intersection as the horizontal coordinates, the vertical coordinates, and the vertical coordinates of the intersection centroid point, respectively, to obtain the centroid of the intersection surface formed by the guide lines in the intersection, so as to further obtain the intersection road surface according to the intersection road surface centroid point.

[0043] In one embodiment of the present application, the process of obtaining the intersection road surface centroid point according to the coordinates of the intersection of the road guide line comprises distinguishing and assigning the road guide line according to whether it is in the intersection during the production of the guide line, assigning the "is intersection" attribute of the road guide line in the intersection as "yes", and directly obtaining the road guide line in the intersection during the process of obtaining the guide line intersection, so as to obtain the guide line intersection.

[0044] In one embodiment of the present application, the process of obtaining the intersection road surface centroid point according to the coordinates of the intersection of the road guide line comprises classifying the intersection, screening out the guide line with the "is intersection" attribute as "yes" by traversing all guide line data, i.e. all intersection guide lines, then sequentially judging each intersection guide line, if the end point of the guide line in the group and the currently judged guide line have a common end point, then the guide line is divided into the same group; otherwise, an empty group is added, and the guide line is added into the newly created group, after traversing all intersection guide lines, all guide lines in the same intersection are divided into the same group, if there are 3 line segments in the group, it is a T-shaped intersection, and if there are 4 line segments, it is a cross-shaped intersection.

[0045] The method is applicable to all intersections, and the whole process is completely dependent on program autonomous judgment and autonomous formation, without any manual intervention, greatly improving the mapping efficiency; after the intersection plane is formed, subsequent smoothing algorithm and projection of traffic lights and street light objects in the intersection can be used for subsequent fine map making, and the intersection and the road connecting the intersection are smoothed by the smoothing algorithm to form a fine map of the three-dimensional road network which is complete and connected in space.

[0046] In one embodiment of the present application, as shown in Figure 4 The process of obtaining the intersection road plane centroid point according to the intersection point coordinate value of the road guide line includes obtaining A, B, C, and D four intersection points according to the four road guide lines in the intersection at the cross intersection, taking the average value of the horizontal coordinate x, the vertical coordinate y, and the vertical coordinate z of the four intersection points as the coordinate of the intersection road plane centroid point, and obtaining the intersection road plane centroid point, so as to further obtain the intersection road plane according to the intersection road plane centroid point.

[0047] In one embodiment of the present application, as shown in Figure 5 The process of obtaining the intersection road plane centroid point according to the intersection point coordinate value of the road guide line includes obtaining E, F, and G three intersection points according to the three guide lines in the intersection at the T-shaped intersection, taking the average value of the horizontal coordinate x, the vertical coordinate y, and the vertical coordinate z of the three intersection points as the coordinate of the intersection road plane centroid point, and obtaining the intersection road plane centroid point, so as to further obtain the intersection road plane according to the intersection road plane centroid point.

[0048] Figure 2 The process 203 of obtaining the intersection road plane according to the ordinary road plane and the intersection road plane centroid point avoids the need for manual operation to connect each transverse section to form the intersection road plane in the prior art, and the intersection road plane making in the high-fineness map making process can be fully automated, and the making efficiency is greatly improved.

[0049] In one embodiment of the present application, the process of obtaining the intersection road plane according to the ordinary road plane and the intersection road plane centroid point includes obtaining the intersection road plane edge line according to the ordinary road plane, and obtaining the intersection road plane according to the intersection road plane edge line centroid point and the intersection road plane centroid point. The intersection road plane obtained by combining the intersection road plane edge line centroid point and the intersection road plane centroid point can more easily realize the full automation of the intersection road plane making.

[0050] In one embodiment of the present application, the process of obtaining the intersection road surface according to the intersection edge line centroid and the intersection road surface centroid comprises: obtaining the intersection edge line centroid according to the coordinate values of the intersection road edge line; and obtaining the intersection road surface according to the intersection edge line centroid and the intersection road surface centroid.

[0051] Preferably, the process of obtaining the intersection edge line centroid according to the coordinate values of the intersection road edge line comprises: obtaining the average value of the horizontal coordinate, the average value of the vertical coordinate and the average value of the vertical coordinate of the two end points of each intersection road edge line as the horizontal coordinate, the vertical coordinate and the vertical coordinate of the intersection road edge line centroid respectively, and obtaining the centroid of the intersection road edge line.

[0052] In one embodiment of the present application, the intersection road edge line comprises the tangent line segment of the common road surface and the edge turning curve of the intersection road surface, wherein the edge turning curve is the edge marking line of the adjacent two common road surfaces at the turning. The edge turning curve and the tangent line segment are taken as the intersection road edge line, the intersection edge line centroid is obtained according to the coordinates of the intersection road edge line, the tangent line segment of the common road surface is shown in Figure 1 、 Figure 4 and Figure 5 , which represents the tangent line segment of the common road surface of the relevant road section at the intersection. The existing technology algorithm is used to realize that the program automatically identifies the intersection according to the already made road guide line, and then obtains the tangent surface of the relevant road surface of the intersection; the edge turning curve is shown in Figure 4 and Figure 5 , which represents the connecting curve of the adjacent road edge line at the intersection. The tangent line segment of the common road surface and the turning curve surround the intersection road surface, so they can be taken as the edge line of the intersection road surface, and the intersection edge line centroid is obtained according to the intersection road edge line, which is convenient for obtaining the intersection road surface on this basis.

[0053] In one embodiment of the present application, the process of obtaining the intersection edge line centroid according to the coordinates of the intersection road edge line comprises: obtaining the tangent line segment centroid according to the coordinate values of the two end points of the tangent line segment as the intersection edge line centroid, so as to obtain the intersection road surface according to the edge line centroid.

[0054] In one specific embodiment of the present application, the process of obtaining the centroid point of the intersection edge line according to the coordinate values of the two end points of the intersecting line segment includes obtaining the average of the horizontal coordinates, the average of the vertical coordinates, and the average of the vertical coordinates of the two end points of each intersecting line segment as the horizontal coordinates, the vertical coordinates, and the vertical coordinates of the centroid point of the intersecting line segment, obtaining the centroid point of the road intersecting line segment as the centroid point of the intersection edge line, so as to further obtain the intersection road surface according to the centroid point of the edge line.

[0055] In one specific embodiment of the present application, the process of obtaining the centroid point of the intersection edge line according to the coordinate values of the two end points of the intersecting line segment includes obtaining the centroid point of the edge turning curve according to the coordinate values of all points on the edge turning curve as the centroid point of the intersection edge line, so as to further obtain the intersection road surface according to the centroid point of the edge line.

[0056] In one specific embodiment of the present application, the process of obtaining the centroid point of the intersection edge line according to the coordinate values of the two end points of the intersecting line segment includes obtaining the average of the horizontal coordinates, the average of the vertical coordinates, and the average of the vertical coordinates of the two end points of each intersecting line segment as the horizontal coordinates, the vertical coordinates, and the vertical coordinates of the centroid point of the intersecting line segment, obtaining the centroid point of the road intersecting line segment as the centroid point of the intersection edge line, so as to further obtain the intersection road surface according to the centroid point of the edge line.

[0057] In one specific embodiment of the present application, the process of obtaining the centroid point of the intersection edge line according to the coordinate values of the two end points of the intersecting line segment includes obtaining the average of the horizontal coordinates, the average of the vertical coordinates, and the average of the vertical coordinates of the two end points of each intersecting line segment as the horizontal coordinates, the vertical coordinates, and the vertical coordinates of the centroid point of the intersecting line segment, obtaining the centroid point of the road intersecting line segment as the centroid point of the intersection edge line, so as to further obtain the intersection road surface according to the centroid point of the edge line. Figure 4 、 Figure 5 As shown in the above formula, the centroid point N of the intersection road surface is taken as the starting point, the vector line is generated to each intersection road surface edge line, and the centroid vector angle (the angle between the vector line and the positive X-axis of the plane rectangular coordinate system) is further obtained, so as to confirm the adjacent relationship of the intersection road surface edge line according to the centroid vector angle, and the adjacent edge lines are connected to obtain the intersection road surface.

[0058] In one specific embodiment of the present application, the process of obtaining the intersection road surface according to the centroid vector angle and the intersection road surface edge line includes sorting the above centroid vector angle by the bubble algorithm to determine the adjacent relationship of each intersection road surface edge line, and the adjacent line segments in the real world are necessarily two adjacent roads, which need to be connected by end points to form the final surface.

[0059] Preferably, the vector lines corresponding to the smaller centroid vector angles are arranged in front by the bubble algorithm, and the vector lines corresponding to the larger centroid vector angles are arranged behind, so that the vector lines corresponding to all the centroid vector angles are sorted from small to large.

[0060] In one embodiment of the present application, the process of obtaining the intersection road surface according to the centroid vector angle and the intersection road surface edge line includes obtaining an end point vector angle according to a vector line from the intersection road surface centroid point to an end point of the intersection road surface edge line, and sequentially connecting the intersection road surface edge line according to the centroid vector angle and the end point vector angle to obtain the intersection road surface. Figure 4 、 Figure 5 As shown in FIG. 7, the intersection road surface centroid point N is taken as a starting point, a vector line is generated to the intersection road surface edge line, an end point vector angle (the angle between the vector line and the positive X-axis of the plane rectangular coordinate system) is further obtained, and the intersection road surface edge line is sequentially connected according to the centroid vector angle and the end point vector angle to obtain the intersection road surface.

[0061] The adjacent line segments are necessarily two adjacent roads in reality, but in the process of generating the intersection road surface, the end points of the intersection road surface edge line segments need to be connected to form the final surface. However, when connecting one line segment with another line segment, it is necessary to determine which end point of the other line segment is connected, that is, it is necessary to determine the head-tail relationship of each line segment. The embodiment facilitates determining the connection order of the two end points of the edge line and the adjacent edge line, correctly connecting the end points of the intersection road surface edge line, and obtaining the intersection road surface.

[0062] In one embodiment of the present application, the process of obtaining the intersection road surface according to the centroid vector angle and the intersection road surface edge line includes obtaining an end point vector angle according to a vector line from the intersection road surface centroid point to an end point of the intersection road surface edge line, and sequentially connecting the intersection road surface edge line according to the centroid vector angle and the end point vector angle to obtain the intersection road surface.

[0063] Preferably, the vector lines corresponding to the smaller centroid vector angles are arranged in front by the bubble algorithm, and the vector lines corresponding to the larger centroid vector angles are arranged behind, so that the vector lines corresponding to all the centroid vector angles are sorted from small to large.

[0064] In one embodiment of the present application, the process of sequentially connecting the intersection road surface edge lines according to the centroid vector angle and the end point vector angle to obtain the intersection road surface includes: taking the end point corresponding to the smaller end point vector angle of the two end point vector angles of the intersection road surface edge line as the head end point, taking the end point corresponding to the larger end point vector angle of the two end point vector angles of the intersection road surface edge line as the tail end point, and sequentially connecting the head end point of the intersection road surface edge line with the tail end point of the adjacent intersection road surface edge line in the order of the centroid vector angle of the intersection road surface edge line from small to large to obtain the intersection road surface. In this way, the head and tail end points of each intersection road surface edge line can be correctly connected, as shown by the correct connection lines. Figure 4 and Figure 5 The correct connection lines are shown, which together form a complete intersection plane. Avoiding the incorrect connection lines shown in the figure can prevent the formation of a spiral surface and subsequent smoothing and object projection work.

[0065] In one embodiment of the present application, the process of sequentially connecting the intersection road surface edge lines according to the centroid vector angle and the end point vector angle to obtain the intersection road surface includes: taking the end point corresponding to the smaller end point vector angle of the two end point vector angles of the intersection road surface edge line as the head end point, taking the end point corresponding to the larger end point vector angle of the two end point vector angles of the intersection road surface edge line as the tail end point, and sequentially connecting the head end point of the intersection road surface edge line with the tail end point of the adjacent intersection road surface edge line in the order of the centroid vector angle of the intersection road surface edge line from small to large to obtain the intersection road surface. In this way, the head and tail end points of each intersection road surface edge line can be correctly connected, as shown by the correct connection lines.

[0066] In one embodiment of the present application, after obtaining the intersection road surface, the intersection road surface is smoothed in the intersection plane and the ordinary road plane by calculating the Bezier curve, to ensure that all roads are connected to each other to form a complete three-dimensional road network. Then, the road-related objects such as street lamps, traffic lights, and arrows are projected onto the plane where the object belongs by the method of coplanar projection. Finally, the lane lines are generated by the road surface and the marking lines in the road surface.

[0067] Figure 6 A specific embodiment of the intersection road surface manufacturing device of the present application is shown.

[0068] In Figure 6In the illustrated specific embodiment, the log anomaly detection method of the present application mainly includes a module 601 for obtaining road guide lines and edge markings of intersecting roads according to the collected point cloud data, and generating a common road surface according to the edge markings; a module 602 for obtaining intersection road surface centroid points according to the road guide lines; and a module 603 for obtaining intersection road surfaces according to the common road surface and the intersection road surface centroid points.

[0069] By obtaining the centroid points of the intersection road surfaces and obtaining the intersection road surfaces according to the intersection road surface centroid points, the production process of the intersection road surfaces can be fully automated instead of manual work during high-precision map production, and the production efficiency is greatly improved.

[0070] Figure 6 The module 601 shown represents a module for obtaining road guide lines and edge markings of intersecting roads according to the collected point cloud data, and generating a common road surface without intersections according to the edge markings, so as to further obtain intersection road surfaces according to the common road surface.

[0071] In one specific embodiment of the present application, the module 601 for obtaining road guide lines and edge markings of intersecting roads according to the collected point cloud data, and generating a common road surface without intersections according to the edge markings can adopt a method of optimizing triangulation based on a road control network, and generate a common road surface using the edge markings in the road markings, so as to further obtain intersection road surfaces according to the obtained road surface.

[0072] Figure 6 The module 602 shown represents a process module for obtaining intersection road surface centroid points according to the road guide lines, which obtains the centroid points so as to further obtain the intersection road surfaces according to the centroid points.

[0073] In one specific embodiment of the present application, the process module 602 for obtaining intersection road surface centroid points according to the road guide lines can set the elevation value of the road guide lines to a preset elevation value, and obtain the intersection road surface centroid points according to the intersection point coordinate values of the road guide lines, as shown in the following formula: Figure 3The elevation of the road guide line is preferably set to 0. The elevation value of the road guide line in the intersection is set to a preset elevation value, that is, the horizontal and vertical coordinates of all the road guide lines are kept unchanged, and the vertical coordinates of all the road guide lines are set to the same value. In this way, all the road guide lines are forced to be on the same plane, and all the road guide lines intersect on the plane. The intersection point coordinates can be used to calculate the road surface centroid point of the intersection. In the process of making a refined map, due to errors in actual collection and operation errors, the roads in the real world that are on the same plane can be spatially disordered, so that the road guide lines in the intersection are on different planes. Projecting all the road guide lines in the intersection onto the same plane can facilitate obtaining the road surface centroid point of the intersection and further obtaining the road surface of the intersection according to the road surface centroid point of the intersection.

[0074] In an embodiment of the present application, the process module 602 for obtaining the road surface centroid point of the intersection according to the road guide line can project the road guide line in the intersection onto the same plane, obtain the intersection point of the projected road guide line in the intersection on the plane, and obtain the road surface centroid point of the intersection according to the intersection point coordinates, so as to facilitate obtaining the road surface of the intersection according to the road surface centroid point of the intersection.

[0075] In an embodiment of the present application, the module 602 for setting the elevation value of the road guide line to a preset elevation value and obtaining the road surface centroid point of the intersection according to the road guide line with the preset elevation value can obtain the guide line intersection point according to the road guide line in the intersection, and obtain the horizontal coordinate average, the vertical coordinate average, and the vertical coordinate average of all the intersection points as the horizontal coordinate, the vertical coordinate, and the vertical coordinate of the intersection surface centroid point, respectively, so as to facilitate obtaining the road surface of the intersection according to the road surface centroid point of the intersection.

[0076] In an embodiment of the present application, the process module 602 for obtaining the road surface centroid point of the intersection according to the road guide line can obtain the guide line intersection point according to the road guide line in the intersection with the preset elevation value, and obtain the horizontal coordinate average, the vertical coordinate average, and the vertical coordinate average of all the intersection points as the horizontal coordinate, the vertical coordinate, and the vertical coordinate of the intersection surface centroid point, respectively, so as to facilitate obtaining the road surface of the intersection according to the road surface centroid point of the intersection.

[0077] In one specific embodiment of the present application, the process module 602 for obtaining the intersection road surface centroid point according to the road guide line can distinguish and assign the road guide line according to whether it is in the intersection during the guide line making process, assign the "whether intersection" attribute of the road guide line in the intersection as "yes", and directly obtain the road guide line in the intersection during the process of obtaining the guide line intersection point, and thus obtain the guide line intersection point.

[0078] In one specific embodiment of the present application, the process module 602 for obtaining the intersection road surface centroid point according to the road guide line can classify the intersections, filter out the guide lines with the "whether intersection" attribute as "yes" by traversing all guide line data, that is, all intersection guide lines, and then judge each intersection guide line in turn. If the guide lines in all groups have an end point and the current judged guide line has a common end point, the guide line is divided into the same group. Otherwise, an empty group is added, and the guide line is added to the newly created group. After traversing all intersection guide lines, all guide lines in the same intersection are divided into the same group. If there are three line segments in the group, it is a T-shaped intersection, and if there are four line segments, it is a cross-shaped intersection.

[0079] This method is applicable to all intersections, and the entire process is completely independent of the program, which greatly improves the efficiency of the drawing. After the intersection surface is formed, subsequent smoothing algorithms and projection of traffic lights and street light objects in the intersection can be used to make a fine map. The intersection and the road connecting the intersection can be smoothed by the smoothing algorithm to form a fine map of a complete and connected three-dimensional road network in space.

[0080] In one specific embodiment of the present application, the process module 602 for obtaining the intersection road surface centroid point according to the road guide line can obtain four intersection points A, B, C, and D according to the four road guide lines in the cross-shaped intersection, as shown in Figure 4 The average values of the horizontal coordinates x, vertical coordinates y, and vertical coordinates z of the four intersection points are taken as the coordinates of the intersection road surface centroid point, and the intersection road surface centroid point is obtained, so as to further obtain the intersection road surface according to the intersection road surface centroid point.

[0081] In one specific embodiment of the present application, the process module 602 for obtaining the intersection road surface centroid point according to the road guide line can obtain three intersection points E, F, and G according to the three guide lines in the T-shaped intersection, as shown in Figure 5The average values of the horizontal coordinates, the vertical coordinates and the vertical coordinates of the three intersection points are taken as the coordinates of the intersection road surface centroid point, and the intersection road surface centroid point is obtained, so that the intersection road surface is further obtained according to the intersection road surface centroid point.

[0082] Figure 6 The module 603 represents a module for obtaining the intersection road surface according to the common road surface and the intersection road surface centroid point, which can avoid the need for manual judgment of the adjacent relationship of all connected common road surfaces according to the driving direction of each road and the relative relationship with other roads in the prior art, and manually connecting each cross section to form the intersection road surface, so that the intersection road surface making in the high-fidelity map making process can be fully automated, and the making efficiency is greatly improved.

[0083] In one specific embodiment of the present application, the module 603 for obtaining the intersection road surface according to the common road surface and the intersection road surface centroid point can obtain the intersection road surface edge line according to the common road surface, obtain the intersection edge line centroid point according to the intersection road surface edge line, and obtain the intersection road surface according to the intersection edge line centroid point. The intersection road surface can be obtained by combining the intersection road surface edge line and the intersection edge line, which can more conveniently realize the full automation of the intersection road surface making.

[0084] In one specific embodiment of the present application, the module 603 for obtaining the intersection road surface according to the common road surface and the intersection road surface centroid point can obtain the intersection edge line centroid point according to the coordinate values of the intersection road surface edge line, and obtain the intersection road surface according to the intersection edge line centroid point and the intersection road surface centroid point.

[0085] Preferably, the process of obtaining the intersection edge line centroid point according to the coordinate values of the intersection road surface edge line includes obtaining the average value of the horizontal coordinates, the average value of the vertical coordinates and the average value of the vertical coordinates of the two end points of each intersection road surface edge line as the horizontal coordinates, the vertical coordinates and the vertical coordinates of the intersection road surface edge line centroid point, respectively, to obtain the centroid point of the intersection road surface edge line.

[0086] In one specific embodiment of the present application, the intersection road surface edge line includes the cross section line segment of the common road surface obtained according to the common road surface and the edge turning curve of the intersection road surface, wherein the edge turning curve is the edge mark line of the adjacent two common road surfaces at the turning point. The edge turning curve and the cross section line segment of the common road surface are taken as the intersection road surface edge line, the intersection edge line centroid point is obtained according to the coordinates of the intersection road surface edge line, and the cross section line segment of the common road surface is as shown in Figure 1 , Figure 4and Figure 5 As shown in the figure, it represents the cross section of the ordinary road surface of the relevant road section at the intersection; the existing technology algorithm is used to realize the program automatic identification of the intersection according to the already made road guide line, and then the cross section of the relevant road surface of the intersection is obtained; the edge turning curve is as shown in the figure Figure 4 and Figure 5 As shown in the figure, it represents the connection curve of the edge lines of the adjacent road surfaces at the intersection. The cross section of the ordinary road surface and the turning curve around the intersection road surface, so it can be used as the edge line of the intersection road surface, and the intersection edge line centroid point is further obtained according to the edge line of the intersection road surface, which is convenient for obtaining the intersection road surface on this basis.

[0087] In one embodiment of the present application, the module 603 for obtaining the intersection road surface according to the ordinary road surface and the intersection road surface centroid point can obtain the centroid vector angle according to the vector line from the intersection road surface centroid point to the intersection edge line centroid point, and obtain the intersection road surface according to the centroid vector angle, as shown in the figure Figure 4 , Figure 5 As shown in the figure, the intersection road surface centroid point N is used as the starting point, and the vector line is generated to each intersection road surface edge line, and the centroid vector angle (the angle between the vector line and the positive X-axis of the plane rectangular coordinate system) is further obtained, which is convenient for confirming the adjacent relationship of the intersection road surface edge line according to the centroid vector angle, and the intersection road surface is obtained by connecting the adjacent edge lines.

[0088] In one embodiment of the present application, the module 603 for obtaining the intersection road surface according to the ordinary road surface and the intersection road surface centroid point can sort the above-mentioned centroid vector angle by the bubble algorithm to determine the adjacent relationship of each intersection road surface edge line. The sorted adjacent line segments are necessarily adjacent two roads in reality, and the final surface is formed by connecting the end points. Preferably, the centroid vector angles are compared in turn by the bubble algorithm, the vector line corresponding to the smaller centroid vector angle is arranged in front by the bubble, and the vector line corresponding to the larger centroid vector angle is arranged behind, so that all the vector lines corresponding to the centroid vector angles are sorted from small to large.

[0089] In one embodiment of the present application, the module 603 for obtaining the intersection road surface according to the ordinary road surface and the intersection road surface centroid point can obtain the end point vector angle according to the vector line from the intersection road surface centroid point to the end point of the intersection road surface edge line, as shown in the figure Figure 4 , Figure 5 As shown in the figure, the intersection road surface centroid point N is used as the starting point, and the vector line is generated to the intersection road surface edge line, and the end point vector angle is further obtained, and the intersection road surface edge line is sequentially connected according to the centroid vector angle and the end point vector angle to obtain the intersection road surface.

[0090] In one specific embodiment of the present application, the module 603 for obtaining the intersection road surface according to the common road surface and the intersection road surface centroid point can obtain the endpoint vector angle of the two endpoints of the line segment and sort the sizes by the bubble algorithm to determine the order of connection of the two endpoints of the edge line of the intersection road surface and the adjacent edge line, correctly connect the endpoints of the edge line of the intersection road surface, and obtain the intersection road surface. Preferably, the endpoint vector angles are compared in turn by the bubble algorithm, the smaller endpoint vector angle is arranged in front by the bubble, and the larger one is arranged behind, so that all the endpoint vector angles can be sorted from small to large.

[0091] The sorted adjacent line segments are necessarily two adjacent roads in reality, but in the process of generating the intersection road surface, the endpoints of the edge line of the intersection road surface are connected to form the final surface, but when a line segment is connected to another line segment, it is necessary to determine which endpoint of the other line segment is connected, that is, the head-tail relationship of each line segment needs to be determined. The embodiment facilitates determining the order of connection of the two endpoints of the edge line and the adjacent edge line, correctly connecting the endpoints of the edge line of the intersection road surface, and obtaining the intersection road surface.

[0092] In one specific embodiment of the present application, the module 603 for obtaining the intersection road surface according to the common road surface and the intersection road surface centroid point can take the endpoint corresponding to the smaller endpoint vector angle of the two endpoint vector angles of the edge line of the intersection road surface as the head endpoint, take the endpoint corresponding to the larger endpoint vector angle of the two endpoint vector angles of the edge line of the intersection road surface as the tail endpoint, connect the head endpoint of the edge line of the intersection road surface and the tail endpoint of the adjacent edge line of the intersection road surface in turn according to the order of the centroid vector angle of the edge line of the intersection road surface from small to large, and obtain the intersection road surface. In this way, the head and tail endpoints of each edge line of the intersection road surface can be correctly connected, as shown in the correct connection line connection, which together constitutes a complete intersection plane. Avoiding the incorrect connection line shown in the figure, which may result in a spiral surface and cannot perform subsequent smoothing and object projection work. Figure 4 and Figure 5 Correctly connecting the line connection, which together constitutes a complete intersection plane. Avoiding the incorrect connection line shown in the figure, which may result in a spiral surface and cannot perform subsequent smoothing and object projection work.

[0093] In one specific embodiment of the present application, the module 603 for obtaining the intersection road surface according to the common road surface and the intersection road surface centroid point can take the end point corresponding to the larger end point vector angle of the two end point vector angles of the intersection road surface edge line as the head end point, take the end point corresponding to the smaller end point vector angle of the two end point vector angles of the intersection road surface edge line as the tail end point, sequentially connect the head end point of the intersection road surface edge line with the tail end point of the adjacent intersection road surface edge line in the order of the centroid vector angle of the intersection road surface edge line from large to small, and obtain the intersection road surface. In this way, the head and tail end points of each intersection road surface edge line can be correctly connected, and the intersection road surface can be obtained.

[0094] In one specific embodiment of the present application, each functional module of the intersection road surface manufacturing device of the present application can be directly in hardware, in a software module executed by a processor, or a combination of both.

[0095] The software module can reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. The exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium.

[0096] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof, etc. The general-purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium can be integrated into the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0097] In another embodiment of the present application, a computer readable storage medium stores computer instructions, which are operated to perform the method for producing a fine map intersection road surface.

[0098] In another embodiment of the present application, a fine map intersection road surface production device includes a memory for storing a program; and a processor for executing the program stored in the memory, when the program is executed, the processor is used to perform the method for producing a fine map intersection as in the first aspect of the claim.

[0099] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented by other means. For example, the apparatus embodiment described above is only illustrative, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0100] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0101] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A method for creating a detailed map of intersection road surfaces, characterized in that, include, Based on the collected point cloud data, road guide lines and edge markings of intersecting roads are obtained, and ordinary road surfaces are generated based on the edge markings; The centroid of the road surface at the intersection is obtained based on the road guide lines. The intersection road surface is obtained based on the centroid points of the ordinary road surface and the intersection road surface; The step of obtaining the intersection road surface based on the centroid points of the ordinary road surface and the intersection road surface includes: The intersection road surface is obtained based on the centroid point of the intersection edge line and the centroid point of the intersection road surface; wherein, obtaining the intersection road surface based on the centroid point of the intersection edge line and the centroid point of the intersection road surface includes: The centroid vector angle is obtained from the vector line from the centroid point of the intersection road surface to the centroid point of the intersection edge line, and the intersection road surface is obtained using the intersection road surface edge line based on the centroid vector angle; wherein, the process of obtaining the intersection road surface using the intersection road surface edge line based on the centroid vector angle includes: obtaining the endpoint vector angle from the vector line from the centroid point of the intersection road surface to the endpoint of the intersection road surface edge line; and sequentially connecting the intersection road surface edge lines based on the centroid vector angle and the endpoint vector angle to obtain the intersection road surface.

2. The method for creating a detailed map intersection road surface according to claim 1, characterized in that, The process of obtaining the intersection road surface based on the centroid points of the ordinary road surface and the intersection road surface also includes, The edge line of the intersection road surface is obtained based on the ordinary road surface; The centroid of the intersection edge line is obtained based on the coordinates of the intersection road surface edge line.

3. The method for creating a detailed map intersection road surface according to claim 1, characterized in that, The process of sequentially connecting the edge lines of the intersection road surface according to the centroid vector angle and the endpoint vector angle to obtain the intersection road surface includes: The endpoint corresponding to the smaller of the two endpoint vector angles of the intersection road surface edge line is taken as the first endpoint, and the endpoint corresponding to the larger of the two endpoint vector angles of the intersection road surface edge line is taken as the last endpoint. The first endpoint of the intersection road surface edge line is connected to the last endpoint of the adjacent intersection road surface edge line in order of increasing centroid vector angle of the intersection road surface edge line to obtain the intersection road surface. Alternatively, the endpoint corresponding to the larger of the two endpoint vector angles of the intersection road surface edge line is taken as the first endpoint, and the endpoint corresponding to the smaller of the two endpoint vector angles of the intersection road surface edge line is taken as the last endpoint. The first endpoint of the intersection road surface edge line is connected to the last endpoint of the adjacent intersection road surface edge line in descending order of the centroid vector angles of the intersection road surface edge lines to obtain the intersection road surface.

4. The method for creating a detailed map intersection road surface according to claim 1, characterized in that, The process of obtaining the centroid of the road surface at the intersection based on the road guide lines includes: The elevation value of the road guide line is set to a preset elevation value, and the centroid of the road surface at the intersection is obtained based on the coordinates of the intersection points of the road guide lines.

5. The method for creating a detailed map intersection road surface according to claim 2, characterized in that, The intersection road surface edge line includes the transverse line segment of the ordinary road surface and the edge turning line of the intersection road surface; The edge bend lines of the road surface at the intersection are the edge markings of two adjacent ordinary road surfaces at the bend.

6. A device for creating detailed map intersection road surfaces, characterized in that... include, A module for obtaining road guide lines and edge markings of intersecting roads based on the collected point cloud data, and generating ordinary road surfaces based on the edge markings; Module for obtaining the centroid of the road surface at the intersection based on the road guide lines; Module for obtaining the intersection road surface based on the centroid points of the ordinary road surface and the intersection road surface; The step of obtaining the intersection road surface based on the centroid points of the ordinary road surface and the intersection road surface includes: The intersection road surface is obtained based on the centroid point of the intersection edge line and the centroid point of the intersection road surface; wherein, obtaining the intersection road surface based on the centroid point of the intersection edge line and the centroid point of the intersection road surface includes: The centroid vector angle is obtained from the vector line from the centroid point of the intersection road surface to the centroid point of the intersection edge line, and the intersection road surface is obtained using the intersection road surface edge line based on the centroid vector angle; wherein, the process of obtaining the intersection road surface using the intersection road surface edge line based on the centroid vector angle includes: obtaining the endpoint vector angle from the vector line from the centroid point of the intersection road surface to the endpoint of the intersection road surface edge line; and sequentially connecting the intersection road surface edge lines based on the centroid vector angle and the endpoint vector angle to obtain the intersection road surface.

7. A readable computer storage medium storing computer instructions, characterized in that, The computer instructions are operated to perform the method for creating a detailed map intersection road surface according to any one of claims 1-5.

8. A device for creating detailed map intersection road surfaces, characterized in that, include, Memory, used to store programs; A processor is configured to execute the program stored in the memory, wherein when the program is executed, the processor is configured to perform the method for creating a detailed map intersection road surface as described in any one of claims 1-5.

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