Anti-clockwise ordering method and system for high-precision map intersection road exit

Abstract

The application discloses a kind of high-precision map intersection road exit counterclockwise sequencing method and system, it is based on the lane group to the exit path and is roughly sorted, then based on the intersection turning angle of each exit path, the exit path is sorted accurately;By designing the lane group storage lane number sequence from right to left, and using the leftmost lane vector to calculate when calculating the angle of the exit path starting point, the sequencing situation of the exit road at the intersection can be more accurately expressed;Compared with the previous sequencing only using the exit road turning angle, the calculation method of intersection turning angle in the application is completely determined by the bottom map data, accurate information is obtained from the bottom map data, so as to effectively utilize the bottom map data, not only simple calculation, but also greatly improve the fault tolerance of data, good interpretation, suitable for use in real environment of large-scale data.

Description

Technical Field

[0001] This invention relates to high-precision map application technology, and in particular to a counterclockwise sorting method and system for roads exiting intersections on high-precision maps. Background Technology

[0002] In high-precision map applications, the traditional method for sorting exiting roads at intersections involves using the counter-clockwise angle between the angle at the endpoint of the exiting road vector and the angle at the endpoint of the main road at the intersection. However, in practical applications, this sorting method can result in reverse ordering, such as... Figure 2 As shown, if the exit roads are sorted only by angle, the counter-clockwise order is path9, path11, path10, and path12. However, path10 and path11 may be in reverse order. Marking the order of each path in the map data would be time-consuming. In practical applications, a fast, reliable, code-controllable, and computationally simple sorting method is needed. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a counterclockwise sorting method and system for exiting roads at intersections on high-precision maps, which solves the problems of reverse order and long production cycle in existing sorting methods.

[0004] To achieve the above-mentioned technical objectives, the first aspect of the technical solution of the present invention provides a counterclockwise sorting method for exiting roads at intersections on high-precision maps, which includes the following steps:

[0005] Obtain the main path lane groups at road intersections, and coarsely sort the exit paths according to the lane groups;

[0006] The exit paths are precisely sorted based on the intersection turning angle of each exit path.

[0007] A second aspect of the present invention provides a counterclockwise sorting system for roads exiting intersections on high-precision maps, comprising the following functional modules:

[0008] The coarse sorting module is used to obtain the main path lane groups at road intersections and coarsely sort the exit paths according to the lane groups.

[0009] The fine sorting module is used to fine sort the exit paths based on the intersection turning angle of each exit path.

[0010] A third aspect of the present invention provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned counterclockwise sorting method for exiting roads at intersections on high-precision maps.

[0011] The fourth aspect of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to realize the anticlockwise sorting method for the off-road at the intersection of a high-precision map.

[0012] Compared with the prior art, the anticlockwise sorting method for the off-road at the intersection of a high-precision map and the system can firstly coarsely sort the off-road paths according to the lane groups, and then finely sort the off-road paths based on the intersection turning angles of each off-road path. By designing the lane group to store the lane number sequence from right to left and using the leftmost lane vector to calculate the angle at the start of the off-road path, the sorting of the off-road at the intersection can be accurately expressed. Compared with the previous sorting method using only the off-road turning angle, the calculation method of the intersection turning angle in the present application is completely determined by the underlying map data. By obtaining accurate information from the underlying map data, the underlying map data is effectively utilized, the calculation is simple, the data fault tolerance is greatly improved, the interpretation is good, and the method is suitable for use in a real environment with large-scale data. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a flow chart of the anticlockwise sorting method for the off-road at the intersection of a high-precision map according to the embodiment of the present application;

[0014] Figure 2 and Figure 3 is a schematic diagram of the anticlockwise sorting method for the off-road at the intersection of a high-precision map according to the embodiment of the present application;

[0015] Figure 4 is a module block diagram of the anticlockwise sorting system for the off-road at the intersection of a high-precision map according to the embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0017] As shown in Figure 1 the embodiment of the present application provides an anticlockwise sorting method for the off-road at the intersection of a high-precision map, which comprises the following steps:

[0018] S1, obtaining the main path lane group at the road intersection, coarsely sorting the off-road paths according to the lane group.

[0019] In the advanced map, the lane group storage lane sequence is from the rightmost lane to the leftmost lane, and the escape path is connected with the main path RoadSection lane, so the escape path can be roughly sorted according to the lane sequence, thereby reducing the calculation frequency of the turning angle and improving the calculation efficiency.

[0020] Specifically, the escape paths of the same lane are sorted from right to left according to the number of lane groups; for example, Figure 3 As shown in the figure, Path8 Section1 is the main path RoadSection before the road branch point; Path8 Section2, Path9 Section1, Path11 Section1 and Path12 Section1 are all escape paths RoadSection after the road branch point, and the escape path sorting sequence according to the lane group is path9 section1, [path11section1,path 8section2], path12section1, wherein path11 section1 and path 8section2 belong to the same lane group.

[0021] In the sorting of the escape paths of the same lane from right to left, the sequence number of the cross-lane escape path is arranged at the last position of the escape path sequence.

[0022] S2, based on the intersection turning angle of each escape path, the escape paths are sorted in detail.

[0023] That is, first, the end point angle of the main path at the road intersection is obtained, the starting angle of each escape path in the road intersection is calculated, the intersection turning angle is calculated according to the end point angle of the main path at the road intersection and the starting angle of the escape path, and then the escape paths are sorted in detail according to the intersection turning angle of each escape path.

[0024] The calculation method of the starting angle of each escape path is as follows:

[0025] The lane vector row point of the leftmost lane of the escape road at the intersection is obtained, and the starting angle of the escape path is calculated according to the heading angle cumulative value of the lane vector row point.

[0026] The specific calculation formula of the starting angle of the escape path is as follows:

[0027]

[0028]

[0029] a i is the heading angle of the i th row point of the lane vector; a i-1Φ is the heading angle of the (i-1)th line point of the lane vector; a0 is the heading angle at the starting line point of the lane vector; i Φ represents the difference in heading angle between the first and last lane points in the interval between the (i-1)th and i-th lane points on the lane vector; m is the number of lane points involved in the calculation; Φ e The angle at the start of the escape path.

[0030] The formula for calculating the turning angle at the intersection is as follows:

[0031]

[0032] Where β is the intersection turning angle; Φ s The angle at the end of the main path at the road intersection.

[0033] like Figures 2-3 As shown, θ is the intersection turning angle of the detachment path Path9 Section1 relative to the main road intersection. Based on the above formula, the intersection turning angles of the detachment paths Path8 Section2, Path9 Section1, Path11 Section1, and Path12 Section1 relative to the main road intersection are calculated respectively. According to the size of the intersection turning angle of the detachment path relative to the main road intersection, the sorting order of the detachment paths [path11 section1, path8 section2] belonging to the same lane group is adjusted to path8 section2, path11 section1. Based on the intersection turning angles of all detachment paths relative to the main road intersection, the detachment paths are sorted counterclockwise as path9 section1, path8 section2, path11 section1, and path12 section1.

[0034] This invention first coarsely sorts the exit paths according to lane groups, and then finely sorts them based on the intersection turning angle of each exit path. By designing the lane groups to store lane numbers in order from right to left, and using the leftmost lane vector to calculate the starting angle of the exit path, the sorting of exit paths at intersections can be expressed more accurately. Compared with the previous method of sorting only by the turning angle of the exit paths, the intersection turning angle calculation method in this invention is entirely determined by the underlying map data. By obtaining accurate information from the underlying map data, the underlying map data can be effectively utilized. This method is not only simple to calculate, but also greatly improves the fault tolerance and interpretability of the data, making it suitable for use in real-world environments with large-scale data.

[0035] like Figure 4As shown, the embodiment of the application also discloses a counterclockwise ordering system for high-precision map intersection road exit, which comprises the following functional modules:

[0036] The coarse ordering module 10 is used for acquiring a main path lane group at a road intersection, and performing coarse ordering on the exit path according to the lane group;

[0037] The fine ordering module 20 is used for performing fine ordering on the exit path based on an intersection turning angle of each exit path.

[0038] The execution mode of the counterclockwise ordering system for high-precision map intersection road exit of the embodiment is basically the same as the counterclockwise ordering method for high-precision map intersection road exit, and thus will not be described in detail.

[0039] The server of the embodiment is a device for providing computing services, and generally refers to a computer with high computing capability, which is provided for multiple consumers through a network. The server of the embodiment comprises a memory, a processor and a system bus, the memory comprises a runnable program stored thereon, and those skilled in the art can understand that the terminal device structure of the embodiment does not constitute a limitation on the terminal device, and can comprise more or fewer components than the illustration, or combine certain components, or different component arrangements.

[0040] The memory can be used to store software programs and modules, and the processor performs various functional applications and data processing of the terminal by running the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the terminal (such as audio data, a phone book, etc.), etc. In addition, the memory can comprise a high-speed random access memory, and can also comprise a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0041] The memory comprises a runnable program of a counterclockwise ordering method for high-precision map intersection road exit, the runnable program can be divided into one or more modules / units, the one or more modules / units are stored in the memory and executed by the processor to complete information acquisition and realize a process, the one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, 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 coarse ordering module 10 and a fine ordering module 20.

[0042] The processor is the control center of the server, connects each part of the whole terminal device by various interfaces and lines, executes various functions of the terminal and processes data by running or executing software programs and / or modules stored in the memory and calling data stored in the memory, thereby overall monitoring the terminal. Optionally, the processor can include one or more processing units; preferably, the processor can integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor.

[0043] The system bus is used to connect the internal functional components of the computer and can transmit data information, address information and control information, and its types can be, for example, PCI bus, ISA bus, VESA bus, etc. The instructions of the processor are transmitted to the memory through the bus, and the memory feeds back data to the processor, and the system bus is responsible for the interaction of data and instructions between the processor and the memory. Of course, the system bus can also access other devices, such as network interfaces, display devices, etc.

[0044] The server should at least include CPU, chipset, memory, disk system, etc., and other constituent parts are not described here.

[0045] In the embodiment of the application, the executable program executed by the processor included in the terminal is specifically a counterclockwise sorting method for high-precision map intersection road exit, which includes the following steps:

[0046] Obtaining a main path lane group at a road intersection, and coarsely sorting the exit paths according to the lane group;

[0047] Precisely sorting the exit paths based on the intersection turning angles of each exit path.

[0048] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0049] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0050] Those skilled in the art can understand that the modules, units and / or method steps of each embodiment described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on specific applications and design constraints of the technical solutions. Those skilled in the art can use different methods to implement the described functions for each specific application, but the implementation should not be considered beyond the scope of the present application.

[0051] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A counterclockwise ordering method for high-precision map intersection road exit, characterized in that, The method comprises the following steps: acquiring a main path lane group at a road intersection, and performing coarse sorting on the escape paths according to the lane groups; and performing right-to-left sorting on the escape paths in the same lane according to the number of lane groups; acquiring a main path end point angle at the road intersection, calculating the starting point angle of each escape path in the road intersection, and calculating the intersection turning angle according to the main path end point angle at the road intersection and the starting point angle of the escape path; performing fine sorting on the escape paths based on the intersection turning angle of each escape path; when calculating the starting point angle of each escape path, acquiring a lane vector line point of the leftmost lane of the escape road at the intersection, and calculating the starting point angle of the escape path according to the cumulative value of the heading angle of the lane vector line point.

2. The counterclockwise ordering method for high-precision map intersection road exit according to claim 1, characterized in that, When performing right-to-left sorting on the escape paths in the same lane, the serial number of the cross-lane escape path is arranged at the last position of the escape path sequence.

3. The counterclockwise ordering method for high-precision map intersection road exit according to claim 1, characterized in that, The calculation formula of the starting point angle of the escape path is as follows: wherein, is the heading angle of the lane vector at the i-th lane point; is the heading angle of the lane vector at the i-1-th lane point; is the heading angle of the lane vector at the start lane point; is the difference between the first and last heading angles of the lane vector on the i-th lane point interval (from the i-1-th lane point to the i-th lane point); m is the number of lane points of the lane vector involved in the calculation, is the angle at the start of the escape path.

4. The counterclockwise ordering method for high-precision map intersection road exit according to claim 3, characterized in that, The calculation formula of the intersection turning angle is as follows: wherein, is the intersection turning angle; is the road intersection main path end point angle.

5. A counterclockwise ordering system for high-precision map intersection road exit, characterized in that, The method comprises the following functional modules: The coarse sorting module is configured to acquire a main path lane group at a road intersection, and perform coarse sorting on the escape paths according to the lane groups; and perform right-to-left sorting on the escape paths in the same lane according to the number of lane groups. The fine sorting module is configured to acquire a main path end point angle at the road intersection, calculate the starting point angle of each escape path in the road intersection, calculate the intersection turning angle according to the main path end point angle at the road intersection and the starting point angle of the escape path, and perform fine sorting on the escape paths based on the intersection turning angle of each escape path. The fine sorting module is further configured to, when calculating the starting point angle of each escape path, acquire a lane vector line point of the leftmost lane of the escape road at the intersection, and calculate the starting point angle of the escape path according to the cumulative value of the heading angle of the lane vector line point.

6. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the counterclockwise sorting method for the escape roads at the intersection of the high-precision map according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: The computer program is executed by the processor to realize the counterclockwise sorting method for the escape roads at the intersection of the high-precision map according to any one of claims 1 to 4.

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