Method for generating v2x_map on basis of high-definition map data

Abstract

A method for generating V2X_MAP on the basis of high-definition map data, which method belongs to the technical field of the Internet of Vehicles. The method comprises: parsing OpenDrive, and converting, into a set object, a road network which is described in an extensible markup language (XML); further constructing a road structure on the basis of road node information recorded by the set object; and mapping, into data in a V2X_MAP format, OpenDrive road structure information which has been constructed to be the set object.

Description

Method for generating V2X_MAP based on high-precision map data Technical Field

[0001] The present invention relates to a method for generating a V2X_MAP based on high-precision map data, and belongs to the technical field of vehicle networking. Background Art

[0002] The China Intelligent Connected Vehicle Industry Innovation Alliance has officially released China's first group standard for the V2X application layer: "Cooperative Intelligent Transportation System Vehicle Communication System Application Layer and Application Data Interaction Standard." This standard defines five message types to meet the needs of different application scenarios, including map messages. These messages are broadcast by roadside units (ROSs) to deliver local map information to vehicles. These include information about intersections, road sections, lanes, and road connectivity within the area.

[0003] However, there is currently no standardized process for producing V2X map messages. Converting other forms of maps to V2X messages may result in conversion errors and require manual intervention. This makes it impossible to accurately and quickly synchronize map messages during V2X applications, affecting the efficiency of vehicle-road collaboration.

[0004] Summary of the Invention

[0005] To improve the accuracy and conversion efficiency of V2X map messages and thus enhance the efficiency of vehicle-road collaboration, the present invention provides a method for generating a V2X_MAP based on high-precision map data. The technical solution is as follows:

[0006] Step 1: Parse OpenDrive and convert the road network described in XML into a collection object;

[0007] Step 2: further constructing a road structure based on the road node information recorded in the collection object;

[0008] Step 3: Map the opendrive road structure information constructed as the collection object into V2X_MAP format data.

[0009] Optionally, the step 1 includes:

[0010] Step 11: Use FileUtils in the Common IO tool library to read the opendrive standard xodr format high-precision map file;

[0011] Step 12: Read the header file head element, road network element, lanes element, intersection element and its sub-element nodes according to the structure of the opendrive file;

[0012] Step 13: Store the parsed element information into the collection object.

[0013] Optionally, the second step includes:

[0014] Step 21: Create a road relationship list based on the road predecessor and successor nodes recorded by the road element;

[0015] Step 22: Establish a lane segment connection relationship list based on the lane segment predecessor and successor nodes recorded by the lane element and road element;

[0016] Step 23: Initialize the road driving information according to the junction element, road element, and connection element;

[0017] Step 24: Calculate the lane boundaries depicted by the high-precision map based on the geographic projection information recorded in the header element and the reference line information described in the planview.

[0018] Optionally, step 24 includes:

[0019] Use the parameter cubic polynomial to calculate the u value and v value in the pixel coordinate system: u(p)=aU+bU·p+cU·p2+dU·p3 v(p)=aV+bV·p+cV·p2+dV·p3

[0020] Convert the uv coordinate system to the xy coordinate system;

[0021] Draw road curves according to coordinate points, fit all curves and associate them with road information.

[0022] Optionally, the step three includes:

[0023] Step 31: Create a collection object based on the V2X_MAP message body structure;

[0024] Step 32: Establish a mapping relationship between key elements of the HD map drawn by OpenDrive and V2X_MAP;

[0025] Step 33: Use the sorted opendrive object to convert it into V2X_MAP collection object data and store it in the MySQL database.

[0026] Optionally, step 33 includes:

[0027] Fill the attributes that can be directly obtained from opendrive data directly into the attributes required by V2X_MAP;

[0028] Attributes that cannot be directly obtained from the opendrives data are calculated and then filled into the V2Z_MAP attribute. The calculation process includes:

[0029] The turning information of the road is calculated based on the connection relationship of the opendrive reference line, and converted into a 12-bit bit stream and stored in the maneuvers attribute of the V2X_MAP message; according to the projection information recorded in the header node in opendrive, the xy coordinates in the fitting curve are converted into geodetic coordinates; the longitude and latitude coordinates close to the center point of the intersection are picked up and passed into the corresponding attributes of the rePos node of V2X_MAP; the coordinates of the middle point of the road section are calculated based on the reference line and lane offset attribute information, and are arranged in upstream to downstream order and passed into the corresponding attributes of the points node of V2X_MAP.

[0030] The beneficial effects of the present invention are:

[0031] The present invention converts the standard storage format of OpenDRIVE formatted high-precision map data into V2X_MAP formatted messages, covering the various processes of opendrive file parsing, road structure construction, and V2X_MAP formatted messages. It establishes a set of standard data processing procedures, which can accurately and quickly generate V2X_MAP message data, ensuring the accuracy and conversion efficiency of V2X map messages, thereby improving the efficiency of vehicle-road collaboration and optimizing the application effect of high-precision maps in the field of vehicle-road collaboration. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] FIG1 is a flow chart of a method for generating V2X_MAP based on high-precision map data according to the present invention.

[0034] FIG2 is a flow chart of reference line fitting in the present invention. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0036] Example 1:

[0037] This embodiment provides a method for generating a V2X_MAP based on high-precision map data. Referring to FIG1 , the method includes:

[0038] Step 1: Parse OpenDrive and convert the road network described in XML into a collection object;

[0039] Step 2: further constructing a road structure based on the road node information recorded in the collection object;

[0040] Step 3: Map the opendrive road structure information constructed as the collection object into V2X_MAP format data.

[0041] Example 2:

[0042] This embodiment provides a method for generating a V2X_MAP based on high-precision map data. Referring to FIG1 , the method includes:

[0043] Step 1: Parse OpenDrive and convert the road network described in Extensible Markup Language (XML) into a collection object;

[0044] Use FileUtils from the Common IO library to read an OpenDrive-standard xodr format HD map file into memory. Based on the OpenDrive file structure, read the header element, road element, lane element, intersection element, and their child nodes, then store each element list in the corresponding collection.

[0045] Step 2: Further construct the road structure based on the road node information recorded by the collection object;

[0046] Based on the element information recorded by the road element, lanes element, and junction element, the road topology network describing the area is restored. In combination with the geographic projection information recorded by the header element and the reference line information described in the planview, the lane boundaries depicted by the high-precision map are calculated.

[0047] Use the parameter cubic polynomial to calculate the u value and v value in the pixel coordinate system: u(p)=a U +b U ·p+c U ·p 2 +d U ·p 3 v(p)=a V +b V ·p+c V ·p 2 +d V ·p 3

[0048] Among them, a U 、bU 、c U d U represents the polynomial u(p) parameter, a V 、b V 、c V d V represents the polynomial v(p) parameter, where p is in the range [0,1] or can be in the range [0, arc length].

[0049] Then convert the UV coordinate system into the XY coordinate system, draw the road curve according to the coordinate points, fit all the curves and associate them with the road information.

[0050] Step 3: Map the opendrive road structure information constructed as a collection object into V2X_MAP format data;

[0051] A collection object is created based on the V2X_MAP message body structure, establishing a mapping relationship between key elements of the HD map drawn by OpenDrive and V2X_MAP. Attributes that can be directly obtained from OpenDrive data are directly populated into the attributes required by V2X_MAP, such as road speed limit information, road information, intersection information, and connection information.

[0052] Attributes that cannot be directly obtained from the OpenDrives data must be calculated through code and then populated into the V2X_MAP attribute. Road steering information is calculated based on the connection relationship of the OpenDrive reference line and converted into a 12-bit bit stream and stored in the maneuvers attribute of the V2X_MAP message.

[0053] Based on the projection information recorded in the header node in OpenDrive, convert the xy coordinates in the fitted curve to geodetic coordinates. Pick the longitude and latitude coordinates of the point closest to the intersection center and enter them into the corresponding attributes of the rePos node in V2X_MAP. Calculate the coordinates of the midpoint of the road segment based on the reference line and lane offset attributes and arrange them in upstream to downstream order and enter them into the corresponding attributes of the points node in V2X_MAP.

[0054] This embodiment converts the standard storage format of OpenDRIVE-formatted high-precision map data into V2X_MAP format messages, covering the processes of opendrive file parsing, road structure construction, and V2X_MAP format messages. It establishes a standard data processing flow that can accurately and quickly generate V2X_MAP message data, ensuring the accuracy and conversion efficiency of V2X map messages, thereby improving the efficiency of vehicle-road collaboration and optimizing the application effect of high-precision maps in the field of vehicle-road collaboration.

[0055] Some steps in the embodiments of the present invention may be implemented using software, and the corresponding software program may be stored in a readable storage medium, such as a CD or a hard disk.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for generating V2X_MAP based on high-precision map data, characterized in that, the method includes: Step 1: Parse opendrive, and convert the road network described in Extensible Markup Language (XML) into a set object; Step 2: Further construct the road structure according to the road node information recorded in the set object; Step 3: Map the opendrive road structure information constructed as the set object into V2X_MAP format data.

2. The method according to claim 1, characterized in that, Step 1 includes: Step 11: Use FileUtils in the Common IO tool library to read the high-precision map file in the standard xodr format of opendrive; Step 12: Read the header element, road network road element, lanes element, intersection junction element and their sub-element nodes according to the structure of the opendrive file; Step 13: Store the parsed element information into the set object.

3. The method according to claim 1, characterized in that, Step 2 includes: Step 21: Establish a road relationship list according to the road predecessor and successor nodes recorded in the road element; Step 22: Establish a lane segment connection relationship list according to the lane segment predecessor and successor nodes recorded in the lane element and road element; Step 23: Initialize the driving information of the road according to the junction element, road element and connection element; Step 24: Calculate the lane boundaries depicted in the high-precision map according to the geographic projection information recorded in the header element and the reference line information described in the planview.

4. The method according to claim 3, characterized in that, Step 24 includes: Use a parametric cubic polynomial to calculate the u value and v value in the pixel coordinate system: u(p) = a U + b U · p + c U · p 2 + d U · p 3 v(p) = a V + b V · p + c V · p 2 + d V · p 3 Among them, a U , b U , c U , d U represent the parameters of the polynomial u(p), and a V , b V , c V , d V represent the parameters of the polynomial v(p), where p is in the range of [0, 1], or can be in the range of [0, arc length]; Convert the uv coordinate system to the xy coordinate system; Draw the road curve according to the coordinate points, fit all the curves and associate them with the road information.

5. The method according to claim 1, characterized in that, Step 3 includes: Step 31: Establish a set object according to the V2X_MAP message body structure; Step 32: Establish the mapping relationship between the key elements of the high-precision map depicted by opendrive and V2X_MAP; Step 33: Use the sorted opendrive object to convert it into V2X_MAP set object data and store it in the mysql database.

6. The method according to claim 5, characterized in that, Step 33 includes: Directly fill the attributes that can be directly obtained from the opendrive data into the attributes required by V2X_MAP; For the attributes that cannot be directly obtained from the opendrives data, calculate them and then fill them into the V2Z_MAP attributes. The calculation process includes: Calculate the turning information of the road according to the connection relationship of the OpenDRIVE reference line, and convert it into a 12-bit bitstream and store it in the maneuvers attribute of the V2X_MAP message; according to the projection information recorded in the header node in OpenDRIVE, convert the xy coordinates in the fitted curve into geodetic coordinates; pick up the longitude and latitude coordinates close to the intersection center point and pass them into the corresponding attributes of the rePos node of V2X_MAP; calculate the coordinates of the midpoints of the road sections according to the reference line and lane offset attribute information, and arrange them in the order from upstream to downstream and pass them into the corresponding attributes of the points node of V2X_MAP.

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