Pavement file generation method, device, equipment, chip and product

Abstract

The invention provides a pavement file generation method and device, equipment, a chip and a product. The method comprises the following steps: acquiring a first pavement model which is a pavement file in a first format; performing grid division on the first pavement model to obtain a first pavement file comprising a plurality of grid nodes; obtaining road surface parameters of road surface reference lines corresponding to each grid node in the first road surface file; generating a second road surface file based on the road surface parameters of the road surface reference lines corresponding to the grid nodes; the second pavement file is a pavement file in a CGR format. Therefore, the corresponding CRG road surface file can be generated according to any first road surface model, a three-dimensional road surface scanning device does not need to scan the road surface, and the time cost of generating the road surface file is reduced. Meanwhile, the generated CRG pavement file can completely express the uneven characteristics of the simulated pavement, and the pavement precision of the simulated pavement is improved, so that the requirements of virtual testing are met.

Description

Technical Field

[0001] The present application relates to the field of computer-aided engineering technology, and in particular to a road surface file generation method, device, equipment, chip and product. Background Art

[0002] In vehicle engineering, pavement engineering and traffic engineering, the digitization of test pavements can transform the characteristics of physical pavements into 3D digital models to create virtual test environments to evaluate vehicle performance, tire-pavement interaction, noise control, pavement structure design, etc. Through digital means, engineers can simulate real pavement conditions in software and conduct various virtual tests, thereby reducing the time and cost of actual testing and improving product development efficiency.

[0003] According to the appearance characteristics of the test road surface, the digitization of the test road surface is usually divided into regular road surface modeling and random excitation road surface modeling. Among them, the road surface model file format obtained by regular road surface modeling is the Curved Regular Grid Road Surface (CRG) format. This kind of road surface can also accurately measure various characteristic parameters after construction, such as twisted road, vibrating road, pothole road, etc. Random excitation road surface modeling refers to the road surface where each characteristic parameter cannot be accurately measured. The characteristic size and elevation range are given during the construction process, and there is no detailed shape and size description, such as Belgian road, cobblestone road, etc.

[0004] Usually, when establishing a road surface model in CRG format, the road surface is scanned by a three-dimensional road surface scanning device, and after obtaining the point cloud data and other relevant data and correction parameters of the road surface, a 3D digital road surface model for virtual test field simulation is generated.

[0005] However, in the case where a large number of road models in CRG format are required for virtual testing, the above method of scanning the road surface through a three-dimensional road scanning device to obtain road surface point cloud data requires a high time cost, and the road surface accuracy of the CRG format road model automatically generated through the OpenCRG interface is low and cannot meet the needs of virtual testing. Summary of the invention

[0006] In view of this, an embodiment of the present invention is dedicated to providing a road surface file generation method to solve the problems in the prior art of high time cost required to establish a road surface file, low road surface accuracy, and failure to meet virtual testing requirements.

[0007] According to a first aspect of an embodiment of the present application, a method for generating a road surface file is provided, the method comprising:

[0008] Acquire a first road surface model, where the first road surface model is a road surface file in a first format;

[0009] Meshing the first pavement model to obtain a first pavement file including a plurality of mesh nodes;

[0010] Obtaining pavement parameters of pavement reference lines corresponding to each grid node in the first pavement file;

[0011] A second road surface file is generated based on the road surface parameters of the road surface reference lines corresponding to each grid node; the second road surface file is a road surface file in CGR format.

[0012] In a possible design of the first aspect, obtaining a pavement parameter of a pavement reference line corresponding to each grid node in the first pavement file includes:

[0013] Obtain the center line data of the road surface reference line corresponding to each grid node and the vertical height data of each column of grid nodes; wherein the center line data and the vertical height data are the road surface parameters of the road surface reference line;

[0014] Calculate the centerline curvature and heading angle of the road reference line corresponding to each grid node according to the centerline data;

[0015] A second road surface file is generated based on the centerline data, centerline curvature, heading angle, and vertical height data of the road surface reference line corresponding to each grid node.

[0016] In a possible design of the first aspect, generating a second road surface file based on centerline data, centerline curvature, heading angle, and vertical height data of a road surface reference line corresponding to each grid node includes:

[0017] The centerline data, centerline curvature, heading angle and vertical height data of the road surface reference line corresponding to each grid node are filled into the corresponding CRG data block to generate a second road surface file.

[0018] In a possible design of the first aspect, the first road surface model is meshed to obtain a first road surface file containing a plurality of mesh nodes, including:

[0019] The first pavement model is gridded according to preset transverse grid values ​​and longitudinal grid values ​​to obtain a first pavement file.

[0020] In a possible design of the first aspect, the centerline data includes the starting position coordinates and the ending position coordinates of the road surface reference line in the Cartesian coordinate system; the transverse grid starting coordinates and the transverse grid ending coordinates of the road surface reference line in the UV coordinate system.

[0021] In a possible design of the first aspect, obtaining a first road surface model includes:

[0022] A first road surface model generated by 3D modeling software is obtained.

[0023] According to a second aspect of an embodiment of the present application, a road surface file generating device is provided, the device comprising:

[0024] A first acquisition module is used to acquire a first road surface model, where the first road surface model is a road surface file in a first format;

[0025] A partitioning module, used for performing mesh partitioning on the first pavement model to obtain a first pavement file including a plurality of mesh nodes;

[0026] A second acquisition module is used to acquire pavement parameters of a pavement reference line corresponding to each grid node in the first pavement file;

[0027] The generating module is used to generate a second road surface file based on the road surface parameters of the road surface reference line corresponding to each grid node; the second road surface file is a road surface file in CGR format.

[0028] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including a memory and a processor;

[0029] The memory is connected to the processor and is used for storing programs;

[0030] The processor is used to implement a road surface file generation method as described in any one of the first aspects of the embodiments of the present application by running a program in a memory.

[0031] According to a fourth aspect of an embodiment of the present application, a computer program product is provided, comprising computer program instructions. When the computer program instructions are executed by a processor, the processor executes a pavement file generation method as described in any one of the first aspects of the embodiment of the present application.

[0032] According to the fifth aspect of the embodiments of the present application, a chip is provided, including a processor and a data interface, and the processor reads and runs the program stored in the memory through the data interface to execute the pavement file generation method as any one of the first aspects of the embodiments of the present application.

[0033] According to the sixth aspect of the embodiments of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, a pavement file generation method as described in any one of the first aspects of the embodiments of the present application is implemented.

[0034] According to the technical solution of the embodiment of the present application, by obtaining a first pavement model, the first pavement model is a pavement file in a first format; the first pavement model is gridded to obtain a first pavement file containing multiple grid nodes; the pavement parameters of the pavement reference lines corresponding to each grid node in the first pavement file are obtained; based on the pavement parameters of the pavement reference lines corresponding to each grid node, a second pavement file is generated; the second pavement file is a pavement file in CGR format. In this way, a corresponding CRG pavement file can be generated according to any first pavement model without the need for a three-dimensional pavement scanning device to scan the pavement, thereby reducing the time cost of generating a pavement file. At the same time, the generated CRG pavement file can fully express the uneven characteristics of the simulated pavement, improve the pavement accuracy of the simulated pavement, and thus meet the needs of virtual testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of a process for generating a road surface file provided in an embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of the CRG pavement file data structure;

[0038] Figure 3 This is a schematic diagram of the centerline information in the CRG pavement file;

[0039] Figure 4 This is a schematic diagram of the road surface reference lines and UV grid coordinates in the CRG road surface file;

[0040] Figure 5 This is a schematic diagram of detailed road surface data in the CRG road surface file;

[0041] Figure 6 A schematic diagram of the structure of a road surface file generating device provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. 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 creative work are within the scope of protection of this application.

[0044] The technical terms involved in the embodiments of the present application are explained below:

[0045] Curved Regular Grid Road Surface (CRG) is a pavement model file format, a standardized data format used to describe pavement surface characteristics, and is particularly suitable for high-precision pavement modeling and virtual testing.

[0046] OpenCRG: A data format for describing road geometry and topography, which provides a standardized way to represent road curvature, slope, lateral and longitudinal profiles, etc. This data format is particularly suitable for the development and testing of autonomous driving and advanced driver assistance systems (ADAS).

[0047] Pavement Reference Line: A method used to define the centerline of a pavement, which provides a benchmark for the entire pavement model.

[0048] Grid coordinates: used to describe the location of each point on the road surface, usually in meters. The U coordinate represents the distance along the road reference line, and the V coordinate represents the distance perpendicular to the road reference line.

[0049] Meshing software: refers to tools used to generate and process network models. It is widely used in many fields such as computer graphics and geological modeling. It can help users divide complex geometric shapes into discrete grid units for numerical simulation and analysis.

[0050] In vehicle engineering, pavement engineering and traffic engineering, test pavement digitization is a key technology that converts the characteristics of physical pavement into 3D digital models for creating virtual test environments. This technology plays an important role in evaluating vehicle performance, tire-pavement interaction, noise control, and pavement structure design. Through digital means, engineers can simulate real road conditions in software and conduct various virtual tests, thereby significantly reducing the time and cost of actual testing and improving product development efficiency.

[0051] Test pavement digitization is usually divided into two main types: one is regular pavement modeling, and the other is random excitation pavement modeling.

[0052] Among them, the pavement model file format obtained by regular pavement modeling is the Curved Regular Grid Road Surface (CRG) format. After this type of pavement is built, various characteristic parameters can be accurately measured, such as twisted roads, vibrating roads, potholes, etc. In the modeling process, it is necessary to use a three-dimensional pavement scanning device to scan the pavement to obtain point cloud data of the pavement surface. After that, the point cloud data is preprocessed to remove noise and outliers, and a 3D digital pavement model in CRG format is generated based on the preprocessed point cloud data. This modeling method requires a high time cost and cannot meet the needs of large-scale virtual testing.

[0053] Random excitation pavement modeling refers to modeling a pavement whose characteristic parameters cannot be accurately measured. During the modeling process, only the size and elevation data range of the characteristic parameters are given, without detailed shape and size descriptions. During the modeling process, it is necessary to define the statistical parameters of the pavement characteristics, such as the average height and variance, and then use a random generation algorithm to generate a pavement model based on the defined statistical parameters. Although this modeling method can quickly generate a 33D digital pavement model in CRG format, the accuracy of the pavement is low and it is difficult to fully reflect the detailed characteristics of the actual pavement, so it cannot meet the needs of virtual testing.

[0054] Based on this, the present application proposes a new pavement file generation method. By analyzing the CRG pavement file format, the data in the 3D pavement model can be converted into a variety of pavement parameters required by the CRG pavement file, and a CRG pavement file that can be used for virtual testing can be generated. It can be seen that the pavement file generation method of the embodiment of the present application can generate a corresponding CRG pavement file according to any first pavement model without the need for a three-dimensional pavement scanning device to scan the pavement, thereby reducing the time cost of generating a pavement file. At the same time, the generated CRG pavement file can fully express the uneven characteristics of the simulated pavement, improve the pavement accuracy of the simulated pavement, and thus meet the needs of virtual testing.

[0055] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0056] For example, please refer to Figure 1 , Figure 1 This is a flow chart of the road surface file generation method provided in the embodiment of the present application. Figure 1 In an exemplary embodiment, a road surface file generation method is provided that may include the following steps:

[0057] 1100. Obtain a first road surface model, where the first road surface model is a road surface file in a first format.

[0058] 1200. Grid the first pavement model to obtain a first pavement file including a plurality of grid nodes.

[0059] 1300. Obtain pavement parameters of pavement reference lines corresponding to each grid node in the first pavement file.

[0060] 1400. Generate a second road surface file based on road surface parameters of road surface reference lines corresponding to each grid node; the second road surface file is a road surface file in CGR format.

[0061] In this embodiment, in order to determine which road surface parameters the CRG road surface file needs, the data composition of the CRG road surface file is first analyzed. Figure 2 As shown in the figure, the CRG pavement file consists of multiple plain text data blocks, including a brief description of the file content, centerline information, key parameter definitions, pavement evaluation parameters, pavement data modification, other pavement file references, and detailed pavement data. Among them, the brief description of the file content, centerline information, key parameter definitions, and detailed pavement data are mandatory, and other data blocks are optional.

[0062] Therefore, in this embodiment, the data corresponding to the above four mandatory items are obtained from the data of the 3D road model and filled into the corresponding CRG data blocks to generate the CRG road file. The remaining optional data blocks can be customized through the OpenCRG interface after the road file is generated.

[0063] Specifically, the centerline information ($ROAD_CRG) data block is mainly about the road reference line (REFERENCELINE) information. Figure 3 As shown, the data contained in an exemplary centerline information data block is as follows:

[0064] The starting position of the road reference line in the Cartesian coordinate system: REFERENCE_LINE_START_X = 0.0, REFERENCE_LINE_START_Y = 0.0;

[0065] Heading angle of the starting position: REFERENCE_LINE_START_PHI=0.25;

[0066] Heading angle of the end position: REFERENCE_LINE_END_PHI=0.25;

[0067] The starting position of the U coordinate of the road reference line in the UV coordinate system: REFERENCE_LINE_START_U = 0.0;

[0068] End position of U coordinate: REFERENCE_LINE_END_U=240.0;

[0069] Left boundary of V axis: LONG_SECTION_V_LEFT = 1.50;

[0070] Right boundary of V axis: LONG_SECTION_V_RIGHT = -1.50;

[0071] Change in U axis: REFERENCE_LINE_INCREMENT=10.0.

[0072] Through the centerline information data block, the starting point of the reference line of the CRG road surface and the UV grid coordinate value can be defined, such as Figure 4 Road surface reference lines and UV grid coordinates shown.

[0073] The centerline information data block above defines the parameters of the starting and ending positions of the road surface reference line. To construct a complete road surface reference line, the data in the key parameter definition data block is also required.

[0074] Specifically, the key parameter definition data block includes the heading angle of the road surface reference line after each step, which can be used to integrate the entire reference line. However, the accuracy of the heading angle is not precise enough, and long-distance integration will cause a large offset. At this time, the parameters of the terminal position can be used to correct this offset. That is, if the difference is within a certain threshold range, the deviation of the final position parameter can be used to fine-tune the last section of the reference line (add or subtract the difference); if the end point error is large, the entire road surface reference line will be regenerated to meet the overall accuracy, that is, the entire reference line is smoothly adjusted through interpolation, and the error is distributed to each section, thereby avoiding abrupt adjustments in the last section.

[0075] The detailed road data (Road Data) data block contains road reference line data, heading angle (phi), transverse grid value (u), longitudinal grid value (v) and elevation (z direction) data, and the relationship between each parameter is as follows: Figure 5 As shown in the figure. The leftmost column named **unused** contains some parameter control items, and this part is the real detailed road surface data. It is stipulated that each column is a longitudinal cut parallel to the road surface reference line, and each row is a transverse cut orthogonal to the road surface reference line. Among them, the parameters in the u column are virtual parameters, which only retain the 2D information of the road surface, not the real elevation data. The other data on both sides of the u column are elevation data.

[0076] It should be noted that the path generated by the interpolation algorithm uses the following formula:

[0077] X=x 0 +i*Δu*cos(φ 0 )

[0078] Y=y 0 +i*Δu*sin(φ 0 )

[0079] Where i is the step length, which can be 1, 2, 3, ..., n; x 0 is the initial coordinate value of X; y 0 is the initial coordinate value of Y; Δu is the increment of the horizontal grid value; φ 0 is the initial value of the heading angle.

[0080] On the U (horizontal grid) axis, the coordinate values ​​of the horizontal grid are normalized at fixed intervals: Among them, frac represents the scale factor (fraction), which is usually a floating point number between 0 and 1, and is used to calculate the interpolation position in a certain section. When frac is less than 0, it means that the coordinate value of the current transverse grid is before the first coordinate value, that is, it exceeds the starting range of the u-axis. In this case, it is usually considered to be beyond the starting point of the road surface, so constraints are required to force the interpolation calculation to start from the starting point; when frac is greater than 1, it means that the coordinate value of the current transverse grid is outside the distance of the two data points, and may even be close to or exceed the next point. It means that the current transverse grid has spanned a complete interpolation segment and may be approaching the next data point. In this case, it is necessary to use an algorithm to constrain it between the two nearest data points.

[0081] That is, when frac<0, du=frac*Δu;

[0082] X=x 0 +du*cos(φ 0 )―v*sin(φ 0 );

[0083] Y=y 0 +du*cos(φ 0 )―v*sin(φ 0 );

[0084] When frac>1, du=(frac―1)*Δu;

[0085] X=x n +du*cos(φ n )―v*sin(φ n );

[0086] Y=y n +du*cos(φn )―v*sin(φ n );

[0087] Among them, x n is the X coordinate value of the end point; y n is the Y coordinate value of the end point; φ n is the final value of the heading angle.

[0088] In this way, through the above algorithm and combined with the data in the key parameter definition data block, it is possible to calculate the endpoints P of multiple straight line segments generated according to discrete points X and Y. 1 P 2 …P i P i+1 Among them, P 1 =(X i ,Y i ), P 2 =(X i+1 ,Y i+1 ). Then, P can be calculated respectively. 1 The normal vector n 1 , P 2 The normal vector n 2 and P 1 P 2 The normal vector n 12 , where the normal vector n 2 Affected by the next point P 3 The influence of P 3 It can also be equal to the end point:

[0089] n 1 [0]=―(P 2 [1]―P 1 [1]);

[0090] n 1 [1] = P 2 [0]―P 1 [0]);

[0091] n 2 [0]=―(P 3 [1]―P 2 [1]);

[0092] n 2 [1] = P 3 [0]―P 2 [0]);

[0093] n 12 =(1-frac)*n 1 +frac*n 2 ;

[0094] The main function of the normal vector is to indicate the normal direction of the curve at a certain point, describing the lateral geometric characteristics of the road surface at a certain position. Especially when dealing with two adjacent cutoffs, the faster the normal vector changes, the greater the curvature and the steeper the curve. Conversely, the smaller the curvature, the flatter the curve. The normal vector can be used to ensure smooth transition and accurate curvature calculation during the curve interpolation process.

[0095] Then, a relatively smooth path reference line is generated through the interpolation algorithm. The interpolation algorithm is as follows:

[0096] X=A[0]+frac*AB[0];Y=A[1]+frac*AB[1];where A and B are the interpolation points of the line segment. The coordinates of point A are: A[0]=P 1 [0]+v*n 1 [0],A[1]=P 1 [1]+v*n 1 [1]. The coordinates of point B are: B[0] = P 2 [0]+v*n 2 [0],B[1]=P 2 [1]+v*n 2 [1].

[0097] The above algorithm describes the process of generating a reference path based on discrete points. In addition, in the virtual test, the vehicle driver model controls the vehicle to perform path tracking function, which also requires the heading angle and curvature parameters generated based on the reference path, and these two parameters will directly affect the quality of the path tracking function. Usually, the curvature interval is calculated by the formula Calculated, where 0.5 is the default sampling interval, in order to avoid instability caused by excessive derivative of the function when Δu is too small. The curvature is calculated by the formula Calculated, where dx 0 =X 1 ―X 0 , dx 1 =X 2 ―X 1 ,dy 0 =Y 1 ―Y 0 ,dy 1 =Y 2 ―Y 1 The heading angle uses the heading angle of the horizontal grid defined in the CRG file. This parameter does not use any interpolation algorithm in OPENCRG.

[0098] Based on the above analysis of CRG pavement files, it can be determined that in order to generate any CRG pavement file, it is necessary to obtain the corresponding pavement parameters from any pavement model generated by the 3D modeling software. After that, fill the pavement parameters into the corresponding CRG data block to generate the corresponding CRG pavement file.

[0099] Specifically, in this embodiment, the first road surface model is any road surface model generated by 3D modeling software, and when acquiring the first road surface model, the first road surface model generated by the 3D modeling software can be directly acquired. Exemplarily, the first road surface model can be in stp format.

[0100] Since the 3D modeling software cannot directly output the pavement parameters required for the CRG pavement file, in this embodiment, meshing software is used to mesh the first pavement model output by the 3D modeling software to obtain the pavement parameters required to generate the CRG pavement file from the divided first pavement file.

[0101] After obtaining the first road surface model, the first road surface model is gridded according to the preset transverse grid value and the longitudinal grid value to obtain a first road surface file containing multiple grid nodes. It should be noted that the size of the preset transverse grid value and the longitudinal grid value is determined according to the actual virtual test requirements. If the virtual test requires a more realistic road surface, the preset transverse grid value and the longitudinal grid value can be set smaller. If the road surface required for the virtual test does not need to be particularly realistic, the preset transverse grid value and the longitudinal grid value can be set slightly larger. This embodiment does not limit the specific size of the preset transverse grid value and the longitudinal grid value.

[0102] Afterwards, the pavement parameters of the pavement reference line corresponding to each grid node are obtained. Exemplarily, the pavement parameters may be the centerline data corresponding to each grid node and the vertical height data corresponding to each column of grid nodes. The vertical height data is used to describe the uneven characteristics of the pavement.

[0103] After obtaining the centerline data corresponding to each grid node and the vertical height data corresponding to each column of grid nodes, the centerline curvature and heading angle of the road surface reference line corresponding to each grid node are calculated according to the centerline data. The specific calculation formula can refer to the description in the above-mentioned related content, which will not be repeated here. And based on the centerline data, centerline curvature, heading angle and vertical height data of the road surface reference line corresponding to each grid node, a second road surface file is generated.

[0104] Specifically, after obtaining the centerline data, centerline curvature, heading angle and vertical height data of the road reference line corresponding to each grid node, the obtained road parameters can be filled into the corresponding CRG data block through the matlab applet to generate the second road file. Among them, the centerline data includes the starting position coordinates and the ending position coordinates of the road reference line in the Cartesian coordinate system; the transverse grid starting coordinates and the transverse grid ending coordinates of the road reference line in the UV coordinate system.

[0105] According to the technical solution of this embodiment, by obtaining a first pavement model, the first pavement model is a pavement file in a first format; the first pavement model is gridded to obtain a first pavement file containing multiple grid nodes; the pavement parameters of the pavement reference lines corresponding to each grid node in the first pavement file are obtained; based on the pavement parameters of the pavement reference lines corresponding to each grid node, a second pavement file is generated; the second pavement file is a pavement file in CGR format. In this way, a corresponding CRG pavement file can be generated according to any first pavement model without the need for a three-dimensional pavement scanning device to scan the pavement, thereby reducing the time cost of generating a pavement file. At the same time, the generated CRG pavement file can fully express the uneven characteristics of the simulated pavement, improve the pavement accuracy of the simulated pavement, and thus meet the needs of virtual testing.

[0106] Exemplary Devices

[0107] Accordingly, the present application also provides a device, such as Figure 6 As shown, the road surface file generating device 600 provided in this embodiment may include: a first acquiring module 610 , a dividing module 620 , a second acquiring module 630 and a generating module 640 .

[0108] The first acquisition module 610 acquires a first road surface model, where the first road surface model is a road surface file in a first format.

[0109] The division module 620 is used to perform grid division on the first road surface model to obtain a first road surface file including a plurality of grid nodes.

[0110] The second acquisition module 630 is used to acquire the pavement parameters of the pavement reference line corresponding to each grid node in the first pavement file.

[0111] The generating module 640 is used to generate a second road surface file based on the road surface parameters of the road surface reference lines corresponding to each grid node; the second road surface file is a road surface file in CGR format.

[0112] In one implementation, the second acquisition module 630 can be specifically used to acquire the centerline data of the road surface reference line corresponding to each grid node and the vertical height data of each column of grid nodes; wherein the centerline data and the vertical height data are road surface parameters of the road surface reference line. The centerline curvature and heading angle of the road surface reference line corresponding to each grid node are calculated according to the centerline data; based on the centerline data, centerline curvature, heading angle and vertical height data of the road surface reference line corresponding to each grid node, a second road surface file is generated.

[0113] In one implementation, the generation module 640 can be specifically used to fill the centerline data, centerline curvature, heading angle and vertical height data of the road reference line corresponding to each grid node into the corresponding CRG data block to generate a second road surface file.

[0114] In one implementation, the division module 620 may be specifically configured to perform grid division on the first road surface model according to preset transverse grid values ​​and longitudinal grid values ​​to obtain a first road surface file.

[0115] In one implementation, the centerline data includes the starting position coordinates and the ending position coordinates of the road surface reference line in the Cartesian coordinate system; the transverse grid starting coordinates and the transverse grid ending coordinates of the road surface reference line in the UV coordinate system.

[0116] The pavement file generation device provided in this embodiment belongs to the same application concept as the pavement file generation method provided in the above embodiments of this application, and can execute the pavement file generation method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the pavement file generation method. For technical details not fully described in this embodiment, please refer to the specific processing content of the pavement file generation method provided in the above embodiments of this application, and will not be repeated here.

[0117] It should be understood that the modules in the above devices can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device, wherein the processor can be a general-purpose processor, such as a CPU or a microprocessor, etc., and the memory can be a memory in the device or a memory outside the device. Alternatively, the unit in the device can be implemented in the form of a hardware circuit, and the functions of some or all units can be realized by designing the hardware circuit. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD, taking FPGA as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be implemented in the form of a processor calling software, or in the form of a hardware circuit, or in part by a processor calling software, and the remaining part is implemented in the form of a hardware circuit.

[0118] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0119] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0120] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a SOC. The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0121] Exemplary Electronic Devices

[0122] The present application embodiment provides an electronic device, see Figure 7 As shown, the electronic device includes a memory 700 and a processor 710 connected to the memory 700 .

[0123] The memory 700 is used to store programs.

[0124] Processor 710 is used to execute any of the pavement file generation methods of any of the above embodiments, by obtaining a first pavement model; meshing the first pavement model to obtain a first pavement file containing multiple grid nodes; obtaining pavement parameters of pavement reference lines corresponding to each grid node in the first pavement file; and generating a second pavement file based on the pavement parameters of the pavement reference lines corresponding to each grid node; the second pavement file is a pavement file in CGR format. In this way, a corresponding CRG pavement file can be generated according to any first pavement model without the need for a three-dimensional pavement scanning device to scan the pavement, thereby reducing the time cost of generating a pavement file.

[0125] The specific processing process of the processor 710 can refer to the introduction of the above method embodiment, and the specific implementation of the processor 710 can also refer to the introduction of the above embodiment.

[0126] Specifically, the electronic device may further include: a bus, a communication interface 720 , an input device 730 and an output device 740 .

[0127] The processor 710, the memory 700, the communication interface 720, the input device 730 and the output device 740 are connected to each other via a bus.

[0128] A bus may include a pathway that transfers information between components of a computer system.

[0129] Processor 710 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0130] The processor 710 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0131] The memory 700 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 700 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0132] The input device 730 may include a device for receiving data and information input by a user, such as an error microphone, a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0133] Output device 740 may include devices that allow information to be output to a user, such as a speaker, display screen, printer, speakers, etc.

[0134] The communication interface 720 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0135] The processor 710 executes the program stored in the memory 700 and calls other devices, which can be used to implement each step of any road surface file generation method provided in the above embodiments of the present application.

[0136] An embodiment of the present application also proposes a chip, which includes a processor and a data interface. The processor reads and runs the program stored in the memory through the data interface to execute the pavement file generation method introduced in any of the above embodiments. The specific processing process and its beneficial effects can be found in the introduction to the embodiment of the pavement file generation method mentioned above.

[0137] Exemplary computer program products and storage media

[0138] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the pavement file generation method according to various embodiments of the present application described in any of the above-mentioned embodiments of this specification.

[0139] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0140] In addition, the embodiment of the present application may also be a storage medium on which a computer program is stored. The computer program is executed by a processor to execute the steps of the road surface file generation method according to various embodiments of the present application described in any of the above embodiments of this specification, and specifically the following steps may be implemented:

[0141] 1100. Obtain a first road surface model, where the first road surface model is a road surface file in a first format.

[0142] 1200. Grid the first pavement model to obtain a first pavement file including a plurality of grid nodes.

[0143] 1300. Obtain pavement parameters of pavement reference lines corresponding to each grid node in the first pavement file.

[0144] 1400. Generate a second road surface file based on road surface parameters of road surface reference lines corresponding to each grid node; the second road surface file is a road surface file in CGR format.

[0145] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0146] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0147] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0148] The modules and sub-modules in the devices and terminals of the various embodiments of the present application can be combined, divided and deleted according to actual needs.

[0149] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0150] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0152] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0153] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0154] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0155] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for generating a road surface file, characterized in that: The method comprises: Acquire a first road surface model, where the first road surface model is a road surface file in a first format; Meshing the first pavement model to obtain a first pavement file including a plurality of mesh nodes; Obtaining pavement parameters of pavement reference lines corresponding to each of the grid nodes in the first pavement file; A second road surface file is generated based on the road surface parameters of the road surface reference lines corresponding to the respective grid nodes; the second road surface file is a road surface file in CGR format.

2. The method according to claim 1, characterized in that: The obtaining of the pavement parameters of the pavement reference lines corresponding to the grid nodes in the first pavement file includes: Acquire the center line data of the road surface reference line corresponding to each grid node and the vertical height data of each column of the grid nodes; wherein the center line data and the vertical height data are road surface parameters of the road surface reference line; Calculate the centerline curvature and heading angle of the road reference line corresponding to each grid node according to the centerline data; The second road surface file is generated based on the center line data, the center line curvature, the heading angle and the vertical height data of the road surface reference line corresponding to each of the grid nodes.

3. The method according to claim 2, characterized in that The generating the second road surface file based on the centerline data of the road surface reference line corresponding to each of the grid nodes, the centerline curvature, the heading angle, and the vertical height data includes: The centerline data, the centerline curvature, the heading angle and the vertical height data of the road surface reference line corresponding to each grid node are filled into the corresponding CRG data block to generate the second road surface file.

4. The method according to claim 1, characterized in that: The step of meshing the first pavement model to obtain a first pavement file containing a plurality of mesh nodes includes: The first pavement model is grid-divided according to preset transverse grid values ​​and longitudinal grid values ​​to obtain the first pavement file.

5. The method according to claim 2, characterized in that: The centerline data includes the starting position coordinates and the ending position coordinates of the road surface reference line in the Cartesian coordinate system; the transverse grid starting coordinates and the transverse grid ending coordinates of the road surface reference line in the UV coordinate system.

6. The method according to claim 1, characterized in that The step of obtaining the first road surface model comprises: The first road surface model generated by 3D modeling software is obtained.

7. A road surface file generating device, characterized in that: The device comprises: A first acquisition module, which acquires a first road surface model, where the first road surface model is a road surface file in a first format; A partitioning module, used for performing mesh partitioning on the first pavement model to obtain a first pavement file including a plurality of mesh nodes; A second acquisition module is used to acquire the pavement parameters of the pavement reference line corresponding to each of the grid nodes in the first pavement file; A generating module is used to generate a second road surface file based on the road surface parameters of the road surface reference lines corresponding to each grid node; the second road surface file is a road surface file in CGR format.

8. An electronic device, characterized in that: including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the road surface file generation method as described in any one of claims 1 to 6 by running the program in the memory.

9. A computer program product, characterized in that The method comprises computer program instructions, which, when executed by a processor, enable the processor to execute the road surface file generation method as claimed in any one of claims 1 to 6.

10. A chip, characterized in that: It comprises a processor and a data interface, and the processor reads and runs the program stored in the memory through the data interface to execute the pavement file generation method as described in any one of claims 1 to 6.

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