Road map generation method and system

Abstract

The invention discloses a road map generation method and system, and the method comprises the steps: obtaining first road data corresponding to a plurality of roads collected by a mobile terminal, determining the adjacent relation between the roads and a connection road segment, and determining the connection points and connection lines of the roads; and then, generating a first lane line of each road based on the first road data, generating a second lane line for a connecting line corresponding to the joined road section through a smoothing algorithm and difference processing, and generating a target map file according to the first lane line and the second lane line. According to the method and the device, the connecting lines corresponding to the connecting road sections among the multiple roads are determined, and the multiple groups of second lane lines corresponding to the first lane lines of the at least two roads are generated through the smoothing algorithm and the difference processing, so that the transition of the second lane lines at the connecting road sections is more natural, and the continuity and the accuracy of the lane lines in the target map file are improved.

Description

A method and system for generating road maps Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method and system for generating road maps. Background Technology

[0002] With the development of intelligent transportation technology, in order to simplify the map file generation process, mobile terminals, such as vehicles, can acquire real-time traffic conditions, geographical terrain, or road information while in motion to generate road lane lines and obtain map files.

[0003] However, for connecting road sections between different roads, simple straight or curved lines are usually used to connect the lane lines between different roads. This connection method cannot accurately reflect the complex direction and spatial relationship of the roads. For example, in common road intersections and T-junctions, due to the complex scenarios such as multiple roads converging, using only straight or curved lines will result in insufficient accuracy of the generated lane lines at these key nodes, reducing the accuracy of the lane lines in the map file. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a road map generation method and system that can generate lane lines connecting road segments using a smoothing algorithm, thereby improving the continuity and accuracy of lane lines in the generated map file.

[0005] In a first aspect, embodiments of this application provide a road map generation method, comprising: acquiring first road data corresponding to multiple roads collected by a mobile terminal; determining the adjacency relationship between the multiple roads and the connecting road segments between the multiple roads based on the first road data corresponding to the multiple roads; determining multiple road connection points between the multiple roads based on the adjacency relationship between the multiple roads, wherein the road connection point is a point connecting at least two of the roads; determining multiple sets of connecting lines based on the connecting road segments and the road connection points, wherein the connecting lines are used to represent the connection trajectory of the connecting road segments; generating first lane lines corresponding to the multiple roads based on the first road data corresponding to the multiple roads; generating multiple sets of second lane lines corresponding to at least two first lane lines based on the connecting lines corresponding to the multiple connecting road segments through a smoothing algorithm and interpolation processing; and generating a target map file based on the first lane lines and the second lane lines.

[0006] In some embodiments, a first vector direction of the road is determined, the first vector direction being the direction in which the mobile terminal travels along the road; a second vector direction between at least two adjacent roads is determined based on the first vector directions corresponding to each of the at least two adjacent roads; the start endpoint and end endpoint of each road are obtained along the first vector direction; the endpoint distance between the end endpoint of at least one first target road and the start endpoint of at least one second target road is calculated, the first target road and the second target road being adjacent along the second vector direction; if the endpoint distance is less than or equal to a preset distance threshold, a road connection point between the first target road and the second target road is determined.

[0007] In some embodiments, generating first lane lines corresponding to multiple roads based on first road data for each road includes: performing a truncation operation on the connecting road segment to obtain a truncated area and a truncated road; calculating the road length of the truncated road based on the first road data corresponding to the truncated road, and calculating the area length of the truncated area; generating at least two truncation indices based on the truncated area if the road length is greater than or equal to a preset multiple of the area length; and generating the first lane lines corresponding to the road based on the truncation indices and the road length of the truncated road.

[0008] In some embodiments, generating multiple sets of second lane lines corresponding to at least two first lane lines of two roads based on the connecting lines corresponding to the multiple connecting road segments, through a smoothing algorithm and interpolation processing, includes: determining at least two cutoff indices of the cutoff region corresponding to the connecting road segment based on the connecting lines of the connecting road segments; and generating multiple second lane lines corresponding to the connecting road segments between the at least two cutoff indices of the cutoff region through a smoothing algorithm and interpolation processing.

[0009] In some embodiments, generating a second lane line corresponding to the connecting road segment between at least two cutoff indices in the cutoff region using a smoothing algorithm and interpolation processing includes: obtaining a first smoother; generating a second initial lane line corresponding to the connecting road segment between at least two cutoff indices in the cutoff region using the smoothing algorithm based on the first smoother; and performing interpolation processing on the second initial lane line based on a point interpolation function to obtain the second lane line.

[0010] In some embodiments, determining multiple sets of connecting lines based on the connecting road segments and road connection points between the multiple roads includes: obtaining the correspondence between the road connection points and the connecting lines; and determining multiple sets of connecting lines based on the correspondence, according to the connecting road segments and road connection points between the multiple roads.

[0011] In some embodiments, generating a first lane line corresponding to the road based on the truncation index and the road length of the truncated road includes: obtaining a second smoother, the second smoother including a plurality of constraint values ​​for constraining the first lane line; determining a target constraint value corresponding to the road length of the truncated road; and generating the first lane line corresponding to the road based on the second smoother and the truncation index, using the target constraint value.

[0012] In some embodiments, after the step of generating a target map file based on the first lane line and the second lane line, the method further includes: acquiring second road data collected by a mobile terminal based on a third target road; updating the first target lane line corresponding to the third target road and the second target lane line corresponding to the first target lane line based on the second road data; and updating the target map file based on the first target lane line and the second target lane line.

[0013] In some embodiments, after the step of generating a target map file based on the first lane line and the second lane line, the method further includes: obtaining a first configuration file and a second configuration file of the target map file, wherein the first configuration file includes parking space data from first road data corresponding to multiple roads, and the second configuration file includes fence point data from first road data corresponding to multiple roads; in response to a first control command input by a user based on the first configuration file, creating parking space identifiers in the target map file based on the parking space data in the first configuration file; and / or, in response to a second control command input by a user based on the second configuration file, creating fence lines in the target map file based on the fence point data in the second configuration file.

[0014] Secondly, embodiments of this application provide a road map generation system, comprising: a mobile terminal, the mobile terminal being equipped with a data acquisition module, the data acquisition module being used to acquire first road data corresponding to each of multiple roads; a data processing module, used to determine the adjacency relationship between the multiple roads and the connecting road segments between the multiple roads based on the first road data corresponding to each of the multiple roads; and to determine multiple sets of connecting lines based on the connecting road segments and the road connection points, the connecting lines being used to represent the connecting trajectory of the connecting road segments; a route generation module, used to generate first lane lines corresponding to each of the multiple roads based on the first road data corresponding to each of the multiple roads; and to generate multiple sets of second lane lines corresponding to at least two of the first lane lines of the connecting road segments through a smoothing algorithm and interpolation processing based on the connecting lines corresponding to the multiple connecting road segments; and a map generation module, used to generate a target map file based on the first lane lines and the second lane lines.

[0015] As can be seen from the above technical solutions, this application discloses a road map generation method and system. It acquires first road data corresponding to multiple roads collected by a mobile terminal, determines the adjacency relationships and connecting segments between roads, and then determines road connection points and connecting lines. Next, it generates first lane lines for each road based on the first road data, and then generates second lane lines for the connecting lines corresponding to the connecting segments using a smoothing algorithm and interpolation processing. Finally, it generates a target map file based on the first and second lane lines. This application, by determining the connecting lines corresponding to the connecting segments between multiple roads and generating multiple sets of second lane lines corresponding to at least two first lane lines through smoothing algorithms and interpolation processing, makes the transition of the second lane lines at the connecting segments more natural, improving the continuity and accuracy of lane lines in the target map file. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 is a flowchart of a road map generation method provided in an embodiment of this application; Figure 2 is a flowchart of a road map generation method for determining road connection points provided in some embodiments of this application; Figure 3 is a flowchart of a road map generation method for generating a first lane line provided in some embodiments of this application; Figure 4 is a flowchart of a road map generation method for generating a second lane line provided in some embodiments of this application; Figure 5 is a truncated index distribution map of a Y-shaped road provided in some embodiments of this application; Figure 6 is a flowchart of a second lane line generated by a first smoother provided in some embodiments of this application; Figure 7 is a flowchart of a road map generation method for determining connection lines provided in some embodiments of this application; Figure 8 is a flowchart of a first lane line generated by a second smoother provided in some embodiments of this application; Figure 9 is a flowchart of a road map generation method for updating a target map file provided in some embodiments of this application; Figure 10 is a flowchart of adding map identifiers according to a configuration file provided in an embodiment of this application; Figure 11 is a schematic diagram of the system structure for road map generation provided in some embodiments of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0019] It should be understood that "multiple" as mentioned in this application refers to two or more. In the description of this application, unless otherwise stated, " / " indicates "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist, for example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, to facilitate a clear description of the technical solutions of this application, the terms "first," "second," etc., are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and that "first," "second," etc., do not necessarily imply differences.

[0020] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0021] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0022] With the development of intelligent transportation technology, in order to simplify the map file generation process, mobile terminals can acquire real-time traffic conditions, geographical terrain, or road information while in motion. Lane lines can then be generated in real time based on this data, and map files can be created from multiple lane lines. For example, taking a vehicle as the mobile terminal, the vehicle can collect road data along its route while driving to generate lane lines, which can then be used to generate map files.

[0023] When a vehicle moves from one road to another, it passes through the connecting sections between the two roads. During the map file generation process, simple straight lines or curves are usually used to connect the lane lines between different roads for these connecting sections. This connection method cannot accurately reflect the complex direction and spatial relationship of the roads. For example, in common road junctions and T-junctions, where multiple roads intersect, using only straight lines or curves will result in insufficient accuracy of the generated lane lines at these key nodes, which may lead to problems such as distorted road contours and missing lane information.

[0024] To address the aforementioned problems, this application provides a road map generation method. Figure 1 is a flowchart of a road map generation method provided in this application. Referring to Figure 1, the method includes the following: S100: Obtaining first road data corresponding to each of multiple roads collected by a mobile terminal.

[0025] Mobile terminals can be devices equipped with a Global Positioning System (GPS), such as vehicle terminals and satellite-based vehicle navigation devices. These mobile terminals are equipped with a data acquisition module to collect real-time road data. Taking a vehicle terminal as an example, the vehicle terminal can move along with the vehicle. Based on the GPS, the vehicle terminal can determine the road the vehicle is on and collect relevant road data.

[0026] Vehicles can travel on multiple roads. Therefore, the vehicle terminal can sequentially traverse different roads during the vehicle's journey to collect multiple sets of first road data corresponding to each road. For example, when a vehicle enters another connecting road from its current road, the vehicle terminal can continuously collect data through its data acquisition module. It will not only collect the first road data of the currently traveling road, but also continue to collect the first road data of the other road after entering the connecting road segment and the new road, thus obtaining multiple sets of first road data.

[0027] S200: Based on the first road data corresponding to multiple roads, determine the adjacency relationship between the multiple roads and the connecting road segments between the multiple roads.

[0028] In some embodiments, the mobile terminal can trigger the collection of first road data by creating a target configuration file for generating map files through user control commands. The target configuration file includes a preset configuration format. After collecting the first road data, the mobile terminal can name each road according to the configuration format and determine the adjacency relationship between each road. The naming method can be road A, road B... road N, and the adjacency relationship between roads can be road A and road B being adjacent, or it can be represented as road A_B.

[0029] In some embodiments, the mobile terminal can determine connecting road segments between multiple roads based on first road data corresponding to multiple roads. Adjacent roads can be connected by connecting road segments, which, depending on the type of road connection, may include transitional road segments such as intersections, turning intersections, Y-shaped roads, bridge approach roads, and tunnel entrances / exits.

[0030] It should be noted that connecting road segments can be represented in the target configuration file in the format of two-dimensional or three-dimensional drawing, such as a plan view or a three-dimensional view, so that the lane lines corresponding to the connecting road segments can be processed when generating map files later.

[0031] S300: Determine multiple road connection points between the multiple roads based on the adjacency relationship between the multiple roads.

[0032] A road junction is a point where at least two roads meet. For example, at a crossroads, where four roads intersect, the center point of the crossroads is the road junction for each of the four adjacent roads. For a Y-shaped road, where three roads intersect, the center point of the Y-shaped road is the road junction for each of the three adjacent roads. For turning roads, such as left or right turns, where two roads intersect, the center point of the turning road is the road junction for each of the two adjacent roads.

[0033] In some embodiments, the mobile terminal can analyze the spatial relationships between different roads based on their adjacency relationships, thereby identifying multiple roads that intersect and have an adjacency relationship, and determining the common intersection center point of these roads as the road connection point.

[0034] S400: Determine multiple sets of connecting lines based on the connecting road segments and road connection points between the multiple roads.

[0035] Connecting lines are used to represent the connecting trajectories of connecting road segments. The starting point and ending point of the connecting line correspond to the endpoints of the two ends of the connecting road segment, respectively, in order to construct the direction of each connecting road segment in the road network and the connection relationship between the connecting road segment and its corresponding road.

[0036] Based on the connection trajectory of the connecting road segment, a connecting road segment can include a set of connecting lines, i.e., multiple connecting lines. The multiple connecting lines corresponding to the connecting road segment can be distributed on both sides of the road connection point, centered on the road connection point of the connecting road segment, according to the connection trajectory of the connecting road segment.

[0037] S500: Generate the first lane lines for each of the multiple roads based on the first road data corresponding to the multiple roads.

[0038] The first road data may include the number of lanes, lane lines, whether there are oncoming lanes, lane width, and road width. The road width can be determined based on the number of lanes and the road width. For example, if the road has four lanes and vehicles travel in the second lane on the left side of the road (i.e., there is a first lane on the left side of the vehicle), and there are a third and fourth lanes on the right side of the vehicle), the road width is calculated based on the lane width of each lane.

[0039] In some embodiments, multiple first lane lines corresponding to multiple roads can be generated based on first road data corresponding to multiple roads. The first lane lines may include boundary lane lines and dividing lane lines. Boundary lane lines refer to the lane lines at the outermost edges on both sides of the road, used to define the lateral range of the road. Dividing lane lines refer to the lane lines in the middle of the road used to separate multiple lanes traveling in different directions, or to separate multiple lanes traveling in the same direction.

[0040] In some embodiments, different types of first lane lines can be generated using different parameters from the first road data. For example, for boundary lane lines, two boundary lane lines can be generated using the road width. For split lane lines, multiple split lane lines can be generated using the lane width and the number of lanes.

[0041] In some embodiments, during the generation of the first lane line, the traffic rules corresponding to the road can also be determined based on the first road data, so as to set the line type of the first lane line according to the traffic rules, such as different types like white dashed line, yellow dashed line, and yellow solid line.

[0042] S600: Based on the connecting lines corresponding to multiple connecting road segments, generate multiple sets of second lane lines corresponding to at least two first lane lines of the roads through a smoothing algorithm and difference processing.

[0043] Smoothing algorithms are used to smooth connector lines. Smoothing can be achieved by curve fitting to the coordinate point sequence of the connector line, such as using Bézier curves or spline curves, adjusting the position of each coordinate point in the connector line or directly adjusting the curvature of the connector line. This results in a smooth transition between adjacent coordinate points, avoiding sharp angles or jumps, and improving the continuity and smoothness of the connector line in its geometric state. Difference processing uses difference algorithms to supplement intermediate point data in the smoothed connector line to generate a second lane line. This ensures that the second lane line accurately connects to the first lane lines of at least two roads, achieving a smooth transition and accurate matching of lane lines at the connecting sections.

[0044] In some embodiments, the connecting line can also be interpolated by combining the first road data of at least two roads corresponding to the connecting road segment, such as the position of the first lane line, lane width, and road width. Since the first road data of different roads may differ, for example, the lane widths of adjacent roads may differ, the interpolation method can be adjusted according to the first road data of each road corresponding to the connecting road segment.

[0045] For example, taking a connecting road segment that connects road A and road B as an example, road A has a width of 3.5 meters, and road B has a lane width of 3.2 meters. The trajectory of the connecting line from road A to road B is from wide to narrow. During the difference processing, starting from the starting point of the connecting line, as the connecting line extends towards road B, intermediate points are added at preset intervals or densities. This accurately represents the gradual change in width of the connecting line through the intermediate points. Furthermore, it allows the second lane line generated after the difference processing to connect correspondingly with the first lane line of both road A and road B.

[0046] In some embodiments, the density of intermediate points can be adjusted according to the degree of curvature of the connecting line. For example, for connecting lines or connecting line segments with a large degree of curvature, the density of supplementary intermediate points can be increased, while for connecting lines or connecting line segments with a small degree of curvature, the density of supplementary intermediate points can be decreased.

[0047] S700: Generate a target map file based on the first lane line and the second lane line.

[0048] After generating the first lane line and the second lane line respectively, the first lane line and the corresponding second lane line can be connected in a preset order to generate a target map file containing multiple roads.

[0049] Based on the above technical solution, this embodiment acquires first road data corresponding to multiple roads collected by a mobile terminal, and determines the adjacency relationship and connecting road segments based on the first road data, thereby determining the road connection points and connecting lines, which can accurately represent the connection trajectory of the connecting road segments. First lane lines are generated for each road based on the first road data, and then second lane lines are generated for the connecting lines corresponding to the connecting road segments through a smoothing algorithm and interpolation processing. Finally, the first lane lines and second lane lines are combined to generate the target map file. This embodiment can complete the construction of the target map file using only the first road data collected by the mobile terminal, reducing the difficulty of generating the target map file. Simultaneously, by acquiring the connecting lines of the connecting road segments and smoothly generating the second lane lines based on the connecting lines, the continuity and accuracy of the second lane lines of the connecting road segments can be effectively improved.

[0050] Figure 2 is a flowchart of a road map generation method for determining road connection points provided in some embodiments of this application.

[0051] In some embodiments, referring to FIG2, step S300 may include the following steps: S310: determining the first vector direction of the road.

[0052] The first vector direction is the direction in which the mobile terminal travels along a single road. Taking a vehicle as an example, when the vehicle travels from west to east across road A, the vector direction of road A is from west to east. When the vehicle travels sequentially across roads A and B, and roads A and B are adjacent, the vector directions corresponding to roads A and B can be determined.

[0053] S320: Determine a second vector direction between at least two roads that are adjacent to each other based on the first vector direction corresponding to each of the at least two roads that are adjacent to each other.

[0054] The second vector direction is used to represent the vector direction between different roads and can be calculated from the first vector directions corresponding to at least two adjacent roads. For example, for adjacent roads A and B, if a vehicle travels from west to east across road A, then turns onto road B and travels from north to south across road B, the first vector direction of road A is from west to east, and the first vector direction of road B, which is adjacent to road A, is from north to south. By determining the first vector directions corresponding to roads A and B, the second vector direction of roads A and B can be calculated as from west to east, turning from north to south upon reaching road B. That is, the second vector direction is the curvature direction of the turn from road A to road B, representing the trajectory of the vehicle between roads A and B, as well as the turning relationship between roads A and B, which facilitates the subsequent determination of connection points.

[0055] S330: Along the first vector direction, obtain the start and end points of each road.

[0056] After determining the vector direction of each road, the starting and ending points of each road can be defined based on the vector direction. For example, when the vector direction of a road is from west to east, it means that the road starts from the west side and extends to the east side. In this case, the westernmost point can be determined as the starting point of the road, and the easternmost point can be determined as the ending point, following the vector direction from west to east.

[0057] The starting and ending points of a road are used to separate a road from its connecting segments. The starting point, as the entry point of the road, can be connected to the ending point of the preceding connecting segment. The ending point, as the exit point of the road, can be connected to the starting point of the subsequent connecting segment. By connecting the endpoints of different roads or connecting segments in an orderly manner, a road network topology is constructed to facilitate the subsequent creation of the target map file.

[0058] S340: Calculate the endpoint distance between the termination endpoint of at least one first target road and the starting endpoint of at least one second target road.

[0059] In some embodiments, the endpoint distance between at least one terminating endpoint of a first target road and at least one starting endpoint of a second target road can be calculated. The first target road and the second target road are adjacent along a second vector direction. During the calculation of the endpoint distance, the coordinates of the terminating endpoint of the first target road and the starting endpoint of the second target road can be determined using first road data of the first and second target roads. Then, along the second vector direction, the coordinates of the terminating endpoint of the first target road and the starting endpoint of the second target road are calculated to obtain the endpoint distance.

[0060] S350: If the distance between the endpoints is less than or equal to a preset distance threshold, determine the road connection point between the first target road and the second target road.

[0061] In some embodiments, a distance threshold can be preset to determine the intersection of two roads. If the endpoint distance is less than or equal to the preset distance threshold, it indicates that the first target road and the second target road intersect at the same road junction point. In this case, the road junction point between the first target road and the second target road can be determined.

[0062] If the distance between the endpoints is greater than the preset distance threshold, it means that although the first target road and the second target road are adjacent in the second vector direction, they do not directly intersect in the second vector direction and there is a certain spatial interval between them. In this case, the first target road and the second target road cannot be determined as continuous roads in the second vector direction. Therefore, the road connection point is not determined.

[0063] Based on the above technical solution, by determining the first vector direction of the road, obtaining the starting and ending points of each road along the first vector direction, and calculating the endpoint distance between the ending point of the first target road and the starting point of the second target road along the second vector direction, the connection points of adjacent roads in a specific driving direction can be accurately identified, avoiding misconnection due to excessive spatial intervals. This ensures that the lane lines of connecting road segments are generated based on accurate spatial relationships, thereby improving the accuracy of map files.

[0064] Figure 3 is a flowchart of the road map generation method for generating the first lane line provided in some embodiments of this application.

[0065] In some embodiments, referring to FIG3, step S500 may include the following steps: S510: Perform a cut-off operation on the connecting road segment to obtain the cut-off area and the cut-off road.

[0066] In some embodiments, since the second lane lines of the connecting road segment can be regenerated subsequently, the connecting road segment between roads can be truncated to remove it from the target configuration file, resulting in a truncated area and the truncated road. This avoids conflicts between the generated second lane lines and the original lane lines of the connecting road segment. The truncated area is the region after truncating the connecting road segment. The truncated road includes the main body of each road after truncating the connecting road segment. The endpoints of the truncated road can serve as reference points for the subsequent generation of the first and second lane lines in the truncated area, ensuring that subsequent lane lines can be generated based on accurate road longitudinal boundaries.

[0067] S520: Calculate the length of the truncated road and the length of the truncated area based on the first road data corresponding to the truncated road.

[0068] After cutting off the connecting road segment, the first road data of the original road can be updated according to the cut-off road to obtain the first road data corresponding to the cut-off road. The road length of the cut-off road is calculated based on the first road data. The road length of the cut-off road refers to the longitudinal extension distance of the main body of the cut-off road from the new starting point (the starting point after the cut-off) to the new ending point (the ending point after the cut-off). It can be obtained by extracting the starting point coordinates and ending point coordinates of the main body of the road in the first road data and calculating the straight distance between the two points or the curved distance along the centerline of the road based on the preset map coordinate system.

[0069] The length of the cut-off area refers to the longitudinal length of the cut-off area formed after the connecting road segment is cut off. The initial length of the connecting road segment before the cut-off can be obtained, or the distance between the two points can be calculated based on the coordinates of the endpoints of the two adjacent roads after the cut-off (i.e., the coordinates of the two boundary points of the cut-off area) using the map coordinate system to obtain the length of the area.

[0070] In some embodiments, the longitudinal direction can be the direction in which the road extends from the cut-off point. For example, after cutting off the connecting section between road A and road B, the longitudinal direction of road A is the direction away from road B from the cut-off point, and the longitudinal direction of road B is the direction of road A from the cut-off point.

[0071] S530: When the length of the road is greater than or equal to the length of a region that is a preset multiple, at least two truncation indices are generated based on the truncation region.

[0072] After truncating the connecting road segment, the truncated area can be verified to avoid discontinuities in the truncated area due to it being too short. To do this, the road length of the truncated road can be compared with the length of the truncated area. If the road length is greater than or equal to a preset multiple of the area length, the truncated area is considered valid. In this case, at least two truncated indices can be generated based on the truncated area, with different indices corresponding to the road endpoints at one or more ends of the truncated area.

[0073] For example, one truncation index records the endpoint coordinates and road sign of road A at the truncation location, and another truncation index records the endpoint coordinates and road sign of road B at the truncation location. This allows for accurate identification of the boundaries of the truncation area and the roads associated with the truncation area during subsequent map data processing or route planning.

[0074] If the road length is less than the preset multiple of the area length, it indicates that the cut-off area is too long or the main road is too short, which may be due to unreasonable cut-off. In this case, the cut-off position or the preset multiple parameter should be readjusted to ensure the validity of the road map data after cut-off.

[0075] S540: Based on the truncation index, generate the first lane line corresponding to the road according to the road length of the truncated road.

[0076] After obtaining the truncation index, the road endpoints of the truncated road can be determined based on the truncation index. Then, using the road endpoints as the starting point, the first lane line corresponding to the road is generated along the longitudinal extension direction corresponding to the starting point, based on the length of the truncated road.

[0077] Based on the above technical solution, the cut-off area and the cut-off road are obtained by performing a cut-off operation on the connecting road segment. The length of the cut-off road and the length of the cut-off area are calculated. When the road length is greater than or equal to a preset multiple of the area length, at least two cut-off indices are generated based on the cut-off area. Then, the first lane line corresponding to the road is generated according to the cut-off index and the road length. This can effectively isolate the interference of the connecting road segment on the subsequently generated first lane line. The cut-off index ensures that the starting point and ending point of the lane line generation are accurate, thereby generating a continuous and smooth first lane line and improving the accuracy of the first lane line generation.

[0078] Figure 4 is a flowchart of the road map generation method for generating a second lane line provided in some embodiments of this application.

[0079] In some embodiments, referring to FIG4, step S600 may include the following steps: S610: Based on the connecting line of the connecting road segment, determine at least two cut-off indices of the cut-off region corresponding to the connecting road segment.

[0080] In some embodiments, at least two truncation indices corresponding to the connecting road segment can be determined from multiple truncation indices based on the connecting line of the connecting road segment. The number of truncation indices can be determined according to the type of the connecting road segment. For example, if the connecting road segment is a crossroads, it means that four roads intersect at the connection point of the connecting road segment. After the connecting road segment is truncated, the truncation area corresponds to four truncation indices, and each truncation index corresponds one-to-one with the four roads intersecting at the crossroads.

[0081] S620: By using a smoothing algorithm and interpolation processing, a plurality of second lane lines corresponding to the connecting road segment are generated between at least two cutoff indices in the cutoff region.

[0082] When a truncated region corresponds to two truncated indices, multiple second lane lines corresponding to the connecting road segments can be generated by performing a smoothing algorithm and interpolation on the connecting lines of the truncated regions between the two truncated indices.

[0083] When the number of truncation indices corresponding to the truncation region is greater than two, a smoothing algorithm and interpolation can be performed on the connector between every two truncation indices to generate multiple second lane lines.

[0084] Figure 5 is a truncated index distribution diagram of a Y-shaped road provided by some embodiments of this application.

[0085] Referring to Figure 5, roads A, B, and C intersect at a Y-shaped road, which is the connecting section of roads A, B, and C. Roads A and B are each connected to road C. At this point, a smoothing algorithm and interpolation processing can be performed on the first connecting line between truncation index A of road A and truncation index B of road B in the connecting section to generate the second lane line X between truncation indices A and B. Similarly, a smoothing algorithm and interpolation processing can be performed on the second connecting line between truncation index B and truncation index C of road C in the connecting section to generate the second lane line Y between truncation indices B and C. Finally, a smoothing algorithm and interpolation processing can be performed on the third connecting line between truncation indices A and C to generate the second lane line Z between truncation indices A and C. The second lane lines X, Y, and Z constitute all the second lane lines corresponding to the connecting section and are respectively connected to the first lane line A of road A, the first lane line B of road B, and the first lane line C of road C.

[0086] Based on the above technical solutions, this embodiment determines at least two cut-off indices for the cut-off area based on the connecting lines corresponding to the connecting road segments, and generates multiple second lane lines corresponding to the connecting road segments between the cut-off indices through smoothing algorithms and difference processing. This enables the second lane lines to closely connect with the first lane lines of adjacent roads. By using the cut-off indices as key indices for generating the second lane lines, it ensures that the generated second lane lines transition naturally with the corresponding roads, thereby improving the smoothness of the generated second lane lines.

[0087] Figure 6 is a flowchart of generating a second lane line through a first smoother in some embodiments of this application.

[0088] In some embodiments, referring to FIG6, step S620 may include the following steps: S621: Obtain a first smoother.

[0089] A smoother, also known as a connector smoother, is a technique used to optimize the curves of connectors. The first smoother integrates various preset smoothing algorithms, such as the Bézier curve algorithm, the B-spline curve algorithm, and the circular transition algorithm. Based on the type of connecting road segments (such as intersections, T-junctions, Y-junctions, etc.) and the spatial relationship between truncation indices, the first smoother can select or combine different smoothing algorithms to ensure that the generated second lane line conforms to the curvature variation law of the actual road driving trajectory.

[0090] S622: Based on the first smoother, a second initial lane line corresponding to the connecting road segment is generated between at least two cut-off indices in the cut-off region using the smoothing algorithm.

[0091] In some embodiments, the smoothing algorithm corresponding to the first smoother can be determined according to the type of the connecting road segment. For example, for connecting lines with a large degree of curvature, such as T-junctions and Y-junctions, a smoothing algorithm with a relatively large constraint value can be selected. For connecting lines with a smaller degree of curvature, such as straight intersections, a smoothing algorithm with a relatively small constraint value can be selected. The constraint value is a parameter used to measure the strength of the smoothing algorithm's restriction on the curvature of the curve. The magnitude of the constraint value is related to the smoothness of the connecting line and its ability to conform to the actual road trajectory.

[0092] In some embodiments, the first smoother can be a quadratic programming smoother, which can optimize the connecting lines through a defined smoothing algorithm to generate a second initial lane line. Specifically, when the constraint value of the smoothing algorithm is large, the algorithm imposes restrictions on the curvature changes of the connecting lines, making the transition of the generated second initial lane line smoother during curvature and avoiding abrupt changes in direction. When the constraint value of the smoothing algorithm is small, the algorithm imposes relatively fewer restrictions on the curve, allowing the curve to achieve a certain degree of curvature over a shorter distance, which can better fit connecting road sections with low requirements for steering flexibility, such as straight intersections.

[0093] S623: Based on the point difference function, perform difference processing on the second initial lane line to obtain the second lane line.

[0094] After generating the second initial lane line, the density of points in the second initial lane line can be increased using the point difference function to generate the second lane line.

[0095] The point difference function can automatically calculate and supplement new coordinate points between adjacent points based on the existing discrete point coordinates on the second initial lane line, according to the preset interpolation interval or accuracy requirements, so that the sparse lane line point set forms a continuous and dense point sequence, making the generated second lane line smoother.

[0096] Based on the above technical solution, a first smoother is obtained, and a second initial lane line is generated between the truncation indices of the truncation region using a smoothing algorithm based on the first smoother. Then, the second initial lane line is processed by the point difference function to obtain the final second lane line. This improves the generation quality of the second lane line of the connecting road segment, eliminates abrupt changes in the angle of the second lane line, increases the point density of the second lane line, makes the curve of the second lane line smoother and more continuous, and improves the accuracy and navigation practicality of the second lane line.

[0097] Figure 7 is a flowchart of the road map generation method for determining connecting lines provided in some embodiments of this application.

[0098] In some embodiments, referring to FIG7, step S400 may include the following steps: S410: obtaining the correspondence between the road connection point and the connection line.

[0099] After obtaining the road connection points and connecting lines, the adjacency relationships between multiple roads can be determined based on the data of multiple first roads corresponding to multiple roads. Furthermore, the correspondence between road connection points and connecting lines can be determined based on these adjacency relationships. For example, if road A_B indicates that road A is adjacent to road B, then there is a correspondence between the connection point between road A and road B and the connecting line between these two points.

[0100] S420: Based on the correspondence, determine multiple sets of connecting lines according to the connecting road segments and road connection points between the multiple roads.

[0101] After determining the correspondence, multiple sets of connecting lines can be determined based on the correspondence and the connecting road sections and road connection points between multiple roads.

[0102] For example, if there are two road connection points P1 and P2 between road A and road B, and two road connection points P3 and P4 between road B and road C, then the line connecting P1 and P2 can be identified as one set of connecting lines, and the line connecting P3 and P4 can be identified as another set of connecting lines, thus identifying multiple sets of connecting lines. Each set of connecting lines corresponds to a different connecting section between different roads.

[0103] Based on the above technical solutions, by obtaining the correspondence between road connection points and connecting lines, and determining multiple sets of connecting lines based on the correspondence according to the connecting road segments and road connection points, it is possible to ensure that each set of connecting lines accurately corresponds to a specific road connection point and connection trajectory, thereby improving the consistency and accuracy of connecting lines of each connecting road segment in multiple roads.

[0104] Figure 8 is a flowchart of some embodiments of this application of generating a first lane line using a second smoother.

[0105] In some embodiments, referring to FIG8, step S540 may further include the following step: S541: Obtain the second smoother.

[0106] The second smoother can be a quadratic programming smoother, which can include multiple constraint values ​​for constraining the first lane line, including constraint values ​​such as maximum constraint interval, longitudinal boundary, maximum lateral boundary, minimum lateral boundary, total number of points, curb offset, and lateral buffer.

[0107] The second smoother integrates a smoothing algorithm for generating the main body of the road (non-connecting road segments) to perform the subsequent process of generating the first lane line through the smoothing algorithm.

[0108] S542: Determine the target constraint value corresponding to the road length of the truncated road.

[0109] In some embodiments, the second smoother may employ different constraint values ​​based on different road lengths. To this end, the road length of the truncated road may be determined, and a target constraint value corresponding to the road length of the truncated road may be determined from among multiple constraint values ​​based on the road length of the truncated road.

[0110] For example, based on road length, the truncated road can be divided into three levels: roads less than 10m, roads between 10m and 20m, and roads longer than 20m. For roads longer than 20m, the minimum maximum lateral boundary constraint value can be used as the target constraint value. For roads between 10m and 20m and roads longer than 20m, the maximum lateral boundary constraint value can be used as the target constraint value. For roads between 10m and 20m and those less than 10m, the maximum longitudinal boundary constraint value can also be used as an auxiliary constraint, where the smaller the road length, the larger the longitudinal boundary constraint value.

[0111] S543: Based on the second smoother and the truncation index, generate the first lane line corresponding to the road using the target constraint value.

[0112] After determining the target constraint value, the road data can be smoothed by taking the truncation position corresponding to the truncation index as the starting point or key reference point, and combining it with the target constraint value, in order to generate the first lane line.

[0113] During the smoothing process, the second smoother strictly follows these target constraint values ​​to regulate the generation path of the lane lines, ensuring that the generated first lane lines can accurately reflect the actual direction and shape of the road, and also meet the specific requirements of different length roads for the smoothness and boundary range of the first lane lines. For example, for shorter roads, a larger longitudinal boundary constraint value is used to enhance the stability of the lane lines in the longitudinal direction, providing reliable lane line basic information for the subsequent generation of target map files.

[0114] Based on the above technical solution, by obtaining a second smoother containing multiple constraint values, a target constraint value corresponding to the truncated road length is determined, and a first lane line is generated based on the second smoother and the truncation index using the target constraint value. The generation of the first lane line is constrained by the second smoother, so that the first lane line maintains smoothness and curvature continuity while meeting the length requirements.

[0115] Figure 9 is a flowchart of a road map generation method for updating a target map file provided in some embodiments of this application.

[0116] In some embodiments, referring to FIG9, after step S700, the following step is further included: S800: acquiring second road data collected by the mobile terminal based on the third target road.

[0117] The third target road is either a road for which data has already been collected from the first road, or a road for which data has never been collected from the first road. When the third target road is a road for which data has already been collected from the first road, the second road data can be used to supplement or update the first road data for the third target road, correcting deviations between the first road data and the current actual road conditions caused by factors such as road construction or changes in traffic signs. When the third target road is a road for which data has never been collected from the first road, the second road data is the same as the first road data for the third target road, used to update the position of the third target road in the target map file.

[0118] S900: Based on the second road data, update the first target lane line corresponding to the third target road and the second target lane line corresponding to the first target lane line.

[0119] In some embodiments, when the third target road is a road for which first road data has already been collected, the current first lane line and second lane line of the third target road can be determined based on the first road data of the third target road. Then, based on the second road data, the first lane line is updated to the first target lane line corresponding to the third target road, and the second lane line corresponding to the first lane line is updated to the second target lane line corresponding to the first target lane line.

[0120] When the third target road is a road for which the first road data has never been collected, the first target lane line corresponding to the third target road can be updated and generated based on the second road data of the third target road, and the second target lane line corresponding to the first target lane line can be updated and generated.

[0121] S1000: Update the target map file based on the first target lane line and the second target lane line.

[0122] After updating the first and second target lane lines, the original first and second lane lines can be overwritten by the newly generated first and second target lane lines, or the newly generated first and second target lane lines can be added to the target map file to update the target map file in real time, ensuring the accuracy and timeliness of the lane line information in the target map file.

[0123] Based on the above technical solution, after generating the target map file, the first target lane line and its corresponding second target lane line corresponding to the third target road are updated by acquiring the second road data re-collected by the mobile terminal based on the third target road, and the target map file is updated to ensure the timeliness and accuracy of the target map file.

[0124] Figure 10 is a flowchart of adding map identifiers according to the configuration file in an embodiment of this application.

[0125] In some embodiments, referring to FIG10, after step S700, the following step is further included: S1100: Obtain the first configuration file and the second configuration file of the target map file.

[0126] In some embodiments, the first road data further includes parking space data and fence point data. A first configuration file includes parking space data from the first road data corresponding to multiple roads, and a second configuration file includes fence point data from the first road data corresponding to multiple roads. The first and second configuration files are used to add parking space data and fence point data to the target map file. Users can pre-create the first and / or second configuration files before generating the target map file to combine with the target configuration files and generate a target map file with parking space data and / or fence point data.

[0127] Based on this, after executing step S1100, steps S1200 and / or S1300 can be executed.

[0128] S1200: In response to a first control command input by the user based on a first configuration file, create a parking space identifier in the target map file according to the parking space data in the first configuration file.

[0129] In some embodiments, when a user needs parking spaces to be displayed in the target map file, they input a first control command based on a first configuration file. In response to the first control command, parking space identifiers corresponding to the parking space data in the first configuration file can be created in the target map file. The parking space identifiers may include information such as the number of parking spaces, the size of the parking space, and the required waiting time, so as to display this information to the user in the target map file.

[0130] S1300: In response to a second control command input by the user based on a second configuration file, create a fence line in the target map file according to the fence point data in the second configuration file.

[0131] In some embodiments, when a user needs fence lines to be displayed in the target map file, they input a second control command based on a second configuration file. In response to the second control command, fence lines corresponding to the fence point data in the second configuration file can be created in the target map file.

[0132] Based on the above technical solution, by obtaining the first and second configuration files of the target map file, and responding to user control commands to create parking space markers or fence lines in the target map file, the functionality of the target map file is extended.

[0133] Some embodiments of this application also disclose a road map generation system for performing the road map generation method disclosed in the above embodiments.

[0134] Figure 11 is a schematic diagram of the system structure for road map generation provided in some embodiments of this application.

[0135] Referring to Figure 11, the system includes a mobile terminal, a data processing module, a route generation module, and a map generation module. The mobile terminal is equipped with a data acquisition module for collecting first road data corresponding to multiple roads. The data processing module determines the adjacency relationships and connecting road segments between the multiple roads based on the first road data, and determines multiple sets of connecting lines based on the connecting road segments and road connection points. The connecting lines represent the connecting trajectories of the connecting road segments. The route generation module generates first lane lines corresponding to the multiple roads based on the first road data, and generates multiple sets of second lane lines corresponding to at least two first lane lines based on the connecting lines corresponding to the multiple connecting road segments, using a smoothing algorithm and interpolation processing. The map generation module generates a target map file based on the first lane lines and second lane lines.

[0136] The implementation method and beneficial effects of the road map generation system disclosed in this embodiment can be found in the implementation method and beneficial effects of the aforementioned method embodiments, and will not be repeated here.

[0137] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0138] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0139] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0140] The embodiments described above do not constitute a limitation on the scope of protection of this application.

Claims

1. A method for generating road maps, characterized in that, include: The system acquires first road data corresponding to multiple roads collected by a mobile terminal; determines the adjacency relationship and connecting road segments between the multiple roads based on the first road data; determines multiple road connection points between the multiple roads based on the adjacency relationship, wherein each road connection point is a point where at least two roads connect; determines multiple sets of connecting lines based on the connecting road segments and the road connection points, wherein the connecting lines represent the connection trajectory of the connecting road segments; generates first lane lines corresponding to the multiple roads based on the first road data; generates multiple sets of second lane lines corresponding to at least two first lane lines based on the connecting lines corresponding to the multiple connecting road segments through a smoothing algorithm and interpolation processing; and generates a target map file based on the first lane lines and the second lane lines.

2. The road map generation method according to claim 1, characterized in that, The step of determining multiple road connection points between multiple roads based on their adjacency relationships includes: determining a first vector direction of the road, wherein the first vector direction is the direction in which the mobile terminal passes through the road; determining a second vector direction between at least two roads that are adjacent to each other based on their respective first vector directions; obtaining the start and end endpoints of each road along the first vector direction; calculating the endpoint distance between the end endpoint of at least one first target road and the start endpoint of at least one second target road, wherein the first target road and the second target road are adjacent along the second vector direction; and determining a road connection point between the first target road and the second target road if the endpoint distance is less than or equal to a preset distance threshold.

3. The road map generation method according to claim 1, characterized in that, The step of generating first lane lines corresponding to multiple roads based on their respective first road data includes: performing a truncation operation on the connecting road segments to obtain a truncated area and a truncated road; calculating the road length of the truncated road based on the first road data corresponding to the truncated road, and calculating the area length of the truncated area; generating at least two truncation indices based on the truncated area if the road length is greater than or equal to a preset multiple of the area length; and generating the first lane lines corresponding to the roads based on the truncation indices and the road length of the truncated roads.

4. The road map generation method according to claim 3, characterized in that, The method of generating multiple sets of second lane lines corresponding to at least two first lane lines of two roads based on the connecting lines corresponding to the connecting road segments, through a smoothing algorithm and interpolation processing, includes: determining at least two cutoff indices of the cutoff region corresponding to the connecting road segment based on the connecting lines of the connecting road segments; and generating multiple second lane lines corresponding to the connecting road segments between the at least two cutoff indices of the cutoff region through a smoothing algorithm and interpolation processing.

5. The road map generation method according to claim 4, characterized in that, The step of generating a second lane line corresponding to the connecting road segment between at least two cutoff indices in the cutoff region using a smoothing algorithm and interpolation processing includes: obtaining a first smoother; generating a second initial lane line corresponding to the connecting road segment between at least two cutoff indices in the cutoff region using the smoothing algorithm based on the first smoother; and performing interpolation processing on the second initial lane line based on a point interpolation function to obtain the second lane line.

6. The road map generation method according to claim 1, characterized in that, The step of determining multiple sets of connecting lines based on the connecting road segments and road connection points between multiple roads includes: obtaining the correspondence between the road connection points and the connecting lines; and determining multiple sets of connecting lines based on the correspondence, according to the connecting road segments and road connection points between multiple roads.

7. The road map generation method according to claim 3, characterized in that, The step of generating a first lane line corresponding to the road based on the truncation index and the road length of the truncated road includes: obtaining a second smoother, the second smoother including multiple constraint values ​​for constraining the first lane line; determining a target constraint value corresponding to the road length of the truncated road; and generating the first lane line corresponding to the road based on the second smoother and the truncation index, using the target constraint value.

8. The road map generation method according to claim 1, characterized in that, After the step of generating a target map file based on the first lane line and the second lane line, the method further includes: acquiring second road data collected by the mobile terminal based on the third target road; updating the first target lane line corresponding to the third target road and the second target lane line corresponding to the first target lane line based on the second road data; and updating the target map file based on the first target lane line and the second target lane line.

9. The road map generation method according to claim 1, characterized in that, After the step of generating a target map file based on the first lane line and the second lane line, the method further includes: obtaining a first configuration file and a second configuration file of the target map file, wherein the first configuration file includes parking space data from first road data corresponding to multiple roads, and the second configuration file includes fence point data from first road data corresponding to multiple roads; in response to a first control command input by a user based on the first configuration file, creating parking space identifiers in the target map file according to the parking space data in the first configuration file; and / or, in response to a second control command input by a user based on the second configuration file, creating fence lines in the target map file according to the fence point data in the second configuration file.

10. A road map generation system, characterized in that, include: A mobile terminal, wherein the mobile terminal is equipped with a data acquisition module, the data acquisition module being used to collect first road data corresponding to each of multiple roads; The data processing module is used to determine the adjacency relationship between the multiple roads and the connecting road segments between the multiple roads based on the first road data corresponding to each of the multiple roads; and to determine multiple sets of connecting lines based on the connecting road segments and the road connection points, wherein the connecting lines are used to represent the connecting trajectory of the connecting road segments; The route generation module is used to generate first lane lines corresponding to multiple roads based on the first road data corresponding to each of the multiple roads; and to generate multiple sets of second lane lines corresponding to at least two roads based on the connecting lines corresponding to the multiple connecting road segments through a smoothing algorithm and interpolation processing; the map generation module is used to generate a target map file based on the first lane lines and the second lane lines.

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