Method and system for constructing high-precision map data intersection surface

Abstract

The present invention discloses a method and system for constructing a high-precision map data intersection surface. The method prioritizes roads within an intersection, selects the road within the intersection with the highest priority as the true intersection road, and the road surface of the true intersection road is the true intersection surface; obtains the link points between the predecessor road, the successor road and the road within the intersection of all roads within the intersection; projects the link points onto the true intersection surface, obtains the projection points of the link points on the true intersection surface, connects the projection points into a polygon, and the enclosed polygon is the true intersection surface; finally, smoothes the predecessor road and the successor road according to the elevation of the true intersection surface; thereby, the road surface within the intersection can completely cover the entire intersection and achieve complete connection with the road surface outside the intersection, avoiding the problem of gaps and height differences between the road surface within the intersection and the road surface outside the intersection.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision map production, and in particular to a method and system for constructing a high-precision map data intersection surface. Background Art

[0002] High-precision electronic maps mainly serve autonomous driving vehicles, providing them with high-precision positioning references. High-precision map roads are divided into roads within intersections and roads outside intersections. Intersections are an important component of high-precision map elements and are also the most complex part of road traffic. However, if the road surface of the roads within the intersection does not completely cover the entire intersection, this will cause gaps to appear at the intersection, and there will be unevenness in height. Therefore, the construction of the intersection surface is particularly important, and it can be used to fill the gaps formed at the intersection. The intersection surface is also an important component of the intersection.

[0003] In high precision Figure 3 In the D simulation scenario, if there is a gap on the ground at the intersection, the car will fall into the gap once it drives to the location of the gap, causing the car to be stuck in the gap and unable to move, affecting the effect of traffic flow simulation; in addition, if the roads in the intersection are not on the same surface, problems such as vehicle sinking or floating will occur in the traffic flow simulation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a method and system for constructing a high-precision map data intersection surface, which can enable the road surface inside the intersection to completely cover the entire intersection and achieve complete connection with the road surface outside the intersection, avoiding the problem of gaps and height differences between the road surface inside the intersection and the road surface outside the intersection.

[0005] To achieve the above technical objectives, the first aspect of the technical solution of the present invention provides a method for constructing a high-precision map data intersection surface, which includes:

[0006] Extracting intersection identification information from the road data, and determining the roads within the intersection based on the intersection identification information;

[0007] Prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and the road surface of the true intersection road as the true intersection surface;

[0008] Get the link points between the predecessor and successor roads of all roads in the intersection and the roads in the intersection;

[0009] Project the link point onto the true intersection surface, obtain the projection point of the link point on the true intersection surface, connect the projection points into a polygon, and the enclosed polygon is the true intersection surface;

[0010] The preceding and succeeding roads are smoothed according to the elevation of the actual intersection surface.

[0011] A second aspect of the present invention provides a high-precision map data intersection surface construction system, which includes the following functional modules:

[0012] The road acquisition module within the intersection is used to extract the intersection identification information from the road data and determine the road within the intersection according to the intersection identification information of the road;

[0013] An intersection face determination module is used to prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and the road face of the true intersection road is the true intersection face;

[0014] A link point acquisition module is used to obtain the link points between the predecessor and successor roads of all roads in the intersection and the roads in the intersection;

[0015] The intersection surface enclosing module is used to project the link points onto the true intersection surface, obtain the projection points of the link points on the true intersection surface, and connect the projection points into a polygon. The enclosed polygon is the true intersection surface.

[0016] The smooth transition module is used to smooth the preceding and succeeding roads according to the elevation of the actual intersection surface.

[0017] The 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. When the processor executes the computer program, the above-mentioned method for constructing a high-precision map data intersection surface is implemented.

[0018] 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 constructing a high-precision map data intersection interface.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention prioritizes roads in an intersection, selects the road in the intersection with the highest priority as the true road in the intersection, and the road surface of the true road in the intersection is the true intersection surface; and obtains the link points between the predecessor road, the successor road and the road in the intersection of all roads in the intersection; projects the link points onto the true intersection surface, obtains the projection points of the link points on the true intersection surface, connects the projection points into a polygon, and the enclosed polygon is the true intersection surface; finally, smoothes the predecessor road and the successor road according to the elevation of the true intersection surface; thereby, the road surface in the intersection can completely cover the entire intersection and achieve complete connection with the road surface outside the intersection, avoiding the problem of gaps and height differences between the road surface in the intersection and the road surface outside the intersection; realizes rapid and automatic construction of the intersection surface, has high adaptability to different intersection scenes, and greatly reduces the time of intersection surface construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flowchart of a method for constructing a high-precision map data intersection surface according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 Flow chart of step S1 in step S1;

[0023] Figure 3 It is a module block diagram of the high-precision map data intersection surface construction system described in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] The embodiment of the present invention provides a method for constructing a high-precision map data intersection surface. Figure 1 As shown, it includes:

[0026] S1. Extracting intersection identification information from road data, and determining roads within the intersection based on the intersection identification information.

[0027] like Figure 2 As shown, step S1 includes the following sub-steps:

[0028] S11. Determine whether the road is a road within an intersection based on the attributes of the lane vector;

[0029] S12, determining whether the roads in the intersection belong to the same intersection based on the topological relationship of the roads in the intersection;

[0030] S13. Arrange the roads belonging to the same intersection into an intra-intersection road set.

[0031] Specifically, the attribute dummy of the lane vector is used to identify whether it is a road within the intersection. When the attribute dummy of the lane vector is 1, it is considered that the lane is a lane within the intersection, and the corresponding road is also a road within the intersection.

[0032] The predecessor and successor topological relationships of the roads within the intersection are used to determine whether the roads within the intersection belong to the same intersection. Specifically, the predecessor and successor lanes of the roads within the intersection are first found through the topological relationships of the roads within the intersection. Then, whether the roads within the intersection have the same predecessor or successor lane can be determined to determine whether they belong to the same intersection. In other words, if there is a common predecessor or successor lane between the roads within the intersection, they are considered to be within the same intersection.

[0033] S2. Prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and use the road surface of the true intersection road as the true intersection surface.

[0034] First, traverse all the roads in the intersection, calculate the driving direction of each road in the intersection, and judge whether the road in the intersection is a straight road, a left turn road, or a right turn road based on the direction.

[0035] Then, the roads within the intersection are prioritized; the priority ranking of the roads within the intersection includes road type priority ranking and elevation difference priority ranking of roads of the same type, wherein the road type priority ranking is straight road > left turn road > right turn road; the elevation difference priority of roads of the same type is a priority ranking from large to small based on the maximum height difference of vector points of different roads of the same type.

[0036] Finally, the intersection road with the highest priority is selected based on the road type priority and the elevation difference priority of roads of the same type as the true intersection road.

[0037] For example, if there is a straight road in the intersection, all straight roads in the intersection are traversed, and the length of each straight road in the intersection and the absolute value of the elevation difference of the straight road in the intersection are obtained. The comprehensive score value of each straight road is calculated based on the ratio of 50% for the length value and 50% for the absolute value of the elevation difference. The calculation formula of value is as follows:

[0038] value=L*0.5+H*0.5

[0039] Wherein, L is the length of the straight road in the intersection, and H is the elevation difference of the straight road in the intersection.

[0040] The larger the value, the higher the priority. That is, the straight road in the intersection with the largest value is selected as the true intersection road.

[0041] S3. Obtain the link points between the predecessor roads, the successor roads and the roads in the intersection for all roads in the intersection.

[0042] That is, first, based on the topological relationship of the roads in the intersection, the predecessor roads and successor roads of all roads in the intersection are obtained; then, the last point of the road vector of the predecessor roads of all roads in the intersection, and the first point of the road vector of the successor roads of all roads in the intersection are obtained. The last point of the road vector of the predecessor road and the first point of the road vector of the successor road are both connection points with the roads in the intersection.

[0043] S4. Project the link point onto the true intersection surface, obtain the projection point of the link point on the true intersection surface, connect the projection points into a polygon, and the enclosed polygon is the true intersection surface.

[0044] The road surface inside the intersection is constructed using the projection points of the link points between the preceding road, the succeeding road and the road inside the intersection. This allows the road surface inside the intersection to completely cover the entire intersection and achieve a complete connection with the road surface outside the intersection, avoiding the problem of gaps between the road surfaces inside the intersection and outside the intersection.

[0045] S5. Smoothing the preceding road and the succeeding road according to the elevation of the actual intersection surface.

[0046] That is, the elevation of the link points of the preceding and succeeding roads connected to the roads in the intersection is adjusted to keep them consistent with the elevation of the projection points on the actual intersection surface, and the preceding and succeeding roads are smoothed to avoid the problem of height difference between the road surface inside the intersection and the road surface outside the intersection.

[0047] The present invention prioritizes roads in an intersection, selects the road in the intersection with the highest priority as the true road in the intersection, and the road surface of the true road in the intersection is the true intersection surface; and obtains the link points between the predecessor road, the successor road and the road in the intersection of all roads in the intersection; projects the link points onto the true intersection surface, obtains the projection points of the link points on the true intersection surface, connects the projection points into a polygon, and the enclosed polygon is the true intersection surface; finally, smoothes the predecessor road and the successor road according to the elevation of the true intersection surface; thereby, the road surface in the intersection can completely cover the entire intersection and achieve complete connection with the road surface outside the intersection, avoiding the problem of gaps and height differences between the road surface in the intersection and the road surface outside the intersection; realizes rapid and automatic construction of the intersection surface, has high adaptability to different intersection scenes, and greatly reduces the time of intersection surface construction.

[0048] like Figure 3 As shown, the embodiment of the present invention also discloses a high-precision map data intersection surface construction system, which includes the following functional modules:

[0049] The road acquisition module 10 is used to extract the intersection identification information from the road data and determine the road within the intersection according to the intersection identification information;

[0050] An intersection face determination module 20 is configured to prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and select the road face of the true intersection road as the true intersection face;

[0051] A link point acquisition module 30 is used to acquire link points between the predecessor road, the successor road and the roads in the intersection for all roads in the intersection;

[0052] The intersection surface enclosing module 40 is used to project the link points onto the true intersection surface, obtain the projection points of the link points on the true intersection surface, connect the projection points into a polygon, and the enclosed polygon is the true intersection surface;

[0053] The smooth transition module 50 is used to smooth the preceding road and the succeeding road according to the elevation of the actual intersection surface.

[0054] The execution method of the high-precision map data intersection surface construction system in this embodiment is basically the same as the above-mentioned high-precision map data intersection surface construction method, so it will not be described in detail.

[0055] 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.

[0056] The memory can be used to store software programs and modules. The processor executes the various functional applications and data processing 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 an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the terminal (such as audio data, a phone book, etc.). 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 storage device.

[0057] An executable program for constructing a high-precision map data intersection surface is included in a memory. The executable program can be divided into one or more modules / units. The one or more modules / units are stored in the memory and executed by a 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 completing 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 an intersection road acquisition module 10, an intersection surface determination module 20, a link point acquisition module 30, an intersection surface enclosing module 40, and a smooth transition module 50.

[0058] 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.

[0059] 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 returns data 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.

[0060] 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.

[0061] In an embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a method for constructing a high-precision map data intersection surface, which includes the following steps:

[0062] Extracting intersection identification information from the road data, and determining the roads within the intersection based on the intersection identification information;

[0063] Prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and the road surface of the true intersection road as the true intersection surface;

[0064] Get the link points between the predecessor and successor roads of all roads in the intersection and the roads in the intersection;

[0065] Project the link point onto the true intersection surface, obtain the projection point of the link point on the true intersection surface, connect the projection points into a polygon, and the enclosed polygon is the true intersection surface;

[0066] The preceding and succeeding roads are smoothed according to the elevation of the actual intersection surface.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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 constructing a high-precision map data intersection surface, characterized in that: include: Extracting intersection identification information from the road data, and determining the roads within the intersection based on the intersection identification information; Prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and the road surface of the true intersection road as the true intersection surface; Get the link points between the predecessor and successor roads of all roads in the intersection and the roads in the intersection; Project the link point onto the true intersection surface, obtain the projection point of the link point on the true intersection surface, connect the projection points into a polygon, and the enclosed polygon is the true intersection surface; Smoothing the preceding and succeeding roads according to the elevation of the actual intersection surface; The priority sorting of the roads within the intersection and selecting the road within the intersection with the highest priority as the true value road within the intersection specifically includes: The roads in the intersection are prioritized by road type and elevation difference of the same type of roads. The road in the intersection with the highest priority is selected based on the comprehensive combination of road type priority and elevation difference priority of the same type of roads as the true value road in the intersection.

2. The method for constructing a high-precision map data intersection according to claim 1, characterized in that: Extracting intersection identification information from the road data, and determining the roads within the intersection according to the intersection identification information; Specifically include: Determine whether the road is an intersection road based on the attributes of the lane vector; Determine whether the roads in the intersection belong to the same intersection based on the topological relationship of the roads in the intersection; The roads belonging to the same intersection are organized into an intra-intersection road set.

3. The method for constructing a high-precision map data intersection according to claim 2, characterized in that: The determining whether the roads in the intersection belong to the same intersection can be performed based on the topological relationship of the roads in the intersection, specifically including: determining whether the roads in the intersection belong to the same intersection based on the predecessor topological relationship and the successor topological relationship of the roads in the intersection.

4. The method for constructing a high-precision map data intersection according to claim 1, characterized in that: The road type priority is straight road > left turn road > right turn road; the elevation difference priority of the same type of roads is based on the maximum height difference of the vector points of different roads of the same type of roads, and is prioritized from large to small.

5. The method for constructing a high-precision map data intersection according to claim 1, characterized in that: The step of obtaining the link points between the predecessor roads, the successor roads and the roads in the intersection of all roads in the intersection specifically includes: Obtain the predecessor and successor roads of all roads in the intersection based on the topological relationship of the roads in the intersection; Get the last point of the road vector of the predecessor road of all roads in the intersection, and the first point of the road vector of the successor road of all roads in the intersection.

6. The method for constructing a high-precision map data intersection according to claim 1, characterized in that: The smoothing of the preceding road and the succeeding road according to the elevation of the actual intersection surface specifically includes: Adjust the elevation of the link points of the preceding and succeeding roads connected to the roads in the intersection so that they are consistent with the elevation of the projection points on the actual intersection surface, and smooth the preceding and succeeding roads.

7. A high-precision map data intersection surface construction system, characterized in that: Includes the following functional modules: The road acquisition module within the intersection is used to extract the intersection identification information from the road data and determine the road within the intersection according to the intersection identification information of the road; An intersection face determination module is used to prioritize the roads within the intersection, select the road within the intersection with the highest priority as the true intersection road, and the road face of the true intersection road is the true intersection face; A link point acquisition module is used to obtain the link points between the predecessor and successor roads of all roads in the intersection and the roads in the intersection; The intersection surface enclosing module is used to project the link points onto the true intersection surface, obtain the projection points of the link points on the true intersection surface, and connect the projection points into a polygon. The enclosed polygon is the true intersection surface. Smooth transition module, used to smooth the preceding and succeeding roads according to the elevation of the actual intersection surface; The priority sorting of the roads within the intersection and selecting the road within the intersection with the highest priority as the true value road within the intersection specifically includes: The roads in the intersection are prioritized by road type and elevation difference of the same type of roads. The road in the intersection with the highest priority is selected based on the comprehensive combination of road type priority and elevation difference priority of the same type of roads as the true value road in the intersection.

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, the method for constructing a high-precision map data intersection surface as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for constructing a high-precision map data intersection surface as described in any one of claims 1 to 6 is implemented.

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