A method and device for generating accurate intersections based on crowdsourcing trajectories and road surface elements

Abstract

The present invention relates to a method and device for generating an accurate intersection based on crowdsourced trajectories and road surface elements. The method comprises: obtaining original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators; linearizing the road surface element data and merging them into road separation data; dividing the original trajectory data into two or more groups according to the road separation data, and generating road skeleton lines according to the divided trajectory data; generating effective road divergence and confluence points according to the road skeleton lines, and generating an initial intersection according to the divergence and confluence points; moving the initial intersection position to the top of the guide strip, optimizing the intersection position, and generating an accurate intersection. The present invention can improve the accuracy of the intersection range by using some ground elements such as stop lines, road isolation guardrails, road curbs, guide strips, rods, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision map production, and in particular to a method and device for generating accurate intersections based on crowdsourcing trajectories and road surface elements. Background Art

[0002] For the raw trajectory data collected by crowdsourcing, intersections can be extracted based on the pure trajectory. However, this is only a result generated based on the trend of trajectory divergence and convergence. There will be a certain gap between this result and the true value of the intersection. For example, only when the angle or distance of the trajectory changes by a certain threshold can it be determined that there is an intersection at that location. The actual range of the intersection cannot be determined from the trajectory alone. Summary of the Invention

[0003] In response to the technical problems existing in the prior art, the present invention provides a method and device for generating accurate intersections based on crowdsourcing trajectories and road surface elements. With the help of some ground elements such as stop lines, road isolation guardrails, road curbs, guide strips, poles, etc., the accuracy of the intersection range can be improved.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] In a first aspect, the present invention provides a method for generating accurate intersections based on crowdsourced trajectories and road surface elements, comprising:

[0006] Obtaining original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators;

[0007] performing linearization processing on the road surface element data and merging the data into road isolation data;

[0008] Dividing the original trajectory data into two or more groups according to the road isolation data, and generating road skeleton lines according to the divided trajectory data;

[0009] Generating effective road divergence and confluence points according to the road skeleton line, and generating an initial intersection according to the divergence and confluence points;

[0010] Move the initial intersection position to the top of the guide strip, optimize the intersection position, and generate an accurate intersection.

[0011] Furthermore, the road surface feature data is linearized and merged into road isolation data, including:

[0012] According to the shape of the guide belt, the central representative line segment is extracted to replace the guide belt;

[0013] Obtaining ground point data of the location of the rod, taking point data within a preset threshold range from the ground point data and connecting it with the ground point data to form a line segment to replace the rod;

[0014] The road isolation objects include road isolation guardrails and road curbs. The guide strip replacement line segments and rod replacement line segments are merged with the road isolation guardrail and road curb representative line segments to obtain the road isolation data.

[0015] Furthermore, the method further includes pre-processing the road isolation data, including:

[0016] filtering abnormal data in the road isolation data;

[0017] Determining the direction of the road isolation data according to the direction of the adjacent trajectory data;

[0018] For line segments in the road isolation data that are shorter than a preset length, they are connected to line segments within a preset distance range.

[0019] Furthermore, it also includes:

[0020] Obtain the road stop line data, divide the area within the specified range on the side of the stop line close to the intersection into the intersection, and cut off the area on the side of the stop line away from the intersection so that the intersection area coincides with the stop line position.

[0021] Furthermore, the aforementioned process of moving the initial intersection position to the top of the guide strip, optimizing the intersection position, and generating an accurate intersection includes:

[0022] According to the intersection position, the diverging intersection contained in the initial intersection is moved to the head end of the guide strip, and the merging intersection contained in the initial intersection is moved to the tail end of the guide strip.

[0023] In a second aspect, the present invention further provides a device for generating accurate intersections based on crowdsourced trajectories and road surface elements, comprising:

[0024] A data acquisition module, which acquires original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators;

[0025] A data processing module performs linearization processing on the road surface element data and merges them into road isolation data;

[0026] a skeleton line generation module, which divides the original trajectory data into two or more groups according to the road isolation data, and generates road skeleton lines according to the divided trajectory data;

[0027] An initial intersection generation module generates valid road divergence and confluence points based on the road skeleton line, and generates an initial intersection based on the divergence and confluence points;

[0028] The intersection optimization module moves the initial intersection position to the top of the guide strip, optimizes the intersection position, and generates an accurate intersection.

[0029] Furthermore, the data processing module is specifically used to:

[0030] According to the shape of the guide belt, the central representative line segment is extracted to replace the guide belt;

[0031] Obtaining ground point data of the location of the rod, taking point data within a preset threshold range from the ground point data and connecting it with the ground point data to form a line segment to replace the rod;

[0032] The road isolation objects include road isolation guardrails and road curbs. The guide strip replacement line segments and rod replacement line segments are merged with the road isolation guardrail and road curb representative line segments to obtain the road isolation data.

[0033] Furthermore, it also includes a preprocessing module for preprocessing the road isolation data, and the preprocessing includes: filtering abnormal data in the road isolation data; determining the direction of the road isolation data according to the direction of adjacent trajectory data; and connecting line segments in the road isolation data that are less than a preset length with line segments within a preset distance range.

[0034] In a third aspect, the present invention provides an electronic device, comprising:

[0035] Memory for storing computer software programs;

[0036] The processor is used to read and execute the computer software program, thereby implementing the method for generating accurate intersections based on crowdsourced trajectories and road surface elements as described in the first aspect of the present invention.

[0037] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, in which a computer software program is stored. When the computer software program is executed by a processor, it implements the method for generating accurate intersections based on crowdsourcing trajectories and road surface elements described in the first aspect of the present invention.

[0038] The beneficial effect of the present invention is that after obtaining the original trajectory and ground elements, the present invention first pre-processes the ground elements. Since there are many ground elements and they are in different forms, in order to have a unified entrance, the guide strip (polygonal shape) and the rod (with height, but the points actually used here are on the ground) are first linearized and extracted into linear shapes, and then merged with the road isolation guardrail (linear) and the road curb (linear) to be uniformly regarded as road isolation data of the road surface, and then the road isolation data is introduced into the generated road skeleton line, which can improve the accuracy of the road divergence and confluence points, and thus improve the accuracy of the intersection position. For the other two road elements, the guide strip and the stop line, the intersection on the guide strip will be further moved to the starting end of the guide strip according to the position of the guide strip. Finally, the size range of the intersection is corrected according to the position of the stop line, which further ensures the accuracy of the intersection. Unified linearization of most road surface elements can simplify the use of data. At the same time, this unified entrance leaves a large space for the subsequent access of other road surface elements. The personalized use of some ground elements, such as guide strips and stop lines, is retained to make full use of these elements to improve the accuracy of intersections. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a method for generating accurate intersections based on crowdsourced trajectories and road surface elements is provided for an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the structure of a device for generating accurate intersections based on crowdsourced trajectories and road surface elements is provided for an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of an electronic device according to an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0044] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0045] In the description of this application, the term "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any person skilled in the art to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art will recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0046] like Figure 1 As shown, an embodiment of the present invention provides a method for generating accurate intersections based on crowdsourced trajectories and road surface elements, comprising the following steps:

[0047] 1. Read original trajectory and ground feature data;

[0048] 2. Linearization of ground feature data:

[0049] a) Guide band: The guide band is a regional data. To linearize it, it is necessary to extract the central representative line segment based on the shape of the guide band to replace the guide band.

[0050] b) Rod: Rods use their point data on the ground. If you need to extract line data, you need to connect the point data within a certain threshold near the rod into a line.

[0051] c) Road isolation data: Merge the processed data of the above guide strips and poles with the road isolation guardrails and road curbs;

[0052] d) Road isolation data preprocessing: Since the obtained road isolation data may have inaccurate direction, abnormal shape, incompleteness, etc., preprocessing is required. First, abnormal road isolation data, such as data that intersects with trajectories, is filtered out. Second, the correct direction of the road isolation data is calculated based on nearby trajectories. Finally, if the road isolation data is incomplete, a certain direction can be connected with the line segments within the distance threshold to obtain a relatively complete road isolation line segment.

[0053] 3. Generate a road skeleton line. A weighted value is calculated for each trajectory point on the same road. Based on the calculated weighted value, each trajectory point is offset perpendicular to the direction of travel. Through iteration, scattered trajectories are aggregated to form a road skeleton line with similar distribution widths. Road segmentation data is introduced during the skeleton line generation process, and trajectories are divided into two or more categories based on the position of the segmentation line. This results in two or more road skeleton lines.

[0054] 4. Generate intersections: Based on the connectivity of skeleton lines and trajectories, the divergence and confluence points of the road can be obtained. After obtaining the partitioned confluence points, the initial intersection can be generated based on the location of the divergence and confluence points, the divergence and confluence labels, and the nearby trajectories.

[0055] 5. Optimize the intersection position based on the guide strip: According to the intersection position, move the diverging intersection contained in the initial intersection to the head end of the guide strip, and move the merging intersection contained in the initial intersection to the tail end of the guide strip.

[0056] 6. Correct the intersection range based on the stop line: include the area within a certain range in front of the stop line into the intersection, and cut off the area behind the stop line. This ensures that the intersection range and the stop line position are consistent.

[0057] like Figure 2 As shown, an embodiment of the present invention further provides a device for generating accurate intersections based on crowdsourced trajectories and road surface elements, comprising:

[0058] A data acquisition module, which acquires original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators;

[0059] A data processing module performs linearization processing on the road surface element data and merges them into road isolation data;

[0060] a skeleton line generation module, which divides the original trajectory data into two or more groups according to the road isolation data, and generates road skeleton lines according to the divided trajectory data;

[0061] An initial intersection generation module generates valid road divergence and confluence points based on the road skeleton line, and generates an initial intersection based on the divergence and confluence points;

[0062] The intersection optimization module moves the initial intersection position to the top of the guide strip, optimizes the intersection position, and generates an accurate intersection.

[0063] Furthermore, the data processing module is specifically used to:

[0064] According to the shape of the guide belt, the central representative line segment is extracted to replace the guide belt;

[0065] Obtaining ground point data of the location of the rod, taking point data within a preset threshold range from the ground point data and connecting it with the ground point data to form a line segment to replace the rod;

[0066] The road isolation objects include road isolation guardrails and road curbs. The guide strip replacement line segments and rod replacement line segments are merged with the road isolation guardrail and road curb representative line segments to obtain the road isolation data.

[0067] Furthermore, it also includes a preprocessing module for preprocessing the road isolation data, and the preprocessing includes: filtering abnormal data in the road isolation data; determining the direction of the road isolation data according to the direction of adjacent trajectory data; and connecting line segments in the road isolation data that are less than a preset length with line segments within a preset distance range.

[0068] See also Figure 3 , Figure 3 Schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented:

[0069] Obtaining original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators;

[0070] performing linearization processing on the road surface element data and merging the data into road isolation data;

[0071] Dividing the original trajectory data into two or more groups according to the road isolation data, and generating road skeleton lines according to the divided trajectory data;

[0072] Generating effective road divergence and confluence points according to the road skeleton line, and generating an initial intersection according to the divergence and confluence points;

[0073] Move the initial intersection position to the top of the guide strip, optimize the intersection position, and generate an accurate intersection.

[0074] See also Figure 4 , Figure 4 Schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. Figure 4 As shown, this embodiment provides a computer-readable storage medium 600 on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented:

[0075] Obtaining original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators;

[0076] performing linearization processing on the road surface element data and merging the data into road isolation data;

[0077] Dividing the original trajectory data into two or more groups according to the road isolation data, and generating road skeleton lines according to the divided trajectory data;

[0078] Generating effective road divergence and confluence points according to the road skeleton line, and generating an initial intersection according to the divergence and confluence points;

[0079] Move the initial intersection position to the top of the guide strip, optimize the intersection position, and generate an accurate intersection.

[0080] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0081] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1The function specified in one or more boxes.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0085] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0086] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for generating accurate intersections based on crowdsourced trajectories and road surface elements, characterized in that: include: Obtaining original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators; performing linearization processing on the road surface element data and merging the data into road isolation data; Dividing the original trajectory data into two or more groups according to the road isolation data, and generating road skeleton lines according to the divided trajectory data; Generating effective road divergence and confluence points according to the road skeleton line, and generating an initial intersection according to the divergence and confluence points; Move the initial intersection position to the top of the guide strip, optimize the intersection position, and generate an accurate intersection.

2. The method according to claim 1, characterized in that The road surface feature data is linearized and merged into road isolation data, including: According to the shape of the guide belt, the central representative line segment is extracted to replace the guide belt; Obtaining ground point data of the location of the rod, taking point data within a preset threshold range from the ground point data and connecting it with the ground point data to form a line segment to replace the rod; The road isolation objects include road isolation guardrails and road curbs. The guide strip replacement line segments and rod replacement line segments are merged with the road isolation guardrail and road curb representative line segments to obtain the road isolation data.

3. The method according to claim 2, characterized in that The method further includes pre-processing the road isolation data, including: filtering abnormal data in the road isolation data; Determining the direction of the road isolation data according to the direction of the adjacent trajectory data; For line segments in the road isolation data that are shorter than a preset length, they are connected to line segments within a preset distance range.

4. The method according to claim 1, wherein Also includes: Obtain the road stop line data, divide the area within the specified range on the side of the stop line close to the intersection into the intersection, and cut off the area on the side of the stop line away from the intersection so that the intersection area coincides with the stop line position.

5. The method according to claim 1, characterized in that The aforementioned process of moving the initial intersection position to the top of the guide strip, optimizing the intersection position, and generating an accurate intersection includes: According to the intersection position, the diverging intersection contained in the initial intersection is moved to the head end of the guide strip, and the merging intersection contained in the initial intersection is moved to the tail end of the guide strip.

6. A device for generating accurate intersections based on crowdsourced trajectories and road surface elements, characterized in that: include: A data acquisition module, which acquires original trajectory data and road surface element data, wherein the road surface element data includes guide strips, rods, and road separators; A data processing module performs linearization processing on the road surface element data and merges them into road isolation data; a skeleton line generation module, which divides the original trajectory data into two or more groups according to the road isolation data, and generates road skeleton lines according to the divided trajectory data; An initial intersection generation module generates valid road divergence and confluence points based on the road skeleton line, and generates an initial intersection based on the divergence and confluence points; The intersection optimization module moves the initial intersection position to the top of the guide strip, optimizes the intersection position, and generates an accurate intersection.

7. The device according to claim 6, characterized in that The data processing module is specifically used to: According to the shape of the guide belt, the central representative line segment is extracted to replace the guide belt; Obtaining ground point data of the location of the rod, taking point data within a preset threshold range from the ground point data and connecting it with the ground point data to form a line segment to replace the rod; The road isolation objects include road isolation guardrails and road curbs. The guide strip replacement line segments and rod replacement line segments are merged with the road isolation guardrail and road curb representative line segments to obtain the road isolation data.

8. The device according to claim 7, characterized in that It also includes a preprocessing module for preprocessing the road isolation data, wherein the preprocessing includes: filtering abnormal data in the road isolation data; determining the direction of the road isolation data based on the direction of adjacent trajectory data; and connecting line segments in the road isolation data that are less than a preset length with line segments within a preset distance range.

9. An electronic device, characterized in that: include: Memory for storing computer software programs; A processor is used to read and execute the computer software program, thereby implementing the method of generating accurate intersections based on crowdsourced trajectories and road surface elements as described in any one of claims 1 to 5.

10. A non-transitory computer-readable storage medium, characterized in that The storage medium stores a computer software program, which, when executed by a processor, implements a method for generating accurate intersections based on crowdsourced trajectories and road surface elements as described in any one of claims 1 to 5.

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