Road surface identification vector graph generation method and device

Abstract

The invention discloses a pavement identification vector graph generation method and device, and solves the problems that in the prior art, the workload of drawing a pavement identification vector graph is large, and the pavement identification vector graph is affected by incomplete collection of pavement identification point clouds. The pavement identifier vector graph generation method is used for generating a high-precision map containing pavement identifiers based on point cloud data, and comprises the following steps: obtaining point cloud data of a target road and attributes of the pavement identifiers on the target road; the attribute corresponds to a preset display graph; in response to GUI positioning, capturing the point cloud data points, and determining position information of the road surface identifier on the target road; and calling symbol data representing the preset display graph, and generating the preset display graph in a high-precision map according to the position information. The invention further comprises a device for implementing the method. According to the invention, the efficiency and accuracy of high-precision map data production can be improved.

Description

Technical Field

[0001] The present application relates to the field of map and graphics processing technology, and in particular to a method and device for generating road sign vector graphics. Background Art

[0002] With the development of intelligent driving technology, the demand for navigation electronic maps continues to increase, which has led to the development of a high-precision map for autonomous or semi-autonomous driving, generally called a high-precision map. For example, a high-precision navigation electronic map of a road contains the geometry, attributes and relationships of the road network, lane network, road markings and road facilities, supports the access of dynamic road data, assists the autonomous intelligent movement of road vehicles and the refined management of road traffic, and is a sub-map or data set that can be used in conjunction with a general navigation electronic map. As a priori data serving autonomous driving, if real-time and dynamic data are not considered, it expresses map elements such as roads, lanes, roadside traffic signs and road surface markings, and its geometric accuracy can be down to the centimeter level. And this is only its geometric accuracy. If we want to bring better predictions to intelligent driving, when only considering static data, we also need to predict a lot of road and roadside sign information in advance. In addition to adding a large amount of plane and facade element collection work, we also need to fill in complex semantic information. The production of high-precision map data is mainly based on the results of vehicle-mounted point cloud data. Although the collection accuracy and coverage of point cloud data are already very high when it is produced, and there are also related software and hardware equipment for automatic collection or recognition, the complexity, clarity, and standardization of real roads will cause great interference to the original point cloud data results and the automatic collection and recognition based on this. It cannot be completely dependent on automation, or it cannot be solved by automated tools at all. However, completely manual collection is very inefficient, and the timeliness of high-precision map data must be guaranteed. It is conceivable that road sign arrows are available at almost every intersection, and there are even many of them. If they are all drawn manually, the efficiency is extremely low. Some applications have reduced the expression requirements for the shape of the arrows, and only require the circumscribed rectangle of the arrows, but they are still drawn manually one by one, and the workload is still very large. This work is regular and frequent, and the cost of investment is very high. High-precision map data is crucial in intelligent driving technology. Therefore, how to ensure the accuracy of the data and improve the collection efficiency becomes a key issue. Summary of the invention

[0003] The present application proposes a method and device for generating road sign vector graphics, which solves the problem that the existing technology of drawing road sign vector graphics is labor-intensive and the accuracy of road sign attribute information is affected by incomplete road sign point cloud collection.

[0004] In a first aspect, an embodiment of the present application provides a method for generating a road surface marking vector graphics, which is used to generate a high-precision map containing road surface markings based on point cloud data, comprising: Acquire point cloud data of a target road and attributes of road surface markings on the target road; the attributes correspond to preset display graphics; In response to the GUI positioning and capturing the point cloud data points, determining the position information of the road surface marking on the target road; The symbol data representing the preset display graphic is retrieved, and the preset display graphic is generated in the high-precision map according to the location information.

[0005] In one of the embodiments, a circumscribed rectangle of a road surface mark is determined according to the point cloud data as the position information, and the circumscribed rectangle is filled with the display graphic.

[0006] In one of the embodiments, a positioning point of a road surface mark is determined according to the point cloud data point as the position information.

[0007] In one embodiment, determining the position information of the road surface marking on the target road further comprises the steps of: Acquire lane information of a target road; the lane information includes the number of lanes and the lane spacing; The corresponding number of position information is determined according to the number of lanes, and the spacing of the position information is determined according to the lane spacing.

[0008] In one of the embodiments, in response to the road surface being marked as a preset arrow pattern, the method further comprises the steps of: Determine the direction of travel of a target road or a single lane in a target road; The arrow pattern is drawn in a direction consistent with the traveling direction of the target road or a single lane in the target road.

[0009] In one embodiment, the method further comprises the steps of: In response to the target road including a plurality of lanes, determining a plurality of display graphics corresponding to the number of lanes as a display graphic group; The display graphics group is generated according to the position information.

[0010] In one of the embodiments, the data of the display graphics is represented as a point symbol or a surface symbol; the data cluster of the point symbol or the surface symbol includes a graphic element combination, a graphic element position and display attribute value, a symbol size attribute value, and a symbol position attribute value.

[0011] In one embodiment, the display graphic constitutes one road surface mark, or the display graphic constitutes a plurality of road surface marks arranged perpendicular to the traveling direction of the road surface.

[0012] In one of the embodiments, a symbol data cluster associated with the location information is generated in a data set of a high-precision map, and the symbol data cluster includes data representing the preset display graphic.

[0013] In the second aspect, the embodiments of the present application further provide a road surface marking vector graphics generation device, which is used to implement the high-precision map road surface marking vector graphics generation method based on point cloud data described in any one of the embodiments of the first aspect, comprising: an acquisition module, which is used to acquire the point cloud data of the target road and the attributes of the road surface markings on the target road. A determination module, which is used to determine the position information of the road surface markings on the target road or determine the preset position information. A generation module, which is used to generate the preset display graphics in the high-precision map according to the position information.

[0014] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any one of the embodiments of the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any one of the embodiments of the first aspect when executing the computer program.

[0016] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: This application is able to accommodate some of the issues with its data and perform specific processing on road signs, and accurately determine the position of road signs without being affected by ground debris, thus enabling convenient drawing of traffic elements, improving the efficiency and accuracy of data collection and production, and significantly improving the efficiency of high-precision map data production, thereby ensuring the current demand for high-precision maps in intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of a commercial server system for the application scenario of this application; Figure 2 A road marking representation of a high-precision map of the prior art; Figure 3 This is a flow chart of a method for generating a road surface marking vector graphic according to an embodiment of the present application; Figure 4 This is a schematic diagram of a road marking arrow according to an embodiment of the present application; Figure 5 This is a flow chart of another method for generating vector graphics of road markings according to an embodiment of the present application; Figure 6 This is a flow chart of another method for generating vector graphics of road markings according to an embodiment of the present application; Figure 7 A schematic diagram of the positioning points and point symbol positioning of the display graphics of the road surface marking; Figure 8 This is a schematic diagram of the surface symbol being positioned through three points; Fig. 9 A schematic diagram of the positioning of a display graphic group preset for a group of road markings; Fig.10 This is a structural diagram of the lane line vector graphics generating device according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0019] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0020] Figure 1 The commercial server system schematic diagram of the application scenario of this application includes: a laser radar 500, a road point cloud database 510, a point cloud data processor 520, a GUI operation interface and operation terminal 530, an on-board application terminal 540, at least one result map data set 550, and a navigation or automatic driving server 560.

[0021] In the present application, the vector graphics data of the road signs are generated by the point cloud data processor 520, and a code is set for each type of road sign graphic to represent the type of road sign-like features in the high-precision map data. The vehicle-mounted application terminal 540 of the intelligent driving device retrieves its geometric information and some attribute information assigned to it at the spatial position, that is, a set of coordinate points and a set of attributes. The set of coordinate points includes the three-dimensional coordinates (XYZ) of each node, reflecting the terrain undulations and slopes. The attribute information includes some spatial topological relationships and association relationships, which represent the adjacent relationship of the drawn lines plus other attribute information. In the result map data set 550, these vector graphics data are stored through layers, each type of data belongs to a layer, and each layer has some attribute information. For cars, the vehicle-mounted application terminal must identify these data through specific layers.

[0022] Geometric information and attribute information are static data used to describe the road signs, and intelligent driving is based on these static data. Features such as road equipment and sign information, such as the height, instructions, and warnings of the signs, are entered into the attributes. The intelligent driving system makes predictions based on the attribute values, such as displaying the arrow mark at the intersection in advance and the left turn sign in advance. As long as there is a correlation with the position of the left turn sign, the system will directly warn how many meters ahead you can turn left.

[0023] The on-board laser radar 500 scans the road to generate road point cloud data, and the point cloud data processor generates point cloud data results, which are stored in the road point cloud database 510. The navigation or automatic driving server 560 is used to generate the map displayed during vehicle navigation, and then provide navigation services or automatic driving services on the displayed map. The map displayed in real time during navigation on the road is a superposition of vector graphics data and map by location. The road data used for navigation and other topographic map data are displayed as its background data to the specific location, and the maps on both sides of the road can also be displayed.

[0024] Figure 2 The road markings of the high-precision map of the prior art are represented by a rectangular box in the lane. In the internal data structure, the geometric information is the vector graphics data of the rectangular box, and the attribute information includes the meaning of the road markings. For example, the attribute information of a surface graphic is "left turn plus U-turn", and its graphic can be a rectangular surface. Or, a point symbol, the attribute information includes features such as "left turn", "left turn plus U-turn" or "straight go plus left turn", that is, its use information is stored in the attribute.

[0025] like Figure 2 As shown, the existing technology for drawing road markings does not require arrow graphics to represent road markings in the field of high-precision maps. When production personnel draw maps, they only need to draw the circumscribed rectangular frame 21 of the road marking. The method of drawing the rectangular frame can be to manually draw a frame in the GUI based on the road marking image displayed in the point cloud image, or to automatically identify the road marking image in the point cloud data to generate a circumscribed rectangle. If the circumscribed rectangle is drawn manually and depicted one by one according to the point cloud image, the production efficiency is very low, and the operation results are irregular, even the same mark has different sizes. The circumscribed rectangle of the arrow is obtained with the help of a point cloud recognition tool, but because the point cloud is not clear due to age, occlusion, etc., the automatic recognition success rate is low, and the recognition results of the same mark have different sizes.

[0026] In addition, the existing production method is to draw a rectangular frame and then fill in the attributes. Whether it is manual framing or automatic recognition, attribute information is assigned after generating geometric information, which requires a lot of operation work.

[0027] High-precision maps attach great importance to attribute information. If the attributes are filled in manually after the rectangular frame is generated, it will be impossible to directly identify the consistency between the attribute value and the true value of the point cloud in the event of an operation error.

[0028] The method described in this application mainly realizes rapid collection based on the vehicle-mounted point cloud data results, determines the attribute information of the road sign, retrieves the preset display graphics, locates the road sign position, and draws the display graphics of the road sign. The present invention does not rely solely on computers to identify and collect, but is based on rules, and the operator makes judgments, selects and sets relevant information to achieve rapid collection work in a human-computer interactive manner.

[0029] Figure 3 This is a flow chart of a method for generating road surface marking vector graphics according to an embodiment of the present application, which is used to generate a high-precision map including road surface markings based on point cloud data, and specifically includes steps 110 to 130.

[0030] Step 110: Acquire the point cloud data of the target road and the attributes of the road surface markings on the target road; the attributes correspond to preset display graphics.

[0031] The point cloud data of the target road includes point cloud data of road surface markings on the road. The position and pattern information of the road surface markings can be obtained through the image of the point cloud data.

[0032] Regarding the acquisition of the point cloud data of the target road, in one embodiment of the present application, the point cloud data of the target road is acquired by photographing with a point cloud vehicle and stored in the road point cloud database 510, or further processed by a point cloud data processor. When the operator retrieves the point cloud data through the operation terminal, the point cloud data of the target road is acquired, and an image of the point cloud data is generated on the operation terminal or a GUI connected thereto.

[0033] Then, feedback from the GUI is received to generate attribute information and vector graphics data of the road surface markings.

[0034] The attributes of the road marking include the direction of travel of the road. For example, if there are multiple lanes on a road, the directions of travel of each lane can be the same or different. The attributes of the road marking also include the specific types of road markings, such as: straight arrow, left turn plus straight arrow, right turn plus straight arrow, left turn plus U-turn arrow, U-turn arrow, etc. For another example, if there are three lanes on a road, the middle lane is the straight lane, the left lane is the left turn, left U-turn or straight lane, and the right lane is the straight or right turn lane.

[0035] Regarding the acquisition of the attributes of the road surface markings on the target road, the arrow markings on the point cloud data image can be automatically identified, and the computer processing program automatically generates the attribute information; or the arrow markings on the point cloud data image can be manually identified, the marking content is manually determined, and then the attribute information is input or selected through the GUI.

[0036] Regarding the preset display graphics, the method and device of the present application include a preset symbol library / table, in which a preset display graphic is provided for each road sign. The data of the display graphics are represented as point symbols or surface symbols; the data cluster of the point symbols or surface symbols includes a graphic element combination, a graphic element position and display attribute value, a symbol size attribute value, a symbol position attribute value, etc.

[0037] In one embodiment, the size of the displayed graphic is a preset fixed value, that is, the length and width of its circumscribed rectangle are preset fixed values. A further optimized technical solution is to preset an adjustment ratio value, which can be manually set to expand or reduce.

[0038] Step 120 : In response to the GUI positioning and capturing the point cloud data points, determine the position information of the road surface marking on the target road.

[0039] This application obtains the visual effect of the working environment through point cloud data. If step 110 identifies and / or selects the shape type of the road sign according to the point cloud image, step 120 obtains the position information of the road sign through the point cloud data. The position information includes elevation information (Z) and horizontal coordinate information (X, Y). Generate a ground feature symbol of the road sign type, which is a point symbol or a surface symbol. The display graphic of the symbol is selected in the preset symbol library / table, and the position coordinates are captured from the point cloud data.

[0040] Regarding the positioning and capturing of the point cloud data points, the display graphics of the road sign are positioned through the selected point cloud data points to obtain the position information XYZ, which can be captured manually or automatically.

[0041] In one of the embodiments, a positioning point of a road surface mark is determined according to the point cloud data point as the position information.

[0042] As an embodiment, the display graphics of the present application are provided with positioning points, for example, positioning points are provided on any graphic element constituting the display graphics, and the positioning points may have directions, for example, one-point positioning and three-point positioning.

[0043] One-point positioning method captures a point in the point cloud data as the location of the positioning point of the displayed graphics. Figure 7 As shown, for example, the displayed graphic is an arrow, and a point 71 in the middle of the bottom of the arrow is used as a positioning point. The one-point positioning method is generally used for point symbols, and the displayed graphic is composed of the graphic elements of the point symbol.

[0044] Multi-point positioning method captures 3 point positions in the point cloud data, such as Figure 8 As shown, the first point 81 is used to display the location of the graphics positioning point, which can be defined in the lower left corner of the circumscribed rectangle; the second point 82 is used to determine the direction of the graphics, which can be any point in front of the first point. The direction of the graphics is the vector from the first point to the second point and is parallel to the lane line direction, and / or, the third point 83 is used to display the width of the graphics, and the difference between its coordinate value and the coordinate value of the first point in the direction perpendicular to the lane is used as the width value. Set the size of the rectangle or the style of the symbol in advance, click one point at the specified position to locate, and the other point for orientation, draw a single arrow or a single arrow circumscribed rectangle and / or display the graphics. 2-point positioning can be used for point symbols or surface symbols, and the 3-point positioning method is generally used for surface symbols.

[0045] Regarding the determination of the position information of the road surface marking on the target road, it includes directly determining the position information of the road surface marking according to the position of the captured point cloud data point or determining the position information of the road surface marking relative to the captured point cloud data point. (1) Determine the position of the road surface marking on the target road through the point cloud data, for example, determine the drawing position of the road surface marking on the target road in reality through the point cloud data points captured in the point cloud image. Or, (2) regardless of the actual position information of the road surface marking in reality, preset a relative position that meets the road surface marking setting standard on the road as the preset relative position information. In one embodiment, the road surface marking is set on the target road at a set length from the stop line. In this way, the position information of the point cloud data point on the stop line is captured, and then the position information of the road surface marking is determined based on the relative position information.

[0046] In one of the embodiments, in response to selecting the real position information of a road surface marking as the position information of the road surface marking, the GUI locates and captures the point cloud data point belonging to a certain road surface marking, and then determines the circumscribed rectangle of the road surface marking pattern as the position information based on the point cloud data.

[0047] Step 130: retrieve the symbol data representing the preset display graphic, and generate the preset display graphic in the high-precision map according to the location information.

[0048] In one of the embodiments, a circumscribed rectangle of a road surface mark is determined according to the point cloud data as the position information, and the circumscribed rectangle is filled with the display graphic.

[0049] In one embodiment, the display graphic is positioned by determining the positioning point of the road surface marking according to the point cloud data point as the position information. The position information is assigned to the position attribute of the positioning point preset in the display graphic. Preferably, the display graphic is generated according to a preset size, and the display graphic can also be stretched and shrunk through the GUI. Further preferably, the display graphic is generated according to a preset direction, and the display graphic can also be oriented or rotated through the GUI.

[0050] Different from the prior art, the solution of the present application can set the size of the road surface marking circumscribed rectangle and / or the style of the symbol in advance, select a point at a specified location for positioning and orientation, and generate a road surface marking graphic (such as a single arrow) or a circumscribed rectangle according to the preset style and size. The operation is simple and the effect is standardized.

[0051] For example, when generating map data, an arrow-shaped road sign is generated according to the positioning point, which can be a preset display graphic arrow symbol 41, such as Figure 4 As shown, it can also be a fixed-size rectangular surface, such as Figure 2 shown.

[0052] Furthermore, a symbol data cluster associated with the location information is generated in the data set of the high-precision map, and the symbol data cluster includes data representing the preset display graphics.

[0053] Furthermore, the attribute information obtained in step 110, that is, in order to retrieve the corresponding display graphics according to the attributes, the attribute information has been determined before the symbol data representing the preset display graphics is retrieved, and the attribute information associated with the road surface marking is also automatically generated in the data set of the high-precision map.

[0054] It should also be noted that, using the embodiment of steps 110 to 130, the road sign arrows of the same lane group can be drawn in groups. When different schemes are selected, such as "left turn + left turn + straight + straight + right turn", the grouped roadside sign display graphics, sizes, corresponding positioning points or rectangular surfaces are preset, and the corresponding geometric information can be automatically read, and different point symbols or rectangular surfaces are retrieved and associated with the high-precision map, and the corresponding attribute information is also assigned in the attribute item, eliminating the step of manual assignment.

[0055] It should be noted that the selection of the circumscribed rectangle of the road sign pattern as the position information requires that the point cloud collection of the road sign is relatively complete. If the point cloud collection is incomplete, directly generating the circumscribed rectangle according to the point cloud image may result in large errors. This application uses a preset display graphic to fill the road sign position to avoid this problem.

[0056] The innovation of this case lies in the interactive mode and the drawing of single symbols or multiple symbols in groups according to pre-made display graphics. In this way, the drawn map contains the display graphics of road signs, which are consistent with the rules of road sign graphics displayed in point cloud images. This graphic drawing scheme is set in advance and does not require manual filling of attributes.

[0057] Figure 5 This is another flow chart of a method for generating a road surface marking vector graphic according to an embodiment of the present application, which specifically includes steps 210 to 250.

[0058] Step 210: Acquire the point cloud data of the target road and the attributes of the road surface markings on the target road; the attributes have corresponding preset display graphics.

[0059] Step 220: In response to the GUI positioning and capturing the point cloud data points, determine the position information of the road surface marking on the target road.

[0060] Step 230: retrieve the symbol data representing the preset display graphic, and generate the preset display graphic in the high-precision map according to the location information.

[0061] In one of the embodiments, in response to the road surface being marked as a preset arrow pattern, the method further comprises the steps of: Step 240: Determine the travel direction of the target road or a single lane in the target road.

[0062] Step 250: Generate an arrow pattern whose direction is consistent with the travel direction of the target road or a single lane in the target road.

[0063] Figure 6 This is another flow chart of a method for generating a road sign vector graphic according to an embodiment of the present application, which specifically includes steps 310 to 330.

[0064] Step 310: Obtain the point cloud data of the target road and the attributes of multiple road surface markings on the target road; each of the attributes has a corresponding preset display graphic to form a display graphic group.

[0065] In one of the embodiments, in response to the target road including a plurality of lanes, a plurality of display graphics corresponding to the number of lanes are determined as a display graphic group; In the same lane group, the same road surface markings can be set in duplicate. For example, if two parallel lanes are both straight arrows, after generating road surface markings on one lane according to steps 110 to 130, the road surface marking display graphics of the first lane are located and copied on the second lane, including geometric information and attribute information.

[0066] Road markings within the same lane group can also be drawn in groups. At this time, the road markings are generally of fixed size and are arranged in parallel according to their respective lanes. They are all very neat. The preset scheme name sets a + sign in the middle of the attribute value of each road marking. When calling, the + sign is used as a special symbol for decomposition. This application sets multiple options in advance for quick selection, such as "adjust + left (adjust) + straight + right (straight)" and "straight + straight right".

[0067] The parameters corresponding to the display graphic group can also correspond to coded numbers according to the meaning they express. For example, for the straight-right type, several groups of commonly used numbers are provided, such as 1,1, 2,1, 3,1, etc., representing 1, 2, and 3 straight arrows and 1 right turn arrow respectively.

[0068] Step 320: In response to the GUI positioning and capturing the point cloud data points, determine the position information of the plurality of road surface markings on the target road.

[0069] The position information may be, for example, positioning points of a plurality of road surface markings determined according to the point cloud data points as the position information, or the circumscribed rectangles of the plurality of road surface marking patterns determined according to the point cloud data as the position information.

[0070] When determining the positioning points, positioning points can be set for at least a portion of multiple road surface markings so that the positions of the display graphics of at least a portion of the road surface markings are determined. Further, the positions of the display graphics of other road surface markings are determined in combination with the number of lanes and / or lane spacing.

[0071] In one embodiment, determining the location information of the road sign on the target road specifically includes steps 320-1 to 320-2: Step 320-1, obtaining lane information of the target road; the lane information includes the number of lanes and the lane spacing.

[0072] In response to selecting the preset position information as the drawing position of the road surface mark, when the target road includes multiple lanes, the number of lanes and the lane spacing need to be determined.

[0073] Step 320-2: Determine the corresponding number of position information according to the number of lanes, and determine the spacing of the position information according to the lane spacing.

[0074] For example, multiple position information is determined to form a position information group according to the number of lanes and the lane spacing, and multiple road surface markings of the target lane are drawn according to the position information group. In one embodiment, the display graphics constitute multiple road surface markings arranged perpendicular to the road travel direction.

[0075] Step 330: retrieve the symbol data representing the preset display graphics, and generate the display graphics group in the high-precision map according to the location information.

[0076] The display graphic group is drawn on the preset position information of the target road.

[0077] For example, when drawing, if you set a fixed side-by-side spacing through the GUI, you only need to click another point in its direction, and it will be automatically generated and placed correctly according to the settings. If you do not set a fixed spacing, you need to click one position at a time to automatically generate a variable spacing.

[0078] For example: interpolation method can realize automatic generation of graphics. Fig. 9 As shown, the road sign group includes 4 arrow display graphics, and the attributes are left, straight, right, and right. The 4 display graphics are preset in advance. For example, the bottom middle point 91 of the first arrow is used as the first positioning point, and the coordinates of the positioning point are set by capturing the point cloud data points in the point cloud image, and then the bottom middle point 92 of the rightmost arrow is used as the second positioning point, and the coordinates of the positioning point are set by capturing the point cloud data points in the point cloud image. Therefore, the two positioning points in the middle are generated by interpolating the first positioning point and the second positioning point at equal intervals.

[0079] Another example: the extrapolation method is used to realize automatic generation of graphics. For example, if the five display graphics decomposed by the display graphics group correspond to point symbols of different symbol styles, if only two points are selected during drawing, the five symbols are placed at equal intervals according to the positioning points, and the point symbol in the middle is flush with the straight line connecting the first and last points. The program defaults to the positioning point setting, the first arrow uses the first point as the positioning point, the second arrow uses the second point as the positioning point, and the following three arrow symbols are extrapolated at equal intervals according to the spacing between the first and second points.

[0080] Furthermore, a set of multiple symbol data clusters associated with the location information is generated in the data set of the high-precision map, and the set of multiple symbol data clusters includes data representing the display graphics group.

[0081] Furthermore, the attribute information obtained in step 310, that is, in order to call the corresponding display graphic according to the attribute, the attribute information has been determined before the symbol data representing the preset display graphic is called, and a plurality of attribute information associated with the group of road surface markings are also automatically generated in the data set of the high-precision map. Preferably, the attribute information can be a group with a + sign set in the middle of the attribute value of each road surface marking.

[0082] Fig.10 This is a structural diagram of a lane line vector graphics generation device according to an embodiment of the present application, which is used to implement the method for generating high-precision map road surface marking vector graphics based on point cloud data according to any one of the embodiments of the first aspect, comprising: The acquisition module 410 is used to acquire the point cloud data of the target road and the attributes of the road surface markings on the target road, and realize the functions of steps 110, 210 and 310 of the embodiment of the present application.

[0083] The determination module 420 is used to determine the position information of the road surface marking on the target road or determine the preset position information in response to the GUI positioning and capturing point cloud data points, so as to realize the functions of steps 120, 220, 240 and 320 of the embodiment of the present application.

[0084] The generation module 430 is used to retrieve the symbol data representing the preset display graphics, generate the preset display graphics in the high-precision map according to the location information, and realize the functions of steps 130, 230, 250 and 330 of the embodiment of the present application.

[0085] Furthermore, the acquisition module further includes a first acquisition unit, which is used to acquire point cloud data of the target road and / or attributes of road surface markings on the target road.

[0086] Furthermore, the generation module includes a first generation unit, which is used to generate the preset display graphics in the high-precision map according to the location information.

[0087] Furthermore, the first determination unit determines a circumscribed rectangle of a road surface mark using the point cloud data as the position information, and / or determines a positioning point of a road surface mark according to the point cloud data points as the position information.

[0088] In one of the embodiments, the acquisition module further includes a second acquisition unit for acquiring lane information of the target road.

[0089] The determination module further includes a second determination unit, which is used to determine a corresponding amount of position information according to the number of lanes.

[0090] In one of the embodiments, the determination module further includes a third determination unit, configured to determine a traveling direction of the target road or a single lane in the target road.

[0091] The generation module further includes a second generation unit, which is used to draw an arrow pattern whose direction is consistent with the traveling direction of the target road or a single lane in the target road.

[0092] In one of the embodiments, the determination module further includes a fourth determination unit, configured to determine a plurality of display graphics corresponding to the number of lanes as a display graphic group.

[0093] In one of the embodiments, the determination module further includes a fifth determination unit for determining the length of the road surface marking from the stop line.

[0094] In one of the embodiments, the determination module further includes a sixth determination unit for determining an arrangement rule of a plurality of road surface markings.

[0095] In one of the embodiments, it also includes a regional information database / result map database 440, and the geographic information database / result map database is used to store the ground object data before and after the merger in the target area.

[0096] Combination Figure 1 The commercial server system of the application scenario of the present application, the embodiment of the present application also proposes a graphical processing system for geographic information data, which is used to implement the method described in any embodiment of the present application, including: a laser radar 500, a regional point cloud database 510, a point cloud data processor 520, a GUI operation interface and an operation terminal 530, an on-board application terminal 540, at least one result map data set 550, and a navigation or automatic driving server 560.

[0097] The regional point cloud database is used to store the point cloud data of the target area.

[0098] The GUI operation interface and operation terminal 530 are used to read the target road point cloud data, generate a point cloud image, input the set point cloud data points, display the data and / or graphics of the preset symbol library / table of the road sign; and / or trigger the acquisition module, determination module or generation module. The vehicle-mounted application terminal 540 is used to determine the spatial position, retrieve the vector graphics data of the road sign, including geometric information and attribute information; and is also used to display the map during vehicle navigation. The map displayed in real time during navigation on the road is the vector graphics data and the map superimposed together by location. The point cloud data processor 520 or the operation terminal 530 is used to respond to the instructions of the GUI, obtain the point cloud data of the target road, obtain the attributes of the road surface markings, determine the location information of the road surface markings on the target road, determine the elevation value of each coordinate point (including the positioning point) on the lane line through the point cloud data, and also to retrieve the symbol data representing the preset display graphics, and generate the preset display graphics in the high-precision map according to the location information; the point cloud data processor is also used to obtain the point cloud data of the road scanned by the vehicle-mounted laser radar, obtain and / or generate the vector graphics data of the road surface markings, and generate a high-precision map containing the display graphics of the road surface markings. The result map data set is used to store the high-precision map, the data of which includes the lane lines and road surface markings of the target road, and also includes the vector graphics data and the map overlay data set.

[0099] It should be understood that the above-mentioned specific related contents are only used for illustrative purposes and should not impose any limitation on the present application.

[0100] The specific method for implementing the functions of the above-mentioned modules is as described in the various method embodiments of the first aspect of the present application, and will not be repeated here.

[0101] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete 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 disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] Therefore, the present application also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0103] 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 flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, 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 processor, 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 flowchart and / or block diagram. 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.

[0104] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0106] Furthermore, the present application also proposes an electronic device (or computing device), comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium. Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0109] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for generating road surface marking vector graphics, for generating a high-precision map containing road surface markings based on point cloud data, characterized in that: include: Obtaining point cloud data of the target road and attributes of road surface markings on the target road; The attribute corresponds to a preset display graphic; In response to the GUI positioning and capturing the point cloud data points, determining the position information of the road surface marking on the target road; The symbol data representing the preset display graphic is retrieved, and the preset display graphic is generated in the high-precision map according to the location information.

2. The method for generating road surface marking vector graphics according to claim 1, characterized in that: Determine a circumscribed rectangle of a road surface mark as the position information according to the point cloud data, fill the circumscribed rectangle with the display graphic, and / or determine a positioning point of a road surface mark as the position information according to the point cloud data points.

3. The method for generating road surface marking vector graphics according to claim 1, characterized in that: Determine the location information of the road marking on the target road, specifically including the following steps: Acquire lane information of a target road; the lane information includes the number of lanes and the lane spacing; The corresponding number of position information is determined according to the number of lanes, and the spacing of the position information is determined according to the lane spacing.

4. The method for generating road surface marking vector graphics according to claim 1, characterized in that: In response to the road surface being marked as a preset arrow pattern, the method further comprises the steps of: Determine the direction of travel of a target road or a single lane in a target road; The arrow pattern is drawn in a direction consistent with the traveling direction of the target road or a single lane in the target road.

5. The method for generating road surface marking vector graphics according to claim 1, characterized in that: Also includes the steps: In response to the target road including a plurality of lanes, determining a plurality of display graphics corresponding to the number of lanes as a display graphic group; The display graphics group is generated according to the position information.

6. The method for generating road surface marking vector graphics according to claim 1, characterized in that: The data of the display graphics is represented as a point symbol or a surface symbol; the data cluster of the point symbol or the surface symbol includes a graphic element combination, a graphic element position and display attribute value, a symbol size attribute value, and a symbol position attribute value.

7. The method for generating road surface marking vector graphics according to claim 1, characterized in that: The display graphic constitutes one road surface mark, or the display graphic constitutes a plurality of road surface marks arranged perpendicular to the traveling direction of the road surface.

8. The method for generating road surface marking vector graphics according to claim 1, characterized in that: In the data set of the high-precision map, a symbol data cluster associated with the location information is generated, and the symbol data cluster includes data representing the preset display graphics.

9. A road sign vector graphics generating device, characterized in that: The method for generating high-precision map road sign vector graphics based on point cloud data according to any one of claims 1 to 8 comprises: An acquisition module, used to acquire point cloud data of a target road and attributes of road surface markings on the target road; A determination module, used to determine the position information of the road surface marking on the target road or determine the preset position information; A generation module is used to generate the preset display graphics in the high-precision map according to the location information.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

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