Method, device and equipment for generating three-dimensional scene of road and storage medium

Abstract

The invention relates to the technical field of automatic modeling development, and discloses a road three-dimensional scene generation method, device and equipment and a storage medium, and the method comprises the steps: carrying out the modeling of facilities in a road based on road facility parameters, and generating a road facility model corresponding to the road facility parameters, the road facility model comprises a toll station model and / or a road model; and calling a corresponding road facility model based on the road business data, and generating a road three-dimensional scene. According to the method, model disassembly is carried out on the road facilities, modeling is carried out based on the road facility parameters, the road facility model library is generated, the road facility model is called through the business data, the three-dimensional scene of the inspection road is restored, modeling of the inspection road is avoided, and the maintenance cost of the road three-dimensional scene model is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automated modeling and development technology, and in particular to a method, device, equipment and storage medium for generating three-dimensional road scenes. Background Art

[0002] The three-dimensional GIS method is to model the scene through three-dimensional (3D) software, restore the scene by loading the model, restore the entire inspection process based on the GPS data obtained by the vehicle inspection, and visualize the road damage information in three dimensions. However, due to the wide range of business needs and the uncertainty of inspection roads, 3D modeling is required for different roads. Moreover, as the number of inspection sections increases, the number of models also increases gradually, and the maintenance cost of the model increases gradually. The degree of automation is very low and cannot meet the business needs of extensive road inspections. Summary of the invention

[0003] In view of this, the present invention provides a method, device, equipment and storage medium for generating a three-dimensional road scene to solve the problem of high maintenance cost of the model due to the uncertainty of patrol roads and the need to perform 3D modeling on different roads.

[0004] In a first aspect, the present invention provides a method for generating a three-dimensional road scene, the method comprising: modeling the facilities in the road based on road facility parameters, generating a road facility model corresponding to the road facility parameters, the road facility model comprising: a toll station model and / or a road model; based on road business data, calling the corresponding road facility model to generate a three-dimensional road scene.

[0005] In an optional embodiment, the road facility parameters include: the coordinates of the center point of the toll station, the azimuth of the toll station along the direction perpendicular to the toll station lane, the width of the toll station, the number of toll station lanes, the width of the toll station lane and the height of the toll station lane; the modeling of the facilities in the road based on the road facility parameters to generate a road facility model corresponding to the road facility parameters includes: determining the width of the toll island based on the number of toll station lanes, the width of the toll station lane and the toll station width; determining the toll station lane coordinates and the toll island vertex coordinates based on the coordinates of the toll station center point, the toll station width, the toll station lane height and the azimuth; generating based on the coordinates of each toll station lane Toll station lane model; generate a toll island model based on the coordinates of each toll island vertex; determine the coordinates of the toll station support column based on the toll station lane coordinates and the toll island coordinates, and generate a toll station support column model based on the coordinates of each toll station support column; determine the coordinates of the toll station ceiling based on the toll station support column coordinates, and generate a toll station ceiling model based on the toll station ceiling coordinates; determine the coordinates of each character in the toll station name based on the toll station name and the toll station support column coordinates; determine the coordinates of the toll station lane indicator light based on the lane indicator light parameters, the height of the toll station support column and the toll station lane coordinates, and generate a toll station lane indicator light model based on the coordinates of each toll station lane indicator light.

[0006] In an optional embodiment, generating the toll station ceiling model includes: determining the coordinates of the ceiling center point of the toll station ceiling based on the coordinates of the toll station support columns; obtaining the ceiling length, ceiling height and a first distance between the toll station ceiling and the ceiling center point of the toll station, and determining the eave arc radius of the toll station ceiling based on the ceiling length, the ceiling height and the first distance; determining the eave coordinates based on the eave arc radius, and generating the eave model based on the eave coordinates; obtaining the side eave height and side eave width of the toll station ceiling, and determining the side eave arc radius of the toll station ceiling based on the side eave height and the side eave width; determining the side eave coordinates based on the side eave arc radius, and generating the side eave model based on the side eave coordinates.

[0007] In an optional embodiment, generating the toll island model includes: obtaining the major semi-axis length and the minor semi-axis length of the island head of the toll island, and the major semi-axis length and the minor semi-axis length of the island edge of the toll island; generating the coordinate points of the island head model of the target toll island based on the vertex coordinates of the target toll island, the major semi-axis length of the island head and the minor semi-axis length of the island head; generating the coordinate points of the island edge model of the target toll island based on the vertex coordinates of the target toll island, the major semi-axis length of the island edge and the minor semi-axis length of the island edge.

[0008] In an optional embodiment, the road facility parameters include: road centerline coordinates, road height, road width, number of lanes and lane solid line index; the modeling of facilities in the road based on the road facility parameters to generate a road facility model corresponding to the road facility parameters includes: determining road surface coordinate points based on the road centerline coordinates, the road height and the road width, and generating a road surface model based on the road surface coordinate points; determining lane solid line coordinate points and lane dashed line coordinate points based on the road centerline coordinates and the lane solid line index; generating a lane solid line model based on the lane solid line coordinate points; generating a lane dashed line model based on the lane dashed line coordinate points.

[0009] In an optional implementation, the method of calling a corresponding road facility model based on road business data to generate a three-dimensional road scene includes: acquiring the road business data, the road business data including: an inspection track, a road hazard location, and a road hazard picture; calling the road model based on the inspection track to generate the three-dimensional road scene; generating a mapping model based on the road hazard location and the road hazard picture, and adding the mapping model to the three-dimensional road scene to obtain a three-dimensional road scene including a road hazard scene.

[0010] In an optional embodiment, the method also includes: editing the road three-dimensional scene, including: selecting a target model from the road facility model, adding the target model to the road three-dimensional scene, and performing at least one of the following operations on the target model: adjusting the position of the target model in the road three-dimensional scene; rotating the target model, adjusting the posture of the target model; scaling the target model; deleting the target model.

[0011] In a second aspect, the present invention provides a device for generating three-dimensional road scenes, the device comprising: a model creation module, for modeling facilities in the road based on road facility parameters, and generating a road facility model corresponding to the road facility parameters, the road facility model comprising: a toll station model and / or a road model; a scene generation module, for calling the corresponding road facility model based on road business data to generate a three-dimensional road scene.

[0012] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for generating a three-dimensional road scene according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for generating a three-dimensional road scene according to the first aspect or any corresponding embodiment thereof.

[0014] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the method for generating a three-dimensional road scene according to the first aspect or any corresponding embodiment thereof.

[0015] The method for generating a three-dimensional road scene provided in this embodiment disassembles the model of road facilities, performs modeling based on road facility parameters, generates a road facility model library, calls the road facility model through business data, and restores the three-dimensional scene of the inspection road, thereby avoiding the modeling of the inspection road and reducing the maintenance cost of the road three-dimensional scene model. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of a process for generating a three-dimensional road scene provided by an embodiment of the present invention is shown;

[0018] Figure 2 The structural schematic diagram of the toll booth model is shown;

[0019] Figure 3 The structural schematic diagram of the toll booth roof model is shown;

[0020] Figure 4 A schematic diagram of the process of generating a toll booth model is shown;

[0021] Figure 5 A schematic diagram of the process of generating a toll booth ceiling model is shown;

[0022] Figure 6 A schematic diagram of the charging island model is shown;

[0023] Figure 7 A schematic diagram of the process of generating a toll island model is shown;

[0024] Figure 8 A schematic diagram of the structure of the road model is shown;

[0025] Fig. 9A schematic diagram of the process of editing a three-dimensional road scene is shown;

[0026] Fig.10 Another schematic diagram of a process for generating a three-dimensional road scene provided by an embodiment of the present invention is shown;

[0027] Fig.11 A schematic diagram of the structure of a device for generating a three-dimensional road scene is shown;

[0028] Fig.12 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist; for example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B may be singular or plural. The terms "include", "comprises", "has" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0031] Road inspection uses video acquisition, Global Positioning System (GPS) positioning and other modules, based on intelligent algorithm models, to identify road damage information on public roads, and visualizes road damage information in two-dimensional or three-dimensional form in the form of lists or statistical charts. Road damage information includes water damage, collapse, landslide, sand damage, snow damage, roadbed frost heave, subsidence, mudslide, ice damage and road surface damage.

[0032] The two-dimensional geographic information system (GIS) in the related art displays inspection routes or road hazard signs on a two-dimensional map, but has a low degree of visualization and cannot directly simulate real road hazard scenes or directly show users the real effects of road hazards.

[0033] The three-dimensional GIS method is to model the scene through three-dimensional (3D) software, restore the scene by loading the model, restore the entire inspection process based on the GPS data obtained by the vehicle inspection, and visualize the road damage information in three dimensions. However, due to the wide range of business needs and the uncertainty of inspection roads, 3D modeling is required for different roads. Moreover, as the number of inspection sections increases, the number of models also increases gradually, and the maintenance cost of the model increases gradually. The degree of automation is very low and cannot meet the business needs of extensive road inspections.

[0034] According to an embodiment of the present invention, an XX method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] In this embodiment, a method for generating a three-dimensional road scene is provided, which can be used in a terminal such as a mobile phone, a tablet computer, a desktop computer or a server. Figure 1 A schematic diagram of a process for generating a three-dimensional road scene according to an embodiment of the present invention is shown. Figure 1 As shown, the process includes the following steps:

[0036] Step S101, modeling the facilities on the road based on the road facility parameters, generating a road facility model corresponding to the road facility parameters, the road facility model including: a toll station model and / or a road model.

[0037] In this step, the road facility parameters may be parameters of road-related facilities, including but not limited to toll booths, highways, expressways, roadside guardrails, gantries or kilometer signs, etc. The road facility parameters may also be parameters of road-related facilities during road inspection.

[0038] The facilities on the road are modeled based on the road facility parameters, the road facility coordinate points corresponding to the road facility parameters are generated, and the road facility model is created. The coordinates of the center point of the road facility can be obtained, and the coordinate points of the road facility model can be calculated according to the characteristics of the specific road facilities.

[0039] The road facility model includes: a toll booth model, a road model or other models. Other models include: a roadside guardrail model, a gantry model or a milestone model, etc. The road facility model may include one or more of the aforementioned models.

[0040] Step S102: Based on the road business data, the corresponding road facility model is called to generate a three-dimensional road scene.

[0041] In this step, the road service data includes: inspection trajectory data, road condition data, traffic flow data, traffic event data, and traffic facility status data. Road condition data includes: number of lanes, degree of road damage or road flatness, etc. Traffic facility status data includes the integrity and operating status of traffic facilities such as street lights, traffic lights or traffic signs. Road inspection is the identification and location of road hazards by inspection vehicles, and the aforementioned road service data can be obtained during the inspection process.

[0042] Based on the road business data, determine the road facility model that needs to be called during the road inspection process, place and adjust the road facility model, and generate a three-dimensional road scene.

[0043] The embodiment of the present invention can be based on the Web 3DGIS engine Cesium, by disassembling the model of the real road scene, modeling the disassembled model in a coded manner, and constructing a model library and a parameter library of the inspection road.

[0044] WebGIS visualizes the data in the spatial database on the front end. Web 3DGIS adds the third dimension of the earth's surface, namely height or depth, based on WebGIS. Compared with the two-dimensional WebGIS, 3DGIS can better analyze and process geospatial data. The use of accurate three-dimensional geographic models can help decision makers and planners better understand geospatial data and conduct visual analysis.

[0045] The method for generating a three-dimensional road scene provided in this embodiment disassembles the model of road facilities, performs modeling based on road facility parameters, generates a road facility model library, calls the road facility model through business data, and restores the three-dimensional scene of the inspection road, thereby avoiding the modeling of the inspection road and reducing the maintenance cost of the road three-dimensional scene model.

[0046] In some optional implementations, the road facility parameters include: the coordinates of the center point of the toll station, the azimuth of the toll station along the direction perpendicular to the toll station lane, the width of the toll station, the number of toll station lanes, the width of the toll station lane and the height of the toll station lane; modeling the facilities in the road based on the road facility parameters to generate a road facility model corresponding to the road facility parameters, including: determining the toll island width based on the number of toll station lanes, the width of the toll station lane and the toll station width; determining the toll station lane coordinates and the toll island vertex coordinates based on the coordinates of the center point of the toll station, the width of the toll station, the height of the toll station lane and the azimuth; generating a toll island vertex coordinate based on the coordinates of each lane. Toll station lane model; generate a toll island model based on the coordinates of each toll island vertex; determine the coordinates of the toll station support column based on the lane coordinates and the toll island coordinates, and generate a toll station support column model based on the coordinates of each toll station support column; determine the coordinates of the toll station roof based on the coordinates of the toll station support column, and generate a toll station roof model based on the coordinates of the toll station roof; determine the coordinates of each character in the toll station name based on the toll station name and the coordinates of the toll station support column; determine the coordinates of the toll station lane indicator light based on the lane indicator light parameters, the height of the toll station support column and the toll station lane coordinates, and generate a toll station lane indicator light model based on the coordinates of the lane indicator lights of each toll station.

[0047] In this embodiment, Figure 2 Figure 2 shows the structural diagram of the toll station model. Figure 2 As shown, the toll station model includes: a toll station ceiling model 201, a toll station top model 202, a toll station support column model 203, a toll island model 204, a toll station lane model 205, a lane indicator light model 206, a toll station name model 207, a toll island-upper model 208 and a toll island-lower model 209, etc.

[0048] The parameters related to the toll station road facilities include: the coordinates of the toll station center point (T-Center), the azimuth of the toll station along the direction perpendicular to the toll station lane (Azimuth), the toll station width (Width), the number of toll station lanes (laneNum), the toll station lane width (laneWidth) and the toll station lane height (height). T-Center can be (longitude lng, latitude lat, elevation h), and the position of the toll station can be controlled by the coordinates of the toll station center point. The direction of the toll station modeling can be controlled by Azimuth. The parameters related to the toll station road facilities can also include the toll station lane length (Length), which is the distance between the two lanes facing the toll station, the toll station name (Name) and the lane indicator parameter (laneThrough). Length is the distance between the two lanes facing the toll station, and laneThrough is used to characterize whether the toll station lane is an electronic toll collection (ETC) and whether it is passable.

[0049] Based on the number of lanes (laneNum), lane width (laneWidth) and width (Width) of the toll station, the toll island width is determined, including: determining the toll island width (platformWidth) by the following formula,

[0050] platformWidth=(Width-laneNum*laneWidth) / (laneNum-1)

[0051] The number of toll islands may also be determined based on the toll booth lane number (laneNum), the toll booth lane width (laneWidth), and the toll booth width (Width).

[0052] Based on the coordinates of the center point (T-Center) of the toll station, the width (Width) of the toll station, the height (height) and the azimuth (Azimuth) of the toll station lane, the coordinates of the toll station lane are determined, and based on the coordinates of each lane, a toll station lane model is generated, including: calculating the interval distance (laneInterval) between the toll station lanes and the four vertex coordinates of each toll station lane by the following formula to generate the toll station lane model:

[0053] laneInterval=(platformWidth+laneWidth)+i

[0054] Where i is the lane code of the toll station.

[0055] Based on the coordinates of the toll station center point (T-Center), the toll station width (Width), the toll station lane height (height) and the azimuth (Azimuth), the coordinates of the toll island vertices are determined, and based on the coordinates of the vertices of each toll island, a toll island model is generated, including: setting the major semi-axis of the toll island-lower ellipse to 1.5*platformWidth, calculating the vertex coordinates of each toll island-upper and toll island-lower model, and generating a toll island model.

[0056] Based on the coordinates of the toll station lane and the toll island, the coordinates of the toll station support column are determined, and based on the coordinates of each toll station support column, a toll station support column model is generated, including: calculating the coordinates of the center point of the toll station lane based on the four vertex coordinates of the toll station lane; calculating the coordinates of the center point of the toll station support column based on the coordinates of the toll island and the lane center point, and calculating the coordinates of the toll station support column model based on the width and height of the support column to generate a toll station support column model.

[0057] Based on the model coordinates of the toll station support columns, the model coordinates of the beams and columns on the top of the toll station are calculated, and the beam-column mesh model is generated.

[0058] Figure 3 The structural diagram of the toll booth roof model is shown in Figure 1. Figure 3 As shown, the toll booth ceiling model includes: a top eave model 301 , a first side eave model 302 , a second side eave model 303 , a front eave model 304 and a top surface model 305 . Figure 3 A structural schematic diagram of the toll station support column model 203 is also given. The number of toll station ceilings can be one or more, and one is taken as an example here to illustrate the modeling of the toll station ceiling. Based on the coordinates of the toll station support columns, the coordinates of the toll station ceiling are determined, and based on the coordinates of the toll station ceiling, the toll station ceiling model is generated, including: calculating the center point coordinates of the ceiling according to the support columns, setting the curvature of the top eaves and side eaves, calculating the model coordinates of the top eaves, side eaves, front eaves and top surface according to the center point coordinates of the ceiling, creating a single ceiling model, and then calculating the center point coordinates of several other ceilings according to the width of the toll station, and generating each ceiling model respectively.

[0059] Based on the toll station name and the coordinates of the toll station support column, the coordinates of each character in the toll station name are determined, including: calculating the coordinates of each character in the toll station name according to the toll station name and the coordinates of the support column in the middle position of the toll station support column.

[0060] Based on the lane indicator light parameters, the height of the toll station support column and the lane coordinates of the toll station, the coordinates of the lane indicator light of the toll station are determined, and based on the coordinates of the lane indicator lights of each toll station, a toll station lane indicator light model is generated, including: according to the lane indicator light parameters and the center point coordinates of the lane and the support height, the coordinates of each lane indicator light are calculated, and different canvas maps are generated according to different indicator light type parameters, and different types of toll station lane indicator light models are automatically created.

[0061] Figure 4 Figure 2 shows a schematic diagram of the process of generating a toll booth model. Figure 4 As shown, generating a toll station model includes: step S401, parameterizing the toll station related facilities; step S402, calculating the width and number of toll islands; step S403, calculating the coordinates of the toll island model; step S404, generating the toll island model; step S405, batch calculating the coordinates of the support column model; step S406, generating the support column model; step S407, calculating the coordinates of the toll station ceiling model; step S408, generating the toll station ceiling model; step S409, calculating the model coordinates of the toll station name, toll station lane indicator light, etc.; step S410, generating the toll station name, lane indicator light, etc. models; step S411, integrating the aforementioned models to generate a toll station model.

[0062] In this way, three-dimensional modeling of toll station-related facilities during road inspection can improve the visualization of three-dimensional scenes during road inspection, with low modeling maintenance costs and high automation.

[0063] In some optional embodiments, generating a toll booth ceiling model includes: determining the coordinates of the ceiling center point of the toll booth ceiling based on the coordinates of the toll booth support columns; obtaining the ceiling length (l), ceiling height (h) and a first distance (d) between the toll booth ceiling and the ceiling center point, and determining the arc radius of the eaves in the toll booth ceiling based on the ceiling length, ceiling height and first distance; determining the eaves coordinates based on the eaves arc radius, and generating an eaves model based on the eaves coordinates; obtaining the side eaves height (h side) and side eaves width (w) of the toll booth ceiling, and determining the side eaves arc radius in the toll booth ceiling based on the side eaves height and the side eaves width; determining the side eaves coordinates based on the side eaves arc radius, and generating a side eaves model based on the side eaves coordinates.

[0064] In this embodiment, the coordinates of the center point of the ceiling are calculated based on the support column, and the radius of the top eave arc r is calculated by the following formula: 顶 :

[0065]

[0066] in, According to r 顶Calculate the coordinates of the vertices on each face of the eaves model to generate the eaves model.

[0067] The side eave arc radius r is calculated by the following formula 侧 :

[0068]

[0069] in, According to r 侧 Calculate the coordinates of the vertices in each face of the first side eave and the second side eave to generate the side eave model. According to the coordinates of the top eave, side eave and front eave models calculated in the previous steps, obtain the coordinates of their inner bottom coordinate points, sort them counterclockwise, generate the coordinate points of the top surface model, and draw the top surface canvas to map the top surface model.

[0070] Figure 5 The figure shows the process diagram of generating the toll booth roof model. Figure 5 As shown, generating a toll station ceiling model includes: step S501, calculating the coordinates of the center point of the ceiling; step S502, setting the ceiling parameters; step S503, calculating the radius of the ceiling arc; step S504, calculating the model coordinates of the eaves; step S505, calculating the model coordinates of the side eaves and the front eaves; step S506, calculating the top surface model coordinates; step S507, integrating the toll station ceiling model.

[0071] In this way, three-dimensional modeling of the toll station roof during the road inspection process can improve the visualization of the three-dimensional scene during the road inspection process, with low modeling maintenance costs and high automation.

[0072] In some optional embodiments, generating a toll island model includes: obtaining the major semi-axis length and the minor semi-axis length of the island head of the toll island, the major semi-axis length and the minor semi-axis length of the island edge of the toll island; based on the vertex coordinates of the target toll island, the major semi-axis length and the minor semi-axis length of the island head, generating coordinate points of the target toll island model.

[0073] In this embodiment, Figure 6 The schematic diagram of the charging island model is shown in FIG. Figure 6 As shown, the toll island includes: an island edge model 601, an island head model 602 and a lawn model 603. The coordinates of the center point of the toll island and the length, width and height of the toll island are obtained, and the coordinates of the lawn model are calculated based on the coordinates of the center point of the toll island and the length, width and height of the toll island. The coordinates of the center point of the toll island head (x0, y0) are calculated based on the coordinates of the center point of the toll island and the length, width and height of the toll island, and the coordinate points (x, y) of the island head model are calculated by the following formula:

[0074]

[0075] Where a is the long semi-axis of the toll island head, and b is the short semi-axis of the toll island head. β∈[π, 2π] or [0, π]. Similarly, the coordinate points of the island edge stone model are calculated based on the above method.

[0076] Figure 7 The figure shows the process flow diagram of the toll island model generation. Figure 7 As shown, generating a toll island model includes: step S701, setting toll island parameters; step S702, calculating the coordinates of the toll island lawn model; step S703, generating a toll island lawn model; step S704, setting island head and island edge parameters; step S705, generating island head and island edge models; step S706, integrating to obtain the toll island model.

[0077] In this way, three-dimensional modeling of the toll island during the road inspection process can improve the visualization of the three-dimensional scene during the road inspection process, with low modeling maintenance costs and high automation.

[0078] In some optional embodiments, the road facility parameters include: road centerline coordinates, road height, road width, number of lanes and lane solid line index; the facilities in the road are modeled based on the road facility parameters to generate a road facility model corresponding to the road facility parameters, including: determining road surface coordinate points based on the road centerline coordinates, road height and road width, and generating a road surface model based on the road surface coordinate points; determining lane solid line coordinate points and lane dashed line coordinate points based on the road centerline coordinates and lane solid line index; generating a lane solid line model based on the lane solid line coordinate points; generating a lane dashed line model based on the lane dashed line coordinate points.

[0079] In this embodiment, Figure 8 Figure 2 shows a schematic diagram of the road model structure. Figure 8 As shown, the road model includes: a lane model 801, a lane solid line model 802, a lane dashed line model 803 and a roadbed model 804. Based on the road centerline coordinate point, road height and road width, the road surface coordinate point is calculated to generate a road surface model. According to the road centerline coordinate point and the lane solid line index, the lane solid line coordinate point and the lane dashed line coordinate point are calculated, and based on the lane solid line coordinate point, the lane solid line model is drawn, and based on the lane dashed line coordinate point, the lane dashed line model is drawn.

[0080] Roadside guardrail models, gantry models, and mileage sign models can be added during 3D scene editing, or automatically added to the road model by setting corresponding parameters.

[0081] In this way, three-dimensional modeling of roads during road inspection can improve the visualization of three-dimensional scenes during road inspection, with low modeling maintenance costs and high automation.

[0082] In some optional implementations, based on road business data, a corresponding road facility model is called to generate a three-dimensional road scene, including: obtaining road business data, the road business data including: vehicle trajectory, road hazard location and road hazard picture; calling a road model based on the vehicle trajectory to generate a three-dimensional road scene; generating a mapping model based on the road hazard location and the road hazard picture, and adding the mapping model to the three-dimensional road scene to obtain a three-dimensional road scene including a road hazard scene.

[0083] In this embodiment, the road business data can be processed, abnormal data can be excluded, and inspection track data can be generated. According to parameters such as road width and height and inspection track data, the road model is called to generate a three-dimensional road scene. A mapping model is generated at the road damage location, and a mapping display is performed based on the road damage picture.

[0084] In this way, through the three-dimensional scene and map display, the road damage situation is clear at a glance, which helps to quickly locate the problem. The generated three-dimensional scene is close to reality, which can improve the accuracy of the simulation. The three-dimensional scene of the inspection road is restored through road business data, avoiding the modeling of the inspection road and increasing the degree of automation of three-dimensional visualization.

[0085] In some optional embodiments, the aforementioned method for generating a three-dimensional road scene also includes: editing the three-dimensional road scene, including: selecting a target model from a road facility model, adding the target model to the three-dimensional road scene, and performing at least one of the following operations on the target model: adjusting the position of the target model in the three-dimensional road scene; rotating the target model, adjusting the posture of the target model; scaling the target model; deleting the target model.

[0086] In this embodiment, in addition to the road itself, the road elements also include models of toll booths, roadside guardrails, gantries, mileage signs, tunnels, trees, etc. These models can be selected from the models formed one by one through the models mentioned above, and scene elements can be added to the three-dimensional scene. The operation of the target model includes: selecting the required target model from the road facility model, dragging it to the three-dimensional scene, selecting the target model, pressing and dragging the target model, and adjusting the position of the target model; rotating the target model, generating a three-dimensional coordinate axis with the center point of the target model as the origin, selecting the coordinate axis, adjusting the posture of the target model by moving the mouse, and rotating the target model by the following formula:

[0087]

[0088] Among them, x, y, z are the coordinates of the target model, θ x ,θ y ,θ zThey are the rotation angles around the x, y, and z axes respectively. In this example, the rotations are performed in the order of x, y, and z axes. The target model is scaled to generate a three-dimensional coordinate axis with the center point of the target model as the origin. The scaling ratios of the three axes are set to scale the target model. The target model is scaled based on the following formula:

[0089]

[0090] Among them, x, y, z are the coordinates of the target model, s x ,s y ,s z The scaling ratios of x, y, and z are respectively; the target model is saved, and the target model editing type is recorded as adding, scaling, rotating, editing, or deleting. The position, posture, scaling, and other data of the target model are recorded, and the data is updated to the database. When refreshing, the database is read to regenerate the three-dimensional scene.

[0091] Fig. 9 The figure shows a schematic diagram of the process of editing a three-dimensional road scene. Fig. 9 As shown, editing the road three-dimensional scene includes: step S901, editing and saving the target model; step S902, selecting the target model from the road facility model; step S903, dragging and adding the target model in the three-dimensional scene, and proceeding to step S910; step S904, dragging to change the position of the target model, and proceeding to step S910; step S905, selecting the rotation axis; step S906, rotating the target model, and proceeding to step S910; step S907, setting the target model scaling ratio; step S908, scaling the target model, and proceeding to step S910; step S909, deleting the target model, and proceeding to step S910; step S910, recording the target model modification status; step S911, recording the target model modification parameters; step S912, saving the database.

[0092] During the road inspection process, data offset may occur due to factors such as unstable GPS signals. In this case, the roads automatically created based on the road business data will be inconsistent with the actual map, and secondary editing is required to correct the roads. The steps are as follows: First, edit the road model to display the editable nodes of the road model; second, delete the road model nodes by multi-selecting nodes, and choose whether to relink the head and tail nodes; third, move the nodes, select a single or multiple nodes and drag the mouse to change the position and shape of the road model; finally, save the edited road model nodes to the database.

[0093] In this way, secondary editing and saving of the three-dimensional scene can solve problems such as the incomplete three-dimensional scene created based on business data, lack of scene elements, inaccurate business data, road offset, etc., and the three-dimensional scene can be further improved.

[0094] Fig.10 FIG. 2 shows another flow chart for generating a three-dimensional road scene provided by an embodiment of the present invention. Fig.10 As shown, the process for generating a three-dimensional road scene includes: step S1001, disassembling the road facility model; step S1002, obtaining a parameterized representation of the road facility model; step S1003, generating a road facility model; step S1004, creating a road facility model library; step S1005, parsing road inspection business data; step S1006, calling the road facility model based on the road business data to generate a three-dimensional road model; step S1007, adding scene elements to the three-dimensional road model; step S1008, editing scene elements in the three-dimensional road scene; step S1009, deleting scene elements in the three-dimensional road scene; step S1010, saving the three-dimensional road scene.

[0095] In road inspection, in order to simulate the real inspection environment, the entire road inspection process is simulated by parameterizing the 3D model and combining it with the business data of the road inspection. The automated road inspection modeling based on Web 3DGIS is not only applicable to road inspection, but also to other business scenarios related to roads. The editability of the scenario expands the scope of application of the scenario.

[0096] In this embodiment, a device for generating a three-dimensional road scene is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0097] This embodiment provides a device for generating a three-dimensional road scene. Fig.11 A schematic diagram of the structure of a device for generating a three-dimensional road scene is shown. Fig.11 As shown, including:

[0098] The model creation module 1101 is used to model the facilities on the road based on the road facility parameters, and generate a road facility model corresponding to the road facility parameters. The road facility model includes: a toll station model and / or a road model.

[0099] The scene generation module 1102 is used to call the corresponding road facility model based on the road business data to generate a three-dimensional road scene.

[0100] In some optional implementations, the road facility parameters include: coordinates of the center point of the toll station, the azimuth of the toll station along a direction perpendicular to the toll station lane, the toll station width, the number of toll station lanes, the toll station lane width and the toll station lane height, and the model creation module includes:

[0101] The first creation unit is used to determine the width of the toll island based on the number of toll station lanes, the width of the toll station lanes and the width of the toll station; determine the toll station lane coordinates and the toll island vertex coordinates based on the toll station center point coordinates, the toll station width, the toll station lane height and azimuth; and generate a toll station lane model based on the coordinates of each toll station lane.

[0102] The second creation unit is used to generate a toll island model based on the coordinates of each toll island vertex.

[0103] The third creation unit is used to determine the coordinates of the toll station support column based on the toll station lane coordinates and the toll island coordinates, and generate a toll station support column model based on the coordinates of each toll station support column.

[0104] The fourth creation unit is used to determine the coordinates of the toll station ceiling based on the coordinates of the toll station support columns, and to generate a toll station ceiling model based on the coordinates of the toll station ceiling.

[0105] The fifth creation unit is used to determine the coordinates of each character in the toll station name based on the toll station name and the coordinates of the toll station support column.

[0106] The sixth creation unit is used to determine the coordinates of the lane indicator lights at the toll station based on the lane indicator light parameters, the height of the toll station support column and the lane coordinates of the toll station, and to generate a toll station lane indicator light model based on the coordinates of the lane indicator lights at each toll station.

[0107] In some optional implementations, the fourth creation unit includes:

[0108] The first subunit of the fourth creation unit is used to determine the coordinates of the ceiling center point of the toll station ceiling based on the coordinates of the toll station support columns; obtain the ceiling length, ceiling height and the first distance between the toll station ceiling and the ceiling center point, and determine the eaves arc radius in the toll station ceiling based on the ceiling length, ceiling height and the first distance; determine the eaves coordinates based on the eaves arc radius, and generate an eaves model based on the eaves coordinates; obtain the side eaves height and side eaves width of the toll station ceiling, and determine the side eaves arc radius in the toll station ceiling based on the side eaves height and side eaves width; determine the side eaves coordinates based on the side eaves arc radius, and generate a side eaves model based on the side eaves coordinates.

[0109] In some optional implementations, the second creation unit includes:

[0110] The first sub-unit of the second creation unit is used to obtain the major semi-axis length and the minor semi-axis length of the island head of the toll island, and the major semi-axis length and the minor semi-axis length of the island edge of the toll island; based on the vertex coordinates of the target toll island, the major semi-axis length and the minor semi-axis length of the island head, generate the coordinate points of the target toll island head model; based on the vertex coordinates of the target toll island, the major semi-axis length and the minor semi-axis length of the island edge, generate the coordinate points of the target toll island edge model.

[0111] In some optional implementations, the road facility parameters include: road centerline coordinates, road height, road width, number of lanes, and lane solid line index, and the model creation module includes:

[0112] The seventh creation unit is used to determine the road surface coordinate points based on the road centerline coordinates, road height and road width, and generate a road surface model based on the road surface coordinate points; determine the lane solid line coordinate points and lane dashed line coordinate points based on the road centerline coordinates and the lane solid line index; generate a lane solid line model based on the lane solid line coordinate points; generate a lane dashed line model based on the lane dashed line coordinate points.

[0113] In some optional implementations, the scene generation module includes:

[0114] The scene generation unit is used to obtain road business data, which includes: inspection tracks, road damage locations and road damage pictures; call the road model based on the inspection tracks to generate a three-dimensional road scene; generate a texture model based on the road damage location and the road damage picture, and add the texture model to the three-dimensional road scene to obtain a three-dimensional road scene including the road damage scene.

[0115] In some optional implementations, the aforementioned device for generating a three-dimensional road scene further includes:

[0116] The scene editing model is used to select a target model from the road facility model, add the target model to the road three-dimensional scene, and perform at least one of the following operations on the target model: adjust the position of the target model in the road three-dimensional scene; rotate the target model, adjust the posture of the target model; scale the target model; delete the target model.

[0117] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0118] The device for generating a three-dimensional road scene in this embodiment is presented in the form of a functional unit, where the unit refers to an application specific integrated circuit (ASIC) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0119] The embodiment of the present invention also provides a computer device having the above Fig.11 The device shown is used to generate a three-dimensional road scene.

[0120] See also Fig.12 , Fig.12 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.12 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphical information of a graphical user interface on an external input / output device (such as a display device coupled to an interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.12 A processor 10 is taken as an example.

[0121] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0122] The aforementioned memory 20 stores instructions executable by at least one processor 10, so that the aforementioned at least one processor 10 executes the method shown in the above embodiment.

[0123] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0124] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0125] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Fig.12 The example of connecting through bus is taken in the following.

[0126] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (such as a light emitting diode) and a tactile feedback device (such as a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0127] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0128] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0129] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for generating a three-dimensional road scene, characterized in that: The method comprises: Modeling the facilities on the road based on the road facility parameters, generating a road facility model corresponding to the road facility parameters, wherein the road facility model includes: a toll station model and / or a road model; Based on the road business data, the corresponding road facility model is called to generate a three-dimensional road scene.

2. The method according to claim 1, characterized in that The road facility parameters include: coordinates of the center point of the toll station, the azimuth of the toll station along the direction perpendicular to the lane of the toll station, the width of the toll station, the number of lanes at the toll station, the width of the lane of the toll station and the height of the lane of the toll station; The step of modeling the facilities on the road based on the road facility parameters and generating a road facility model corresponding to the road facility parameters includes: determining a toll island width based on the number of toll station lanes, the toll station lane width, and the toll station width; Determine the toll station lane coordinates and the toll island vertex coordinates based on the toll station center point coordinates, the toll station width, the toll station lane height and the azimuth; Based on the lane coordinates of each toll station, a toll station lane model is generated; Based on the coordinates of each of the toll island vertices, generating a toll island model; Determine the coordinates of the toll station support column based on the toll station lane coordinates and the toll island coordinates, and generate a toll station support column model based on the coordinates of each toll station support column; Based on the coordinates of the toll station support column, determine the coordinates of the toll station ceiling, and based on the coordinates of the toll station ceiling, generate a toll station ceiling model; Based on the toll station name and the coordinates of the toll station support column, determining the coordinates of each character in the toll station name; Based on the lane indicator light parameters, the height of the toll station support column and the toll station lane coordinates, the toll station lane indicator light coordinates are determined, and based on the toll station lane indicator light coordinates, a toll station lane indicator light model is generated.

3. The method according to claim 2, characterized in that The generating of the toll booth ceiling model comprises: Based on the coordinates of the toll station support column, determining the coordinates of the center point of the roof of the toll station; Acquire the ceiling length, the ceiling height and the first distance between the ceiling and the center point of the ceiling of the toll station, and determine the arc radius of the eaves in the ceiling of the toll station based on the ceiling length, the ceiling height and the first distance; Determine the top eaves coordinates based on the top eaves arc radius, and generate a top eaves model based on the top eaves coordinates; Obtaining the side eave height and the side eave width of the toll station ceiling, and determining the side eave arc radius of the toll station ceiling based on the side eave height and the side eave width; Based on the side eave arc radius, the side eave coordinates are determined, and based on the side eave coordinates, a side eave model is generated.

4. The method according to claim 2, characterized in that: The generating of the toll island model comprises: Obtain the major semi-axis length and minor semi-axis length of the island head of the toll island, and the major semi-axis length and minor semi-axis length of the island edge stone of the toll island; Generate coordinate points of the target toll island head model based on the vertex coordinates of the target toll island, the major semi-axis length of the island head, and the minor semi-axis length of the island head; Based on the vertex coordinates of the target toll island, the major semi-axis length of the island edge stone and the minor semi-axis length of the island edge stone, the coordinate points of the island edge stone model of the target toll island are generated.

5. The method according to claim 1, characterized in that: The road facility parameters include: road centerline coordinates, road height, road width, number of lanes and lane solid line index; The step of modeling the facilities on the road based on the road facility parameters and generating a road facility model corresponding to the road facility parameters includes: Determine a road surface coordinate point based on the road centerline coordinates, the road height and the road width, and generate a road surface model based on the road surface coordinate point; Determine a lane solid line coordinate point and a lane dashed line coordinate point based on the road centerline coordinate and the lane solid line index; Based on the lane solid line coordinate points, generate a lane solid line model; A lane dashed line model is generated based on the lane dashed line coordinate points.

6. The method according to claim 1, characterized in that The method of generating a three-dimensional road scene by calling a corresponding road facility model based on the road business data includes: Acquiring the road service data, wherein the road service data includes: inspection tracks, road hazard locations, and road hazard images; Calling the road model based on the inspection track to generate the three-dimensional road scene; A mapping model is generated based on the road hazard position and the road hazard picture, and the mapping model is added to the road three-dimensional scene to obtain a road three-dimensional scene including a road hazard scene.

7. The method according to claim 1, characterized in that The method further includes: editing the road three-dimensional scene, including: Select a target model from the road facility model, add the target model to the road three-dimensional scene, and perform at least one of the following operations on the target model: Adjusting the position of the target model in the three-dimensional road scene; Rotating the target model to adjust the posture of the target model; scaling the target model; Delete the target model.

8. A device for generating a three-dimensional road scene, characterized in that: The device comprises: A model creation module, used to model the facilities in the road based on the road facility parameters, and generate a road facility model corresponding to the road facility parameters, wherein the road facility model includes: a toll station model and / or a road model; The scene generation module is used to call the corresponding road facility model based on the road business data to generate a three-dimensional road scene.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for generating a three-dimensional road scene according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for generating a three-dimensional road scene according to any one of claims 1 to 7.

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