Method and system for processing the edges of high-precision map area splicing units

Abstract

The present invention discloses a method and system for leveling the edges of high-precision map area splicing units. The method obtains the edge roads in the high-precision map, takes the road vector direction as the reference direction of the edge roads, vertically cuts the edge roads, and updates the association relationship between ground objects and road networks accordingly. The edge road information is automatically collected throughout the entire process, and a built-in logic self-check and optimization algorithm is built in. No human intervention is required throughout the process, effectively improving production efficiency and data accuracy. The distributed processing improves computing efficiency and can be applied to large-scale map data processing. The method covers all ground elements, including almost all ground objects related to autonomous driving. The association relationship generation method is universal and can be applied to newly emerging ground objects. It also supports rollback and reprocessing, further improving the processing security level.

Description

Technical Field

[0001] The present invention relates to high-precision map production technology, and in particular to a method and system for leveling the edges of high-precision map area splicing units. Background Art

[0002] High-precision electronic maps mainly serve autonomous vehicles, providing lane-level planning and self-positioning assistance within road sections. Different from traditional navigation electronic maps, high-precision electronic maps not only provide high-precision road and lane information, but also provide a large amount of ground object information, such as traffic signs, traffic lights, static obstacles, pedestrian crosswalks, etc. This ground object information helps to assist autonomous driving decisions and improve the autonomous driving experience. In order to process map data faster, large provinces or cities will be divided into multiple regional splicing units, and each regional splicing unit will be processed and then synthesized into a complete map. However, the original edges of each regional splicing unit are not flush and cannot meet production requirements. Therefore, it is necessary to provide a method and system for flush processing of the edges of high-precision map regional splicing units. 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 leveling the edges of high-precision map area splicing units, so as to solve the problem that the original edges of existing area splicing units are not level and cannot meet production requirements.

[0004] To achieve the above technical objectives, the first aspect of the technical solution of the present invention provides a method for leveling the edges of high-precision map area splicing units, which includes the following steps:

[0005] Obtain the adjacent roads in the high-precision map;

[0006] Take the road vector direction as the reference direction of the connecting road and perform vertical cutting on the connecting road;

[0007] Update the association between ground objects and road networks.

[0008] A second aspect of the present invention provides a system for processing the edge alignment of a high-precision map region splicing unit, which includes the following functional modules:

[0009] Data acquisition module, used to obtain the side roads in the high-precision map;

[0010] Vector cutting module, used to cut the side road vertically with the road vector direction as the reference direction of the side road;

[0011] The association update module is used to update the association relationship between ground objects and road networks.

[0012] The third aspect of the present invention provides a server, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, it implements the above-mentioned method for flattening the edges of the high-precision map area splicing units.

[0013] A fourth aspect of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned method for flattening the edges of high-precision map area splicing units.

[0014] Compared with the existing technology, the method and system for leveling the edges of high-precision map area splicing units described in the present invention obtain the edge roads in the high-precision map, use the road vector direction as the reference direction of the edge roads, vertically cut the edge roads, and update the association relationship between the ground objects and the road network accordingly; thereby automatically collecting edge road information throughout the entire process, with built-in logical self-checking and optimization algorithms, without the need for manual intervention throughout the process, effectively improving production efficiency and data accuracy; by adopting distributed processing, computing efficiency is improved, and it can be applied to a wide range of map data processing; and it covers all ground elements, including almost all ground objects related to autonomous driving. The association relationship generation method is universal and can be applied to newly emerging ground objects; it also supports rollback and reprocessing, further improving the processing security level. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flowchart of a method for leveling edges of high-precision map area splicing units according to an embodiment of the present invention;

[0016] Figure 2 yes Figure 1 Flow sub-block diagram of step S2;

[0017] Figure 3 This is a schematic diagram of the connected road before cutting;

[0018] Figure 4 It is a schematic diagram of the road after cutting;

[0019] Figure 5 This is a module block diagram of the edge-alignment processing system of the high-precision map area splicing unit described in 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 As shown, an embodiment of the present invention provides a method for flattening the edges of high-precision map area splicing units, which includes the following steps:

[0022] S1. Obtain the side roads in the high-precision map.

[0023] That is, the roads whose road node type is edge connection are selected from the high-precision map, which are edge connection roads;

[0024] Arrange the connecting roads with the same end point into road links along the driving direction;

[0025] According to the connection relationship, the connecting roads in the road link are divided into groups of two to form connecting roads.

[0026] like Figure 3 As shown in the figure, in high-precision map data, road node type screening is used to obtain the adjacent roads road1, road2, and road3 with road vectors rv1, rv2, and rv3. The end point of road vector rv1 coincides with the beginning point of road vector rv2, and the end point of road vector rv2 coincides with the beginning point of road vector rv3. Therefore, the adjacent roads road1, road2, and road3 with road vectors rv1, rv2, and rv3 form a road link rv1->rv2->rv3 along the driving direction. The beginning point of road vector rv1 is the starting point of the road link, and the end point of road vector rv3 is the end point of the road link. When a closed loop occurs in the road link, such as rv1->rv2->rv3->rv4->rv1, the starting point of a random road vector is used as the starting point of the road link. The road link information is stored in the road link information table.

[0027] Because the boundaries of the high-precision map to be processed always involve an incoming road and an outgoing road, the connecting roads in the road link are divided into groups of two. For example, if the original road link is rv1->rv2->rv3, it is divided into two groups of connecting roads: rv1->rv2 and rv2->rv3 based on the connection relationship.

[0028] S2. Take the road vector direction as the reference direction of the connecting road and perform vertical cutting on the connecting road.

[0029] That is, the road vector direction is used as the reference direction of the connecting road, a vertical cutting line is made at the common point of the beginning and end of the connecting road, and the connecting road is cut flush according to the generated cutting line. Figure 2 As shown, step S2 includes the following sub-steps:

[0030] S21, using the road vector direction as the reference direction of the connecting road, making a vertical cutting line at the common point of the leftmost vehicle edge line of the connecting road, and performing a flush cutting of the connecting road according to the generated cutting line;

[0031] S22. Based on the intersection of the cutting line and other lane lines of the connected road, move the common points of the beginning and end of all lane lines of the two adjacent roads in the connected road to the intersection;

[0032] S23. Update the road information of the two side roads in the connected road according to the position information of the starting and ending points after the movement.

[0033] Get all the links of a regional splicing unit to be processed from the road link information table, that is, the starting road of the link is under the current regional splicing unit. When getting, update the status of the road link information table to the pending database. Implement concurrency based on the update lock of the database. If the update is not successful, continue to get the links of the next regional splicing unit. If there is no regional splicing unit to be processed, the program ends.

[0034] like Figure 3 As shown in , the end point of the road vector rv1 and the beginning point of the road vector rv2 are the same point p, so point p is the common point. Figure 4 As shown, point p is located on the leftmost vehicle edge line of the connecting road. With point p as the reference point and the direction of the road vector rv1 as the reference direction of the connecting road, a vertical cutting line relative to the connecting road is made.

[0035] like Figure 4 As shown, the vertical cutting line and other lane lines of the connecting road generate intersections A and B. Intersections A and B are located in lane lines b2 and c2 of the connecting road road2, respectively. The end points of lane lines b1 and c1 in the connecting road road1 are moved to intersections A and B, respectively. The starting points of lane lines b2 and c2 in the connecting road road2 are moved to intersections A and B, respectively, to complete a smooth cutting between the connecting roads road1 and road2.

[0036] Based on the position information of the adjacent roads road1 and road2 after the adjustment of the starting and ending points, the road information of the adjacent roads road1 and road2 is updated.

[0037] S3. Update the association between ground objects and road networks.

[0038] There are two main types of relationships between ground objects and the road network: association with road sections and association with lanes. If a ground object is associated with a road section, all ground objects related to, located on, or adjacent to that road section can be retrieved by using the road section, and vice versa. If a ground object is associated with a lane, all ground objects related to, located on, or adjacent to that lane can be retrieved by using the lane, and vice versa.

[0039] If a road section changes, its associated ground objects also change accordingly. Therefore, based on the updated road information for the adjacent roads, the association between the ground objects and the road network is updated. Further preferably, the road section surface is updated based on the updated road information for the adjacent roads; the association between the ground objects and the road network is determined by calculating whether there is overlap between the road section surface and the ground objects. Specifically, within the geometry processing library Shapely, the geometry of the road surface object and the road section surface are calculated to determine whether there is overlap. If there is complete or partial overlap, the road surface object is determined to be associated with the road section; if there is no overlap at all, the road surface object is determined to be not associated with the road section. Based on the calculation results, the association between the ground objects and the updated adjacent roads road1 and road2 is updated.

[0040] When all road links in the regional splicing unit have been processed, you can write to the database and change the status of the road link information table to "written to the database". In the event of program or logic anomalies, you can restore and roll back all processed databases based on the backup table information.

[0041] The present invention obtains the connecting roads in the high-precision map, takes the road vector direction as the connecting road reference direction, performs vertical cutting on the connecting roads, and updates the association relationship between the ground objects and the road network accordingly; thereby, the connecting road information is automatically collected throughout the entire process, with built-in logical self-checking and optimization algorithms, without the need for human intervention throughout the process, effectively improving production efficiency and data accuracy; by adopting distributed processing, computing efficiency is improved, and it can be applied to a large range of map data processing; and it covers all ground elements, including almost all ground objects related to autonomous driving. The association relationship generation method is universal and can be applied to newly emerging ground objects; it also supports rollback and reprocessing, further improving the processing security level.

[0042] like Figure 5 As shown, the embodiment of the present invention further discloses a system for processing the edge alignment of a high-precision map area splicing unit, which includes the following functional modules:

[0043] The data acquisition module 10 is used to obtain the side roads in the high-precision map;

[0044] The vector cutting module 20 is used to perform vertical cutting on the side road using the road vector direction as the reference direction of the side road;

[0045] The association updating module 30 is used to update the association relationship between the ground object and the road network.

[0046] The execution method of the edge-aligning processing system of the high-precision map area splicing unit in this embodiment is basically the same as the above-mentioned edge-aligning processing method of the high-precision map area splicing unit, so it will not be described in detail.

[0047] 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.

[0048] 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.

[0049] An executable program for a method for flattening the edges of high-precision map area splicing units is included in the 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 that can perform 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 acquisition module 10, a vector cutting module 20, and an association update module 30.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] In an embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a method for flattening the edges of high-precision map area splicing units, which includes the following steps:

[0054] Obtain the adjacent roads in the high-precision map;

[0055] Take the road vector direction as the reference direction of the connecting road and perform vertical cutting on the connecting road;

[0056] Update the association between ground objects and road networks.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 leveling the edges of high-precision map area splicing units, characterized in that: The steps include: Obtain the adjacent roads in the high-precision map; Take the road vector direction as the reference direction of the connecting road and perform vertical cutting on the connecting road; Update the relationship between ground objects and road networks; The method of vertically cutting the side road by taking the road vector direction as the reference direction of the side road comprises: Take the road vector direction as the reference direction of the connecting road, draw a vertical cutting line at the common point of the leftmost vehicle edge line of the connecting road, and cut the connecting road flush according to the generated cutting line; Based on the intersection of the cutting line and other lane lines of the connected road, move the common points of the beginning and end of all lane lines of the two adjacent roads in the connected road to the intersection; According to the position information of the starting and ending points after the movement, the road information of the two connecting roads in the connecting road is updated.

2. The method for leveling the edges of high-precision map area splicing units according to claim 1, characterized in that: The obtaining of the adjacent road information in the high-precision map includes: The roads whose road node type is edge connection are selected from the high-precision map, that is, the edge connection roads.

3. The method for leveling the edges of high-precision map area splicing units according to claim 2, characterized in that: The obtaining of the side road information in the high-precision map further includes: Arrange the connecting roads with the same end point into road links along the driving direction; According to the connection relationship, the connecting roads in the road link are divided into groups of two to form connecting roads.

4. The method for leveling the edges of high-precision map area splicing units according to claim 3, characterized in that: The method of vertically cutting the side road by taking the road vector direction as the reference direction of the side road comprises: Take the road vector direction as the reference direction of the connecting road, make a vertical cutting line at the common point of the beginning and end of the connecting road, and cut the connecting road flush according to the generated cutting line.

5. The method for leveling the edges of high-precision map area splicing units according to claim 1, characterized in that: The updating of the association relationship between the ground object and the road network includes: Based on the updated road information of the adjacent road, the association relationship between the ground objects in the adjacent road and the road network is updated.

6. The method for leveling the edges of high-precision map area splicing units according to claim 1, characterized in that: The updating of the association relationship between the ground object and the road network includes: Update the road section surface based on the updated road information of the adjacent roads; By calculating whether there is overlap between the road section surface and the ground features, the association relationship between the ground objects and the road network is judged, and the association relationship between the ground objects and the road network in the adjacent roads is updated based on the judgment results.

7. A system for processing the edges of high-precision map area splicing units, characterized in that: Includes the following functional modules: Data acquisition module, used to obtain the side roads in the high-precision map; Vector cutting module, used to cut the side road vertically with the road vector direction as the reference direction of the side road; The association update module is used to update the association relationship between ground objects and road networks; The method of vertically cutting the side road by taking the road vector direction as the reference direction of the side road comprises: Take the road vector direction as the reference direction of the connecting road, draw a vertical cutting line at the common point of the leftmost vehicle edge line of the connecting road, and cut the connecting road flush according to the generated cutting line; Based on the intersection of the cutting line and other lane lines of the connected road, move the common points of the beginning and end of all lane lines of the two adjacent roads in the connected road to the intersection; According to the position information of the starting and ending points after the movement, the road information of the two connecting roads in the connecting road is updated.

8. 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, it implements the method for flattening the edges of the high-precision map area splicing unit as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the method for flattening the edges of the high-precision map area splicing unit as described in any one of claims 1 to 6.

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