Automatic generation method for a virtual 3D road environment based on precise road map data

Abstract

This invention provides an automated method for generating a virtual 3D road environment based on precise road map data that can generate 3D roads based on the requirements necessary for autonomous driving. [Solution] The system includes a map data preprocessing unit that performs preprocessing work on the data of each layer constituting the precision road map; a roadway generation unit that generates roadways by extracting roadway outline data based on driving route links; a shoulder generation unit that generates a mesh between the curb of the sidewalk and the roadway, connecting the boundary of the sidewalk and the boundary of the roadway; a sidewalk and bicycle path generation unit that generates sidewalks and bicycle paths using data of the attached sections; and a road surface marking generation unit that generates a mesh for marking lanes, crosswalks and road surfaces on the road.

Claims

1. A map data preprocessing unit performs preprocessing work on the data of each layer that makes up a precise road map in shapefile format, Among the layers that make up the precise road map, there is a roadway generation unit that generates roadways by extracting roadway outline data based on driving route links, A shoulder generation unit generates a mesh between the curb of the sidewalk and the roadway, connecting the boundary of the sidewalk and the boundary of the roadway, Among the layers that make up the detailed road map, the sidewalk and bicycle path generation unit utilizes the data of the attached sections to generate sidewalks and bicycle paths, A road surface marking generation unit that generates a mesh for marking lanes, pedestrian crossings, and road surfaces on the road, and An automated system for generating 3D roads in a virtual environment, based on precise road map data including this data.

2. The map data preprocessing unit is: An automated system for generating a virtual 3D road environment based on precision road map data according to claim 1, characterized by performing data structure generation work to generate geometric data and attribute information as data structures for each layer constituting a precision road map, and topology generation work to find relationships between the data held in each layer and generate a network.

3. The map data preprocessing unit is: When connecting travel path links, the process involves connecting the next link, left-hand link, and right-hand link in the same travel direction to each object via line segments and attribute information, utilizing layer-specific or inter-layer data to establish mutual connections. An automated system for generating a virtual environment 3D road based on precision road map data according to claim 2, characterized in that it has an interconnected topology, calculates road boundaries by calculating from the leftmost link to the rightmost link, and generates a roadway mesh through the calculated road boundaries.

4. The roadway generation section is, The automatic generation system for a virtual 3D road environment based on precision road map data as described in claim 1, characterized in that when left and right links traveling in the same direction are collected and the outermost edge is extracted and set as one GP (Ground Patch), if a gap occurs between the two GPs, a dot product calculation is performed on the two vectors extracted from each GP, depending on the pattern of each GP and the location where the gap occurred, in order to fill the gap.

5. The section for generating sidewalks and bicycle paths is, An automated system for generating a virtual environment 3D road based on precision road map data according to claim 1, characterized in that it generates a polygonal mesh by utilizing the road path links and polygon intersections within the attached section that exist within the attached section in order to generate sidewalks and bicycle paths.

6. The section for generating sidewalks and bicycle paths is, When generating a polygonal mesh by utilizing the intersections of the travel path links and polygons within the attached section, By utilizing the data for the attached sections, select the route links within those sections and connect them to each other. If the type of the attached section is a sidewalk, extract points within the interconnected travel path links and polygons within the attached section. Based on the points of the travel path links within the attached section, calculate the intersection of the vectors rotated ±π / 2 to the left and right and the boundary of the attached section. An automated system for generating a virtual environment 3D road based on precision road map data according to claim 5, characterized in that it generates additional points separated from the boundary by the distance of the curb, so that they can be used when generating a mesh that connects the boundary of the sidewalk and the boundary of the roadway.

7. When setting a group of left and right links traveling in the same direction and extracting the outermost boundary to be set as a single GP (Ground Patch), the road shoulder generation unit and the sidewalk and bicycle path generation unit utilize the roadway tree to improve the search speed for the nearest GP, generating a k-d tree with the GP as a single unit, and the roadway tree generation unit that generates the roadway tree... An automated system for generating a virtual environment 3D road based on precision road map data according to claim 1, further comprising the above.

8. The shoulder formation section is, Using only the road markings that indicate the boundary of the sidewalk, the distance to the roadway GP (Ground Patch) is calculated. An automated system for generating a virtual environment 3D road based on precision road map data according to claim 7, characterized in that, in order to generate a polygonal mesh, the system calculates the closest point from the boundary point to the roadway GP through the roadway tree and generates the polygon.

9. The road surface marking generation unit is When marking lanes on a road, solid lines, double solid lines, and dotted lines should be used to indicate them. An automated system for generating a virtual environment 3D road based on precision road map data, as described in claim 1, characterized in that, when marking lanes, pedestrian crossings, and road surfaces on a road, the lanes, pedestrian crossings, and road surfaces are projected onto a 3D roadway polygon, rather than using the map data directly, in order to generate roads more accurately than when the map data is used directly.

10. The map data preprocessing unit performs preprocessing work on the data of each layer that makes up the precise road map in shapefile format. The roadway generation unit generates roadways by extracting roadway outline data based on driving route links from the layers that make up the precise road map, and The shoulder generation unit generates a mesh between the curb of the sidewalk and the roadway, which connects the boundary of the sidewalk and the boundary of the roadway. The sidewalk and bicycle path generation unit generates sidewalks and bicycle paths by utilizing the data of the auxiliary sections among the layers that make up the detailed road map. The road surface marking generation unit generates a mesh for marking lanes, pedestrian crossings, and the road surface on the road. A method for automatically generating a virtual 3D road environment based on precise road map data, including the above.

11. A map data preprocessing unit performs preprocessing work on the data of each layer that makes up the precise road map, Among the layers that make up the precise road map, there is a roadway generation unit that generates roadways by extracting roadway outline data based on driving route links, When setting a group of left and right links traveling in the same direction and extracting the outermost boundary to be set as a single GP (Ground Patch), the road shoulder generation unit and the sidewalk and bicycle path generation unit utilize the roadway tree to improve the search speed for the nearest GP. In this way, the roadway tree generation unit generates a k-d tree with the GP as a single unit, and generates the roadway tree. A shoulder generation unit generates a mesh between the curb of the sidewalk and the roadway, connecting the boundary of the sidewalk and the boundary of the roadway, Among the layers that make up the detailed road map, the sidewalk and bicycle path generation unit utilizes the data of the attached sections to generate sidewalks and bicycle paths, A road surface marking generation unit that generates a mesh for marking lanes, pedestrian crossings, and road surfaces on the road, and An automated system for generating 3D roads in a virtual environment, based on precise road map data including this data.

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