Road surface height solving method and device, electronic equipment and storage medium

Abstract

This application relates to a method, apparatus, electronic device, and storage medium for calculating road surface height. The method includes: acquiring lane lines; mapping lane line pixels to a first coordinate system to generate first coordinates; acquiring the next time-of-flight (RTK) point; calculating the distance between the next time-of-flight RTK point and the point containing the first coordinates to generate a deflection distance value; acquiring camera height data; processing the deflection distance value and the camera height data; and outputting the road surface height value. The solution provided in this application can replace the traditional method of calculating using the current time-of-flight RTK point and camera height data, thereby improving the accuracy of road surface height and thus improving the accuracy of the three-dimensional spatial coordinates of lane lines.

Description

Technical Field

[0001] This application relates to the field of high-precision map graphic data processing, and in particular to road surface height calculation methods, devices, electronic equipment and storage media. Background Technology

[0002] Lane line calculation refers to converting the coordinates of each pixel of the lane line in an image captured by a camera into latitude and longitude coordinates. During the calculation, a combination of a monocular camera and RTK equipment can be used to process the coordinates of each pixel, and finally, the accurate three-dimensional spatial coordinates of the lane line are calculated by combining the road surface height.

[0003] However, the current method of calculating road surface height involves processing data acquired by RTK equipment to obtain the road surface height at the vehicle's current location. Since the lane lines to be calculated, captured by the camera at the current moment, are some distance in front of the vehicle, and due to varying road surface smoothness, applying the obtained road surface height at the vehicle's current location to the lane line pixels in the current camera image results in a discrepancy between the calculated height and the actual road surface height, thus reducing the accuracy of the lane line's three-dimensional spatial coordinates. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides a road surface height calculation method, apparatus, electronic device, and storage medium, which can accurately calculate the road surface height, thereby improving the accuracy of the three-dimensional coordinates of lane lines.

[0005] The first aspect of this application provides a method for calculating road surface height, including: acquiring lane lines; mapping the lane line pixels to a first coordinate system to generate first coordinates; acquiring the next time step RTK point; calculating the distance between the next time step RTK point and the point where the first coordinates are located to generate a deflection distance value; acquiring camera height data; performing calculation processing on the deflection distance value and the camera height data; and outputting the road surface height value.

[0006] Obtaining the RTK point at the next time moment, calculating the distance between the RTK point at the next time moment and the first coordinate, and generating a deflection distance value includes: obtaining the RTK point at the current time moment, performing calculations on the RTK point at the current time moment and the RTK point at the next time moment, and outputting first angle data and real-time distance value; calculating the distance between the RTK point at the next time moment and the point where the first coordinate is located based on the first angle data and the real-time distance value, and generating the deflection distance value.

[0007] Acquiring camera height data, calculating and processing the deflection distance value and the camera height data, and outputting the road surface height value includes: mapping the deflection distance value to a second coordinate system to generate a functional relationship; acquiring second angle data, and outputting the road surface height value based on the second angle data and the functional relationship.

[0008] The method further includes: collecting the road surface height value, processing the road surface height value using a preset algorithm, and outputting the road surface height coordinates.

[0009] The second aspect of this application provides a lane line calculation method, which, based on the aforementioned road surface height calculation method, fits the road surface height value into a lane line surface image using a curve fitting algorithm.

[0010] A third aspect of this application provides a road surface height calculation device, including a mapping module for acquiring the pixel coordinates of lane lines, mapping the pixel coordinates to a first coordinate system to generate a first coordinate; an analysis module for acquiring the RTK point at the next time moment, calculating the distance between the RTK point at the next time moment and the first coordinate, and generating a deflection distance value; and an output module for acquiring camera height data, performing calculations and processing on the deflection distance value and the camera height data, and outputting a road surface height value.

[0011] The device also includes a calculation module for collecting the road surface height value, processing the road surface height value using a preset algorithm, and outputting the road surface height coordinates.

[0012] The analysis module is also used to obtain the RTK point at the current time, perform calculations on the RTK point at the current time and the RTK point at the next time, and output the first angle data and the real-time distance value; based on the first angle data and the real-time distance value, calculate the distance between the RTK point at the next time and the point where the first coordinate is located, and generate the deflection distance value.

[0013] The output module is also used to map the deflection distance value to a second coordinate system, generate a functional relationship, obtain second angle data, and output the road surface height value based on the second angle data and the functional relationship.

[0014] A fourth aspect of this application provides an electronic device, comprising:

[0015] Processor; and

[0016] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0017] A fifth aspect of this application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.

[0018] The technical solution provided in this application may include the following beneficial effects:

[0019] First, the lane lines are acquired, and their pixels are mapped to a first coordinate system to generate first coordinates. Then, the next-time RTK point is acquired, and the distance between the next-time RTK point and the point at the first coordinate system is calculated to generate a deflection distance value. Finally, camera height data is acquired, and the deflection distance value is processed in conjunction with the camera height data to output the road surface height value. Thus, by using the next-time RTK point and camera height data for calculation, instead of the traditional method of calculating using the current-time RTK point and camera height data, the accuracy of the road surface height is improved, thereby enhancing the accuracy of the lane line's three-dimensional spatial coordinates.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The above and other objects, features and advantages of this application will become more apparent from the following description of exemplary embodiments of this application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of this application.

[0022] Figure 1 This is a schematic flowchart illustrating the road surface height calculation method in an embodiment of this application;

[0023] Figure 2 This is another schematic flowchart illustrating the road surface height calculation method shown in the embodiments of this application;

[0024] Figure 3 This is a diagram illustrating the calculation method for the right-turn state of a vehicle using the road surface height calculation method shown in the embodiments of this application;

[0025] Figure 4 This is a diagram illustrating the calculation method for the straight-ahead state of a vehicle using the road surface height calculation method shown in the embodiments of this application;

[0026] Figure 5 This is a diagram illustrating another calculation method for the right-turn state of a vehicle, as shown in the road height calculation method of this application embodiment;

[0027] Figure 6 This is another schematic flowchart illustrating the road surface height calculation method shown in the embodiments of this application;

[0028] Figure 7This is another schematic flowchart illustrating the road surface height calculation method shown in the embodiments of this application;

[0029] Figure 8 This is a functional block diagram of the road surface height calculation device shown in the embodiments of this application.

[0030] Figure 9 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. Detailed Implementation

[0031] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0032] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0033] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0034] Please see Figure 1 A method for calculating road surface height, comprising:

[0035] Step S101: Obtain lane lines, map lane line pixels to the first coordinate system, and generate the first coordinates.

[0036] It should be noted that, firstly, the pixel coordinates of the lane lines are obtained. Then, the pixels are projected onto the Earth's horizontal plane. This is achieved by taking the inverse matrix of the camera's intrinsic parameters (x-pixel coordinates), connecting it to the camera's optical center, and mapping the intersection point of the ray with the Earth's horizontal plane onto a first coordinate system, forming multiple first coordinates. Here, the first coordinate system refers to a coordinate system where the Z-axis is in the same direction as the heading angle at the current RTK point, the Y-axis is perpendicular to the horizontal road surface pointing downwards, and the positive X-axis points to the right side of the vehicle and is perpendicular to both the Y-axis and Z-axis. This avoids complex calculation steps and simplifies the calculation process.

[0037] Step S102: Obtain the RTK point at the next time moment, calculate the distance between the RTK point at the next time moment and the point where the first coordinate is located, and generate the deflection distance value.

[0038] It should be noted that the RTK point at the next moment refers to the latitude and longitude coordinates of the RTK device at the next moment. Simultaneously, along with the RTK point, other RTK data such as the timestamp, heading angle, pitch angle, and roll angle at the next moment are also acquired. Based on this data, the distance between the RTK device's latitude and longitude coordinates at the next moment and the first coordinate is calculated to generate a deflection distance value. This deflection distance value refers to the distance between the RTK device's latitude and longitude coordinates and the first coordinate. Further, the specific calculation process is as follows: a perpendicular line is drawn from the first coordinate to the X-axis, obtaining a first straight line perpendicular to the X-axis. Then, based on the heading angle at the next moment, multiple second straight lines perpendicular to the heading angle at the next moment are obtained. Finally, the distance between the intersection points of these multiple second straight lines and the first straight line and the RTK device's latitude and longitude coordinates at the next moment is calculated; that is, the distance between the RTK device's latitude and longitude coordinates at the next moment and the first coordinate.

[0039] Step S103: Obtain camera height data, calculate and process the deflection distance value and camera height data, and output the road surface height value.

[0040] It should be noted that camera height data refers to the camera's horizontal plane height. This is obtained by adding the manually measured height difference between the camera and the RTK device to the RTK device's height above the Earth's horizontal plane. The road surface height value is then calculated using a function relating the camera height data to the deflection distance value.

[0041] Please see Figure 2 , Figure 2 This is another implementation of a road surface height calculation method. Figure 2 Compared to Figure 1 The scheme of this application is described in more detail.

[0042] Step S201: Obtain lane lines, map lane line pixels to the first coordinate system, and generate the first coordinates.

[0043] The description here can be found in S101, and will not be repeated here.

[0044] Step S202: Obtain the RTK point at the next time step and the RTK point at the current time step; perform calculations on the RTK point at the current time step and the RTK point at the next time step, and output the first angle data and the real-time distance value; based on the first angle data and the real-time distance value, calculate the distance between the RTK point at the next time step and the point where the first coordinate is located, and generate the deflection distance value.

[0045] It should be noted that the current RTK point refers to its latitude and longitude coordinates. Additionally, the system will acquire RTK data such as the current RTK device's timestamp, current heading angle, current pitch angle, and current roll angle. Furthermore, the first angle data includes the azimuth angle between the current and next RTK points, the angle between the line connecting the current and next RTK points and the Z-axis, and the angle between the heading angle of the current RTK point and the heading angle of the next RTK point. The time interval between the current and next moments is 30 seconds.

[0046] In one implementation, such as Figure 3 As shown, the car is turning right, and the first coordinate is located on the left side of the car. The point is the RTK point at the current time. The point is the RTK point for the next time step. d To determine the deflection distance, the azimuth angle between the current and next RTK devices is first calculated using the latitude and longitude coordinates of the RTK device at the current time and the next time. The direction of the Z-axis is the direction of the heading angle. By setting an unknown, let this heading angle be... , This can be obtained from the current RTK point, therefore Figure 3 The angle between the line connecting the current RTK point and the next RTK point and the Z-axis. Formula 1 can be used: The calculation can be obtained, but is not limited to, this formula. Further, based on the latitude and longitude coordinates of the current RTK point and the next RTK point, the distance between the two points can be calculated and defined as the first distance. Then, by setting an unknown variable, the perpendicular distance from the next RTK point to the first line is defined as the second distance. According to trigonometric relationships, the second distance is equal to the first distance multiplied by the included angle. The difference between the sine value and the distance from the first coordinate to the Z-axis, and further... Figure 3 In The angle between the heading angle at the current RTK point and the heading angle at the next RTK point is used. The deflection distance is then calculated using a functional relationship, i.e., by dividing the second distance by... The cosine value. See Formulas 2 and 3 for details:

[0047] (2)

[0048] (3)

[0049] in, d This is the deflection distance value. This represents the perpendicular distance from the RTK point to the Z-axis at the next moment. This is the angle between the heading angle at the current RTK point and the heading angle at the next RTK point. The angle between the line connecting the current RTK point and the next RTK point and the Z-axis. , This is the X-axis coordinate value of the first coordinate point.

[0050] In one implementation, such as Figure 4 In the diagram, point P1 is the current RTK point, and point P2 is the next RTK point. d The deflection distance value is obtained by keeping the vehicle in a straight line. The deflection distance value can be directly calculated from the deflection distance value.

[0051] In one implementation, such as Figure 5 In the diagram, point P1 is the current RTK point, and point P2 is the next RTK point. d The deflection distance is the value of the first coordinate when the car is turning right, and the first coordinate is on the right. It can be calculated using the following formula 4:

[0052] (4)

[0053] Formula 4 can be obtained by transforming the relationships:

[0054] in, d This is the deflection distance value. This represents the perpendicular distance from the RTK point to the Z-axis at the next moment. This is the angle between the heading angle at the current RTK point and the heading angle at the next RTK point. The angle between the line connecting the current RTK point and the next RTK point and the Z-axis. , This is the X-axis coordinate value of the first coordinate point.

[0055] In summary, combining Formula 4 above, we obtain Formula 5:

[0056] (5)

[0057] in, d This is the deflection distance value. This represents the perpendicular distance from the RTK point to the Z-axis at the next moment. This is the angle between the heading angle at the current RTK point and the heading angle at the next RTK point. The angle between the line connecting the current RTK point and the next RTK point and the Z-axis. , This is the X-axis coordinate value of the first coordinate point.

[0058] Step S203: Obtain camera height data, map the deflection distance value to the second coordinate system, generate a function relationship, obtain the second angle data, and calculate and process the deflection distance value and camera height data according to the function relationship and the second angle data to output the road surface height value.

[0059] It should be noted that the second angle data refers to the roll angle in the RTK equipment data at the next moment. Here, the X-axis of the second coordinate system is parallel to the horizontal ground, the Z-axis points in the heading direction, and the positive Y-axis is vertically upward. First, obtain the roll angle from the RTK equipment data at the next moment. Combining this with the deflection distance value in the second coordinate system and the principle of triangle similarity, the road surface height value is obtained using the following functional relationship, Equation 6:

[0060] (6)

[0061] in, h This is the road surface height value. For camera height data, The roll angle at the next RTK point. d This is the deflection distance value, such as Figure 6 As shown.

[0062] It should also be noted that the reason the deflection distance value and camera height data can form a triangle is because the hypotenuse of this triangle is the line connecting the camera's optical center and the point projected onto the horizontal plane. Since the camera's height above the ground is measured perpendicularly to the ground, and the RTK device is very close to the camera, the deflection distance value and camera height data can form two perpendicular sides of the triangle. Furthermore, the roll angle of the RTK point at the next moment can be understood as the tilt angle of the road surface.

[0063] Step S204: Collect road surface height values, process the road surface height values ​​using a preset algorithm, and output the road surface height coordinates.

[0064] It should be noted that the preset algorithm refers to interpolation, but is not limited to this algorithm. The calculated road surface height value is used to calculate a lane line height for the current point using the preset algorithm. This current point height is then substituted into formulas 7 and 8 to calculate the accurate coordinates of the current point. Since there are multiple pixel coordinates for the lane line, multiple road surface height values ​​will be obtained through the above process. Using interpolation, a relatively accurate lane line height for the current point can be obtained.

[0065] (7)

[0066] (8)

[0067] Where X and Y are the exact coordinates of the current point, x and y are the x and y coordinates of the current point, respectively. Figure 6 The x and y coordinate values ​​in the middle, This is the road surface height value. This is the camera height data.

[0068] Please see Figure 7 , Figure 7 This is another implementation of a road surface height calculation method. Figure 7 Compared to Figure 1 The scheme of this application is described in more detail.

[0069] Step S301: Obtain multiple lane lines, map the pixels of the multiple lane lines to the first coordinate system, and generate multiple first coordinates.

[0070] It should be noted that, firstly, the pixel coordinates of each lane line are obtained. Then, each pixel is projected onto the Earth's horizontal plane. That is, the intersection of the ray formed by the inverse matrix x-pixel coordinates of the camera's intrinsic parameters, through the line connecting it to the camera's optical center, and the Earth's horizontal plane is mapped onto a first coordinate system, forming multiple first coordinates. Here, the first coordinate system refers to a coordinate system where the Z-axis is in the same direction as the heading angle at the current RTK point, the Y-axis is perpendicular to the horizontal road surface pointing downwards, and the positive X-axis points to the right side of the vehicle and is perpendicular to the Y-axis and Z-axis. This avoids complex calculation steps and simplifies the calculation process.

[0071] Step S302: Obtain the RTK point at the next time moment, calculate the distance between each first coordinate point and the RTK point at the next time moment, and generate multiple deflection distance values.

[0072] It should be noted that multiple distances from the first coordinate to the RTK point at the next time step are calculated separately to obtain multiple deflection distance values. The specific calculation method can be found in the description of step S202. It will not be repeated here.

[0073] Step S303: Obtain camera height data, and calculate and process the multiple deflection distance values ​​one by one with the camera height data to generate multiple road surface height values ​​to be measured.

[0074] It should be noted that multiple deflection distance values ​​are calculated and processed to correspond one-to-one with camera height data, generating multiple road surface height values ​​to be measured. The specific calculation method can be found in the description of step S203, and will not be repeated here.

[0075] Step S304: Extract multiple first coordinates, and combine them one by one with the height values ​​of each road surface to be measured to output multiple height coordinates to be processed.

[0076] It should be noted that the Z coordinate in the first coordinate is extracted as the horizontal coordinate, and the height values ​​of each road surface to be measured are used as the vertical coordinate, forming multiple height coordinates to be processed.

[0077] Step S305: Perform optimization algorithm processing on each height coordinate to be processed, and output the road surface height value.

[0078] It should be noted that the optimization algorithm refers to the least squares method, but is not limited to it. Multiple elevation coordinates to be processed are fitted into a curve using the least squares method. Since the multiple elevation coordinates lie on the fitted curve, an accurate road surface elevation value is obtained, reducing calculation errors.

[0079] To address the aforementioned issues, this application provides a method for calculating road surface height. First, the pixel coordinates of the lane lines are obtained and mapped to a first coordinate system to generate first coordinates. Then, the RTK point at the next time step is obtained, and the distance between the RTK point at the next time step and the first coordinates is calculated to generate a deflection distance value. Finally, camera height data is obtained, and the deflection distance value and camera height data are processed together to calculate and output the road surface height value. Thus, by using the RTK point at the next time step and camera height data for calculation, the traditional method of calculating using the RTK point at the current time step and camera height data is replaced, thereby improving the accuracy of the road surface height and consequently improving the accuracy of the three-dimensional spatial coordinates of the lane lines.

[0080] Furthermore, a lane line calculation method, based on the aforementioned road surface height calculation method, fits the road surface height value into a lane line surface image using a curve fitting algorithm.

[0081] It should be noted that the curve fitting algorithm can be the least squares method. Since multiple road surface height values ​​will be calculated in the above steps, the curve fitting algorithm will fit the multiple road surface height values ​​into the surface of the lane lines in the high-precision map.

[0082] Corresponding to the aforementioned application function implementation method embodiments, this application also provides a road surface height calculation device, electronic device, and corresponding embodiments.

[0083] Figure 8 This is a schematic diagram of the road surface height calculation device shown in the embodiments of this application.

[0084] See Figure 8 A road surface height calculation device includes a mapping module 100, an analysis module 200, and an output module 300. The mapping module 100 is used to acquire the pixel coordinates of the lane lines, map the pixel coordinates to a first coordinate system, and generate a first coordinate. The analysis module 200 is used to acquire the RTK point at the next time step, calculate the distance between the RTK point at the next time step and the first coordinate, and generate a deflection distance value. The output module 300 is used to acquire camera height data, calculate and process the deflection distance value and the camera height data, and output the road surface height value.

[0085] Furthermore, in one embodiment, the road surface height calculation device further includes a calculation module 400, which is used to collect road surface height values, process the road surface height values ​​using a preset algorithm, and output road surface height coordinates.

[0086] The analysis module 200 is also used to obtain the RTK point at the current time, perform calculations on the RTK point at the current time and the RTK point at the next time, and output the first angle data and real-time distance value; based on the first angle data and real-time distance value, calculate the distance between the RTK point at the next time and the first coordinate, and generate the deflection distance value.

[0087] Furthermore, in one embodiment, the output module 300 is also used to map the deflection distance value to the second coordinate system, generate a functional relationship, obtain second angle data, and output the road surface height value based on the second angle data and the functional relationship.

[0088] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0089] Figure 9 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.

[0090] See Figure 9 The electronic device 1000 includes a memory 1010 and a processor 1020.

[0091] The processor 1020 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0092] Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0093] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.

[0094] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0095] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.

[0096] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for calculating road surface height, characterized in that, include: Obtain the lane lines, map the lane line pixels to the first coordinate system, and generate the first coordinates; The process involves: acquiring the RTK point at the next time step, calculating the distance between the RTK point at the next time step and the point where the first coordinate is located, and generating a deflection distance value; wherein the process includes: acquiring the RTK point at the current time step and the RTK point at the next time step, performing calculations on the RTK point at the current time step and the RTK point at the next time step, and outputting first angle data and a real-time distance value; calculating the distance between the RTK point at the next time step and the point where the first coordinate is located based on the first angle data and the real-time distance value, and generating the deflection distance value; wherein the first angle data includes: the azimuth angle between the RTK point at the current time step and the RTK point at the next time step, the angle between the line connecting the RTK point at the current time step and the RTK point at the next time step and the Z-axis of the first coordinate system, and the angle between the heading angle of the RTK point at the current time step and the heading angle of the RTK point at the next time step; Acquire camera height data, calculate and process the deflection distance value and the camera height data, and output the road surface height value; wherein, the process includes: mapping the deflection distance value to a second coordinate system to generate a functional relationship; acquiring second angle data, and outputting the road surface height value based on the second angle data and the functional relationship; wherein, the second angle data includes: the roll angle in the RTK device data at the next moment; the functional relationship represents the calculation relationship between the deflection distance value and the camera height data.

2. The method for calculating road surface height according to claim 1, characterized in that: The method further includes: The road surface height value is collected, processed by a preset algorithm, and the road surface height coordinates are output.

3. A lane line calculation method, based on a road surface height calculation method as described in claim 1 or 2, characterized in that: The road surface height value is fitted into a lane line surface image using a curve fitting algorithm.

4. A road surface height calculation device, characterized in that, include: The mapping module is used to obtain the pixel coordinates of the lane lines, map the pixel coordinates to the first coordinate system, and generate the first coordinates. The analysis module is used to acquire the RTK point at the next time moment, calculate the distance between the RTK point at the next time moment and the first coordinate, and generate a deflection distance value. This includes: acquiring the RTK point at the current time moment and the RTK point at the next time moment; performing calculations on the RTK point at the current time moment and the RTK point at the next time moment to output first angle data and a real-time distance value; calculating the distance between the RTK point at the next time moment and the point where the first coordinate is located based on the first angle data and the real-time distance value, and generating the deflection distance value. The first angle data includes: the azimuth angle between the RTK point at the current time moment and the RTK point at the next time moment, the angle between the line connecting the RTK point at the current time moment and the RTK point at the next time moment and the Z-axis of the first coordinate system, and the angle between the heading angle of the RTK point at the current time moment and the heading angle of the RTK point at the next time moment. An output module is used to acquire camera height data, calculate and process the deflection distance value and the camera height data, and output a road surface height value; wherein, the module includes: mapping the deflection distance value to a second coordinate system to generate a functional relationship; acquiring second angle data, and outputting the road surface height value based on the second angle data and the functional relationship; wherein, the second angle data includes: the roll angle in the RTK device data at the next moment; the functional relationship represents the calculation relationship between the deflection distance value and the camera height data.

5. The road surface height calculation device according to claim 4, characterized in that, The device also includes a calculation module for collecting the road surface height value, processing the road surface height value using a preset algorithm, and outputting the road surface height coordinates.

6. An electronic device, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-3.

7. A computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method as described in any one of claims 1-3.

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