Method and system for reconstructing intersection area based on intersection trajectory points

Abstract

The present invention discloses a method and system for reconstructing an intersection area based on intersection trajectory points. The method obtains original intersection trajectory segments from the original intersection trajectory from high-precision map data, extracts the trajectory point sets of all original intersection trajectory segments as intersection planning trajectory point sets; constructs a buffer zone using the end trajectory points of the original intersection trajectory segments as reference trajectory points, expands the intersection planning trajectory point set based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory points; finally, combines the intersection initial trajectory point set and the intersection planning trajectory point set to form an intersection comprehensive trajectory point set, and updates the shape of the intersection according to the convex hull area formed by the intersection comprehensive trajectory point set to form a complete intersection.

Description

Technical Field

[0001] The present invention relates to a high-precision road scene production technology, and in particular to a method and system for reconstructing an intersection area based on intersection trajectory points. Background Art

[0002] With the rapid development of autonomous driving technology, the display requirements for high-precision maps are becoming increasingly higher. Intersections are important elements in high-precision maps. The completeness of intersections directly affects the correctness of road-level topology. However, intersections currently generated based on trajectory data and point of interest (POI) data such as stop lines cannot cover all trajectories on the road in some scenarios, resulting in incomplete intersections. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above technical deficiencies and propose a method and system for reconstructing intersection areas based on intersection trajectory points to solve the problem of incomplete intersections in existing road scenes.

[0004] To achieve the above technical objectives, the technical solution of the present invention provides a method for reconstructing an intersection area based on intersection trajectory points in a first aspect, which comprises the following steps:

[0005] Obtain the trajectory and original intersection data from the high-precision map road data, and filter to obtain the initial trajectory point set within the intersection and the trajectory passing through the original intersection;

[0006] Obtain the original intersection trajectory segment from the trajectory passing through the original intersection, and extract the trajectory point set of all the original intersection trajectory segments as the intersection planning trajectory point set;

[0007] A buffer zone is constructed using the end point of the original intersection trajectory as the reference point. Based on the heading angle difference between the trajectory points in the buffer zone and the reference point, the set of planned trajectory points in the intersection is expanded.

[0008] The initial trajectory point set in the intersection and the planned trajectory point set in the intersection are combined to form a comprehensive trajectory point set in the intersection, and the shape of the intersection is updated according to the convex hull area formed by the comprehensive trajectory point set in the intersection.

[0009] A second aspect of the present invention provides a system for reconstructing an intersection area based on intersection trajectory points, which includes the following functional modules:

[0010] The data filtering module is used to obtain the trajectory and original intersection data from the high-precision map road line data, and filter the initial trajectory point set within the intersection and the trajectory passing through the original intersection;

[0011] The trajectory point extraction module is used to obtain the trajectory segments within the original intersection from the trajectory passing through the original intersection, and extract the trajectory point set of all the trajectory segments within the original intersection as the planned trajectory point set within the intersection;

[0012] The trajectory point expansion module is used to construct a buffer zone with the end trajectory point of the original intersection trajectory segment as the reference trajectory point, and expand the set of planned trajectory points in the intersection based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory point;

[0013] The intersection reconstruction and updating module is used to combine the initial trajectory point set in the intersection with the planned trajectory point set in the intersection to form a comprehensive trajectory point set in the intersection, and update the shape of the intersection according to the convex hull area formed by the comprehensive trajectory point set in the intersection.

[0014] A third aspect of the present invention provides a server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for reconstructing an intersection area based on intersection trajectory points is implemented.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for reconstructing an intersection area based on intersection trajectory points is implemented.

[0016] Compared with the prior art, the method and system for reconstructing an intersection area based on intersection trajectory points described in the present invention obtain the original intra-intersection trajectory segment from the original intersection trajectory from high-precision map data, extract the trajectory point set of all original intra-intersection trajectory segments as the intra-intersection planned trajectory point set; and construct a buffer zone using the end trajectory points of the original intra-intersection trajectory segment as the reference trajectory point. Based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory points, the intra-intersection planned trajectory point set is expanded; finally, the intra-intersection initial trajectory point set and the intra-intersection planned trajectory point set are combined to form the intra-intersection comprehensive trajectory point set, and the shape of the intersection is updated according to the convex hull area formed by the intra-intersection comprehensive trajectory point set to form a complete intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flowchart of a method for reconstructing an intersection area based on intersection trajectory points according to an embodiment of the present invention;

[0018] Figure 2 is a flowchart of the steps of a method for reconstructing an intersection area based on intersection trajectory points according to an embodiment of the present invention;

[0019] Figure 3 This is a module block diagram of a system for reconstructing an intersection area based on intersection trajectory points according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a method for reconstructing an intersection area based on intersection trajectory points, which includes the following steps:

[0022] S1. Obtain the trajectory and original intersection data from the high-precision map road line data, and filter to obtain the initial trajectory point set within the intersection and the trajectory passing through the original intersection.

[0023] The high-precision map road data includes a lot of information, such as trajectory ID information, attribute information of whether the trajectory passes through the original intersection, attribute information of whether the trajectory point falls within the scope of the original intersection, the attribution serial number of the trajectory point, the heading information of the trajectory point, and the coordinate information of the trajectory point, etc. Therefore, the initial trajectory point set in the intersection and the trajectory passing through the original intersection can be directly filtered from the high-precision map road data.

[0024] S2. Obtain the trajectory segments within the original intersection from the trajectory passing through the original intersection, and extract the trajectory point set of all the trajectory segments within the original intersection as the planned trajectory point set within the intersection.

[0025] Assume that for the original intersection 1, there are two trajectories a and b passing through. All trajectory points of trajectory a are numbered 0, 1…m, among which the i points numbered k1, k2…ki (k1>=0, ki<=m) are within the original intersection 1, and all trajectory points of trajectory b are numbered 0, 1…n, among which the j points numbered h1, h2…hj (h1>=0, hj<=n) are within the original intersection 1. Then the trajectory segments within the original intersection 1 are the k1…ki interval segments of trajectory a and the h1…hj interval segments of trajectory b; then the set of planned trajectory points within the intersection includes the i points numbered k1, k2…ki (k1>=0, ki<=m) in trajectory a and the j points numbered h1, h2…hj (h1>=0, hj<=n) in trajectory b.

[0026] However, in the above situation, there may be trajectories that fall completely within the intersection, and trajectories that only partially fall within the intersection. If the trajectory points of these two trajectories are added to the planned trajectory point set within the intersection, interference noise points will be formed, affecting the accurate construction of the intersection area. Therefore, the present invention needs to distinguish trajectories that cross the original intersection at the beginning and end from these two trajectories. Specifically, it is necessary to further screen and determine whether the trajectory segment within the original intersection crosses the original intersection:

[0027] If the point with the smallest serial number of the trajectory segment is the starting point of the trajectory, it is considered as a non-entry end. If the point with the largest serial number of the trajectory segment is the end point of the trajectory, it is considered as a non-exit end. If either or both of the above two conditions are met, the trajectory segment is considered as not passing through the original intersection. In the subsequent buffer construction process, the starting point and end point of the trajectory segment are ignored to avoid changes in the intersection position.

[0028] S3. Build a buffer zone with the end trajectory point of the original intersection trajectory segment as the reference trajectory point, and expand the set of planned trajectory points in the intersection based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory point.

[0029] The end trajectory points of the trajectory segment within the original intersection are the entry and exit points of the trajectory segment within the original intersection. Therefore, it is necessary to determine the endpoints of the entry and exit of the trajectory segment. Generally speaking, for a trajectory segment, the point with the smallest sequence number is the entry endpoint, and the point with the largest sequence number is the exit endpoint. However, for the sake of accuracy, the preceding and following points of each trajectory point in the trajectory segment are determined to determine whether they are within the original intersection. If the preceding point is outside the original intersection and the following point is inside the original intersection, it is an entry point; if the preceding point is inside the original intersection and the following point is outside the original intersection, it is an exit point. By constructing a buffer only based on the endpoints of the trajectory segment's entry and exit, rather than constructing a buffer based on all trajectory points in the entire trajectory segment, it is ensured that the intersection is expanded only along the cross-sectional direction of each road, greatly avoiding redundant expansion directions and thus preventing changes in the intersection's position.

[0030] If the reference trajectory point is an entry point, the direction of the buffer zone is opposite to the heading of the trajectory point. If the reference trajectory point is an exit point, the direction of the buffer zone is the same as the heading of the trajectory point.

[0031] Set the buffer area threshold. According to the buffer area threshold, take the end trajectory point of the trajectory segment in the original intersection as the reference trajectory point and construct a buffer zone along the heading of the reference trajectory point. Specifically, set the threshold length and threshold width of the buffer zone. Draw a vertical line segment perpendicular to the heading of the reference trajectory point with the reference trajectory point as the center. The midpoint of the vertical line segment is the reference trajectory point, and its length is the threshold length of the buffer zone. Then, draw parallel line segments with a length of the buffer zone threshold width from the two end points of the vertical line segment along the heading direction of the reference trajectory point. Connect the extended end points of the parallel line segments. The enclosed area is the buffer zone of the reference point.

[0032] Set the heading angle difference threshold range and calculate the heading angle difference between the trajectory point in the buffer zone and the reference trajectory point. If the heading angle difference falls within the heading angle difference threshold range, the trajectory point is added to the planned trajectory point set in the intersection; otherwise, the trajectory point is discarded.

[0033] However, before calculating the heading angle difference between the trajectory points in the buffer zone and the reference trajectory points, it is necessary to pre-select all trajectory points within the threshold range area near the original intersection, and determine whether the trajectory points fall within the buffer zone of the reference trajectory points based on their coordinates. The heading angle difference between the trajectory points that fall within the buffer zone of the reference trajectory points and the reference trajectory points is calculated.

[0034] The endpoint judgment is performed again on the trajectory points newly added to the planned trajectory point set within the intersection, and step S3 is repeated until no new trajectory points are added to the planned trajectory point set within the intersection.

[0035] After expanding the set of planned intra-intersection trajectory points, the newly added trajectory points in the set are track-matched to find trajectory segments belonging to the same trajectory. Furthermore, the trajectory points between adjacent trajectory segments belonging to the same trajectory are added to the set of planned intra-intersection trajectory points. Therefore, by constructing a buffer zone, the present invention can expand and find other trajectory segments that were determined not to have passed through the original intersection but actually did. The set of planned intra-intersection trajectory points includes all trajectory points that fall within the original intersection in the direction of the road cross section.

[0036] S4. Combining the initial trajectory point set in the intersection with the planned trajectory point set in the intersection to form a comprehensive trajectory point set in the intersection, and updating the shape of the intersection according to the convex hull area formed by the comprehensive trajectory point set in the intersection.

[0037] The method of updating the shape of the intersection according to the convex hull area formed by the comprehensive trajectory point set in the intersection specifically uses a convex hull algorithm to calculate the comprehensive trajectory point set in the intersection to obtain a new intersection shape, and replaces the original intersection shape with the new intersection shape.

[0038] The present invention obtains the original intra-intersection trajectory segments from the original intersection trajectory from high-precision map data, extracts the trajectory point sets of all the original intra-intersection trajectory segments as the intra-intersection planned trajectory point set; constructs a buffer zone with the end trajectory points of the original intra-intersection trajectory segments as reference trajectory points, expands the intra-intersection planned trajectory point set based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory points; finally, combines the intra-intersection initial trajectory point set and the intra-intersection planned trajectory point set to form an intra-intersection comprehensive trajectory point set, and updates the shape of the intersection according to the convex hull area formed by the intra-intersection comprehensive trajectory point set to form a complete intersection.

[0039] like Figure 3 As shown, an embodiment of the present invention further discloses a system for reconstructing an intersection area based on intersection trajectory points, which includes the following functional modules:

[0040] The data filtering module 10 is used to obtain the trajectory and original intersection data from the high-precision map road line data, and filter to obtain the initial trajectory point set within the intersection and the trajectory passing through the original intersection;

[0041] The trajectory point extraction module 20 is used to obtain the trajectory segments within the original intersection from the trajectory passing through the original intersection, and extract the trajectory point set of all the trajectory segments within the original intersection as the planned trajectory point set within the intersection;

[0042] The trajectory point expansion module 30 is used to construct a buffer zone with the end trajectory point of the original intersection trajectory segment as the reference trajectory point, and expand the set of planned trajectory points in the intersection based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory point;

[0043] The intersection reconstruction and updating module 40 is used to combine the initial trajectory point set in the intersection with the planned trajectory point set in the intersection to form a comprehensive trajectory point set in the intersection, and update the shape of the intersection according to the convex hull area formed by the comprehensive trajectory point set in the intersection.

[0044] The execution method of the system for reconstructing an intersection area based on intersection trajectory points in this embodiment is basically the same as the above-mentioned method for reconstructing an intersection area based on intersection trajectory points, so it will not be described in detail.

[0045] The server in this embodiment is a device that provides computing services, typically a computer with high computing power that is provided to multiple consumers via a network. The server in this embodiment includes memory, a processor, and a system bus. The memory includes executable programs stored thereon. Those skilled in the art will appreciate that the terminal device structure in this embodiment does not limit the terminal device and may include more or fewer components than shown, or combinations of certain components, or different component arrangements.

[0046] The memory can be used to store software programs and modules. The processor executes the various functional applications and data processing functions of the terminal by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system and at least one application required for a function (such as sound playback and image playback). The data storage area can store data generated based on the use of the terminal (such as audio data and phone book). In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state memory device.

[0047] An executable program for a method of reconstructing an intersection area based on intersection trajectory points is included in a memory. The executable program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the information acquisition and implementation process. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the server. For example, the computer program can be divided into a data filtering module 10, a trajectory point extraction module 20, a trajectory point expansion module 30, and an intersection reconstruction and update module 40.

[0048] The processor is the control center of the server, connecting the various components of the entire terminal device using various interfaces and lines. By running or executing software programs and / or modules stored in memory and accessing data stored in memory, it performs various terminal functions and processes data, thereby providing overall terminal monitoring. Optionally, the processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor primarily processes the operating system, application programs, etc., while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into the processor.

[0049] The system bus connects the various functional components within a computer and transmits data, address information, and control information. It can be a PCI bus, ISA bus, or VESA bus. Processor instructions are transmitted to memory via the bus, and memory feeds data back to the processor. The system bus is responsible for the exchange of data and instructions between the processor and memory. Of course, the system bus can also connect to other devices, such as network interfaces and display devices.

[0050] The server should at least include a CPU, a chipset, a memory, a disk system, etc. Other components will not be described in detail here.

[0051] In an embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a method for reconstructing an intersection area based on intersection trajectory points, which includes the following steps:

[0052] Obtain the trajectory and original intersection data from the high-precision map road data, and filter to obtain the initial trajectory point set within the intersection and the trajectory passing through the original intersection;

[0053] Obtain the original intersection trajectory segment from the trajectory passing through the original intersection, and extract the trajectory point set of all the original intersection trajectory segments as the intersection planning trajectory point set;

[0054] A buffer zone is constructed using the end point of the original intersection trajectory as the reference point. Based on the heading angle difference between the trajectory points in the buffer zone and the reference point, the set of planned trajectory points in the intersection is expanded.

[0055] The initial trajectory point set in the intersection and the planned trajectory point set in the intersection are combined to form a comprehensive trajectory point set in the intersection, and the shape of the intersection is updated according to the convex hull area formed by the comprehensive trajectory point set in the intersection.

[0056] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0057] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0058] Those skilled in the art will appreciate that the modules, units, and / or method steps of the various embodiments described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0059] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for reconstructing an intersection area based on intersection trajectory points, characterized in that: The steps include: Obtain the trajectory and original intersection data from the high-precision map road data, and filter to obtain the initial trajectory point set within the intersection and the trajectory passing through the original intersection; Obtain the original intersection trajectory segment from the trajectory passing through the original intersection, and extract the trajectory point set of all the original intersection trajectory segments as the intersection planning trajectory point set; A buffer zone is constructed using the end point of the original intersection trajectory as the reference point. Based on the heading angle difference between the trajectory points in the buffer zone and the reference point, the set of planned trajectory points in the intersection is expanded. The initial trajectory point set in the intersection and the planned trajectory point set in the intersection are combined to form a comprehensive trajectory point set in the intersection, and the shape of the intersection is updated according to the convex hull area formed by the comprehensive trajectory point set in the intersection; The method comprises: constructing a buffer zone by taking the end track point of the original intersection track segment as the reference track point, and expanding the set of planned track points in the intersection based on the heading angle difference between the track point in the buffer zone and the reference track point; and Set a buffer zone threshold, and based on the buffer zone threshold, use the end track point of the original intersection track segment as the reference track point and construct a buffer zone along the heading of the reference track point; The end track points of the original intersection track segment are the entry point and the exit point of the original intersection track segment; If the reference trajectory point is an entry point, the direction of the buffer zone is opposite to the heading of the trajectory point. If the reference trajectory point is an exit point, the direction of the buffer zone is the same as the heading of the trajectory point. Set the heading angle difference threshold range and calculate the heading angle difference between the trajectory point in the buffer and the reference trajectory point. If the heading angle difference falls within the heading angle difference threshold range, the trajectory point is added to the planned trajectory point set in the intersection; otherwise, the trajectory point is discarded.

2. The method for reconstructing an intersection area based on intersection trajectory points according to claim 1, characterized in that: Before calculating the heading angle difference between the trajectory points in the buffer zone and the reference trajectory points, it is necessary to pre-select all trajectory points within the threshold range near the original intersection, and determine whether the trajectory points fall within the buffer zone of the reference trajectory points based on their coordinates. The trajectory points that fall within the buffer zone of the reference trajectory points will be subjected to subsequent calculations.

3. The method for reconstructing an intersection area based on intersection trajectory points according to claim 1, characterized in that: After expanding the planned trajectory point set within the intersection, the newly added trajectory points in the planned trajectory point set within the intersection are track matched to find the trajectory segments belonging to the same trajectory, and the trajectory points between adjacent trajectory segments belonging to the same trajectory are added to the planned trajectory point set within the intersection.

4. The method for reconstructing an intersection area based on intersection trajectory points according to claim 1, characterized in that: The method of updating the shape of the intersection according to the convex hull area formed by the comprehensive trajectory point set in the intersection specifically uses a convex hull algorithm to calculate the comprehensive trajectory point set in the intersection to obtain a new intersection shape, and replaces the original intersection shape with the new intersection shape.

5. A system for reconstructing intersection areas based on intersection trajectory points, characterized in that: Includes the following functional modules: The data filtering module is used to obtain the trajectory and original intersection data from the high-precision map road line data, and filter the initial trajectory point set within the intersection and the trajectory passing through the original intersection; The trajectory point extraction module is used to obtain the trajectory segments within the original intersection from the trajectory passing through the original intersection, and extract the trajectory point set of all the trajectory segments within the original intersection as the planned trajectory point set within the intersection; The trajectory point expansion module is used to construct a buffer zone with the end trajectory point of the original intersection trajectory segment as the reference trajectory point, and expand the set of planned trajectory points in the intersection based on the heading angle difference between the trajectory points in the buffer zone and the reference trajectory point; The intersection reconstruction and update module is used to combine the initial trajectory point set in the intersection with the planned trajectory point set in the intersection to form a comprehensive trajectory point set in the intersection, and update the shape of the intersection according to the convex hull area formed by the comprehensive trajectory point set in the intersection; The method comprises: constructing a buffer zone by taking the end track point of the original intersection track segment as the reference track point, and expanding the set of planned track points in the intersection based on the heading angle difference between the track point in the buffer zone and the reference track point; and Set a buffer zone threshold, and based on the buffer zone threshold, use the end track point of the original intersection track segment as the reference track point and construct a buffer zone along the heading of the reference track point; The end track points of the original intersection track segment are the entry point and the exit point of the original intersection track segment; If the reference trajectory point is an entry point, the direction of the buffer zone is opposite to the heading of the trajectory point. If the reference trajectory point is an exit point, the direction of the buffer zone is the same as the heading of the trajectory point. Set the heading angle difference threshold range and calculate the heading angle difference between the trajectory point in the buffer and the reference trajectory point. If the heading angle difference falls within the heading angle difference threshold range, the trajectory point is added to the planned trajectory point set in the intersection; otherwise, the trajectory point is discarded.

6. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for reconstructing an intersection area based on intersection trajectory points as described in any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for reconstructing an intersection area based on intersection trajectory points as claimed in any one of claims 1 to 4 is implemented.

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