CN112595332B - Middle-precision map intersection processing method and system - Google Patents
Middle-precision map intersection processing method and system Download PDFInfo
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Abstract
The embodiment of the invention provides a middle-precision map intersection processing method and a middle-precision map intersection processing system. The problem that when a special turning lane exists at the intersection, errors can occur in the connection relation of lane center lines in the intersection is created is solved. The lane center line connection relation in the intersection of the medium-precision map is closer to the actual road, and the usability of the medium-precision map data is improved. In addition, the invention improves the quality of the initial version data of the medium-precision map, thereby improving the working efficiency of verifying and updating the medium-precision map data in the later period.
Description
Technical Field
The invention relates to the field of automatic driving, assistance and medium-precision maps, in particular to a method and a system for processing a medium-precision map intersection.
Background
The middle-precision map is generated according to standard navigation electronic map data, and the precision of the initial version data of the middle-precision map depends on the precision of the standard navigation electronic map data. Although the medium-precision map can continuously adjust data according to data such as a satellite film, a vehicle track, a sensor and the like or modes such as a simulation test and the like, if known problems can be solved during data generation, not only can the data quality of an initial edition be improved, the data availability be improved, the data problems be reduced, but also the working efficiency of later-stage medium-precision data verification and updating can be improved.
The medium-precision map contains lane center line data generated based on road data. In the process of generating the lane center line, the connection relation of the lane center line is also created based on the road connection relation.
In the conventional intersection processing method, when recording the connection relation of roads, if a special turning road exists at an intersection, filtering is performed according to the road attributes to avoid repetition. However, for special conditions such as bidirectional traffic roads, simple filtering may cause an error in the connection relationship between lane center lines at intersections. Therefore, when creating the connection relationship of the lane center lines, it is necessary to consider how to avoid the generation of the lane center line in the wrong intersection in the same direction as the advancing direction of the turn-only lane.
Disclosure of Invention
The invention provides a middle-precision map intersection processing method and system, which are used for solving the problem that when a special turning lane exists at an intersection, the connection relation of lane center lines in the intersection is established to be wrong.
In a first aspect, an embodiment of the present invention provides a medium-precision map intersection processing method, including:
101, acquiring an intersection from standard navigation electronic map data;
102, if judging that a special turning road in the same turning direction as the intersection road exists at the adjacent road of the intersection, acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road;
103, creating a connection relation of the lane central lines in the intersection according to the turning direction of the special turning lane and the advancing azimuth, and generating the lane central lines in the intersection.
Preferably, before step 102, the method further comprises:
searching whether a special turning road in the same turning direction as the road of the intersection exists at an adjacent intersection of the intersection;
if not, generating a lane central line in the intersection according to the road connection relation at the intersection;
if yes, go to step 102.
Preferably, the finding whether a special turning lane in the same turning direction as the intersection road exists at an adjacent intersection of the intersection specifically includes:
starting from the intersection, respectively searching whether special turning roads in the same turning direction with the connection relation of the current intersection road exist at other intersections of the two roads along the directions opposite to the passing direction of the two roads at the intersection.
Preferably, in step 102, the heading angle from the adjacent road to the turn lane of the intersection road is an included angle formed by the adjacent road to the turn lane in a counterclockwise direction.
Preferably, in step 103, creating a connection relationship between lane center lines in the intersection according to the turning direction of the special turning lane and the heading angle, specifically including:
if the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is within the preset angle range, the connection relation of the center lines of the turning direction lanes of the two roads at the intersection is not established in the intersection.
In a second aspect, an embodiment of the present invention further provides a system for processing a medium-precision map intersection, including:
the intersection acquisition module is used for acquiring an intersection from the standard navigation electronic map data;
the judging module is used for acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road if judging that the adjacent intersection of the intersection has the special turning road in the same turning direction as the intersection road;
and the lane center line generating module is used for creating a connection relation of lane center lines in the intersection according to the turning direction of the turning special lane and the advancing azimuth angle, and generating the lane center line in the intersection.
Preferably, the medium-precision map intersection processing system further includes:
and the special turning road searching module is used for searching whether special turning roads in the same turning direction with the connection relation of the current intersection road exist at other intersections of the two roads or not from the intersection along the opposite passing directions of the two roads at the intersection.
Preferably, the lane center line generating module is specifically configured to:
if the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is within the preset angle range, the connection relation of the center lines of the turning direction lanes of the two roads at the intersection is not established in the intersection.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the medium-precision map intersection processing method provided by the embodiment of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, where the computer instructions cause the computer to execute the method for processing medium-precision map intersections provided in the first aspect.
The method and the system for processing the middle-precision map intersection provided by the embodiment of the invention search the special turning lane at the adjacent intersection of the intersection, acquire the advancing azimuth angle from the adjacent road of the intersection road to the special turning lane, and then create the continuing relation of the lane center line in the intersection according to the turning direction and the advancing azimuth angle of the special turning lane to generate the lane center line in the intersection. The problem that when a special turning lane exists at the intersection, errors can occur in the connection relation of lane center lines in the intersection is created is solved. The lane center line connection relation in the intersection of the medium-precision map is closer to the actual road, and the usability of the medium-precision map data is improved. In addition, the invention improves the quality of the initial version data of the medium-precision map, thereby improving the working efficiency of verifying and updating the medium-precision map data in the later period.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a medium-precision map intersection processing method according to an embodiment of the present invention;
FIG. 2 is a schematic view of an intersection provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a relationship between a lane center line and a lane center line in a turning direction from a road S to a road E according to an embodiment of the present invention;
fig. 4(a) is a schematic diagram of a road junction relationship at an intersection according to an embodiment of the present invention;
FIG. 4(b) is a schematic diagram illustrating an error in the connection relationship between the center lines of lanes at an intersection according to an embodiment of the present invention;
FIG. 4(c) is a schematic diagram of the connection relationship between the center lines of lanes at an intersection according to an embodiment of the present invention;
fig. 5 is a block diagram of a medium-precision map intersection processing system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The medium-precision map is an ADAS (Advanced Driving Assistance System) map conforming to the L2-L3 automatic Driving function. L0-L5 refer to the driving automation level promulgated by SAE International.
In the conventional intersection processing method, when recording the connection relation of roads, if a special turning road exists at an intersection, filtering is performed according to the road attributes to avoid repetition. However, for special conditions such as bidirectional traffic roads, simple filtering may cause an error in the connection relationship between lane center lines at intersections. Therefore, when creating the connection relationship of the lane center lines, it is necessary to consider how to avoid the generation of the lane center line in the wrong intersection in the same direction as the advancing direction of the turn-only lane.
Therefore, an embodiment of the present invention provides a medium-precision map intersection processing method, which searches a special turning lane at an adjacent intersection of an intersection, obtains a forward heading angle from a road of the intersection to the special turning lane, and then creates a connection relationship between lane center lines in the intersection according to a turning direction and the forward heading angle of the special turning lane, so as to generate a lane center line in the intersection. The invention reduces the error of the connection relation of the lane central lines in the intersection, so that the connection relation of the lane central lines in the intersection of the medium-precision map is closer to the actual road, and the usability of the medium-precision map data is improved. In addition, the invention improves the quality of the initial version data of the medium-precision map, thereby improving the working efficiency of verifying and updating the medium-precision map data in the later period. The following description and description of various embodiments are presented in conjunction with the following drawings.
Fig. 1 is a schematic flow chart of a medium-precision map intersection processing method according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
and 101, acquiring the intersection in the standard navigation electronic map data.
102, if judging that a special turning road in the same turning direction as the intersection road exists at the adjacent road of the intersection, acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road;
fig. 2 is a schematic diagram of an intersection provided in an embodiment of the present invention, where in the embodiment of the present invention, an intersection road refers to two roads link at an intersection, and are a road S and a road E in fig. 2 respectively.
As shown in fig. 2, two main roads intersect at the intersection, and there are many roads in the same traffic direction on each main road, for example, there are a road S1 and a road S on the main road in the horizontal direction at the intersection in fig. 2, and there are a road E and a road E1 on the main road in the vertical direction at the intersection.
In the embodiment of the invention, the 'road' is link. The link is the smallest unit in the navigation data, and specifically refers to a link between one intersection and the next intersection. The nodes at the two ends of the link are intersection nodes (nodes) in the map, wherein one of the two nodes is a starting node, and the other node is an ending node.
Before step 102 is executed, first, whether a special turning lane exists at an adjacent intersection of the intersection is searched for. Wherein, the process of finding whether a special turning road exists at the adjacent crossing of the intersection specifically comprises the following steps: starting from the intersection, respectively searching whether special turning roads in the same turning direction with the connection relation of the current intersection road exist at other intersections of the two roads along the directions opposite to the passing direction of the two roads at the intersection. As shown in fig. 2, the "turning direction of the road connection relationship at the current intersection" means that the road S turns right to the road E at the intersection. In this embodiment, the number of other intersections of the searched road is not more than 2.
As shown in fig. 2, the present invention searches for whether a turn-only lane exists at an adjacent intersection of an intersection in a direction opposite to a direction of passage of a road S from the intersection. In this embodiment, at most two intersections adjacent to the intersection are searched. Similarly, it is also possible to search for whether a special turning lane exists at an adjacent intersection along the opposite direction of the road E from the intersection.
And if the adjacent road junctions of the intersection do not have the special turning road, generating lane central lines in the intersection according to the road connection relation at the intersection. If there is a turn-only lane at an adjacent intersection, step 102 is entered.
In step 102, the adjacent road link of the intersection road is the adjacent road S1 of the intersection road S, as shown in fig. 2. The forward azimuth angle from the adjacent road to the turning lane at the intersection road is an included angle formed by the adjacent road to the turning lane in the counterclockwise direction, which is an included angle formed by the road S1 to the turning lane in the counterclockwise direction in this embodiment.
For example, when the embodiment of the present invention finds that a special turning lane in the same turning direction as the intersection road exists at an adjacent intersection of the intersection, the forward heading angle from the road S1 to the special turning lane is obtained. Here, the heading angle from the road S1 to the turn lane is an angle formed in the counterclockwise direction by the road S1 passing through the turn lane.
103, creating a connection relation of the lane central lines in the intersection according to the turning direction of the special turning lane and the advancing azimuth, and generating the lane central lines in the intersection.
Specifically, first, it is determined whether or not the turning direction lane center line continuation relationship of the road S to the road E can be created in the intersection, based on the turning direction of the turning lane and the range of the heading angle of the road S to the turning lane obtained in step 102. As shown in fig. 3, fig. 3 is a schematic diagram illustrating the relationship between the lane center line connection in the turning direction from the road S to the road E according to the embodiment of the present invention.
When the heading angle of the road S1 to the turn-only lane is within the preset angle range, which may be set to [160 °, 180 ° ], for example, indicating that the heading direction of the road S1 to the turn-only lane is nearly straight or a slight turn.
If the heading angle of the road S1 to the turn-dedicated lane is within the preset angle range, the turn-direction lane center-line continuation relationship of the two roads at the intersection, referring to fig. 2, is not created within the intersection, i.e., the road S → road E turn-direction lane center-line continuation relationship is not created.
Then, based on the above determination result, a correct connection relation of the lane center lines in the intersection can be created from the road connection relation and the passing direction of the intersection, and the lane center lines in the intersection can be generated.
Fig. 4(a) is a schematic diagram of a road junction relationship at an intersection according to an embodiment of the present invention; FIG. 4(b) is a schematic diagram illustrating an error in the connection relationship between the center lines of lanes at an intersection according to an embodiment of the present invention; fig. 4(c) is a schematic diagram of a correct connection relationship between lane center lines in an intersection according to an embodiment of the present invention. It can be understood that, in the conventional medium-precision map intersection processing method, as shown in fig. 4(b), the intersection two-road turning direction lane center line continuation relation is created beside the turning lane, and the functions of the turning lane center line and the turning direction lane center lines of the two roads are repeated, which is wrong.
In the middle-precision map intersection processing method provided by the embodiment of the invention, the created connection relationship of the lane center lines in the intersection is shown in fig. 4(c), and the connection relationship of the lane center lines in the turning directions of two roads of the intersection is not created beside the turning special road, so that the correct connection relationship of the lane center lines in the intersection is obtained, and further the lane center lines in the intersection are generated.
The method for processing the map intersection with medium precision, provided by the embodiment of the invention, comprises the steps of searching a special turning lane at an adjacent intersection of the intersection, acquiring a forward azimuth angle from the adjacent road of the intersection to the special turning lane, and then creating a connection relation of lane center lines in the intersection according to the turning direction and the forward azimuth angle of the special turning lane to generate the lane center line in the intersection. The problem that when a special turning lane exists at the intersection, errors can occur in the connection relation of lane center lines in the intersection is created is solved. The lane center line connection relation in the intersection of the medium-precision map is closer to the actual road, and the usability of the medium-precision map data is improved. In addition, the invention improves the quality of the initial version data of the medium-precision map, thereby improving the working efficiency of verifying and updating the medium-precision map data in the later period.
In an embodiment, fig. 5 is a block diagram of a medium-precision map intersection processing system according to an embodiment of the present invention, and the medium-precision map intersection processing system according to the embodiment of the present invention is configured to execute the medium-precision map intersection method according to the foregoing method embodiment. As shown in fig. 5, the system includes:
an intersection acquisition module 501, configured to acquire an intersection from standard navigation electronic map data;
the judging module 502 is configured to, if it is judged and known that a special turning lane in the same turning direction as the intersection road exists at an adjacent intersection of the intersection, obtain a forward azimuth from the adjacent road of the intersection road to the special turning lane;
the lane center line generating module 503 is configured to create a connection relationship between lane center lines in an intersection according to the turning direction of the special turning lane and the forward azimuth, and generate a lane center line in the intersection.
Specifically, how to perform the middle-precision map intersection processing by using the intersection acquisition module 501, the judgment module 502 and the lane center line generation module 503 can refer to the above method embodiment, and the embodiment of the present invention is not described herein again.
On the basis of the above embodiment, the medium-precision map intersection processing system further includes: and the special turning road searching module is used for searching whether special turning roads in the same turning direction with the connection relation of the current intersection road exist at other intersections of the two roads or not from the intersection along the opposite passing directions of the two roads at the intersection.
On the basis of the foregoing embodiment, the lane center line generating module 503 is specifically configured to: if the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is within the preset angle range, the connection relation of the center lines of the turning direction lanes of the two roads at the intersection is not established in the intersection.
In one embodiment, based on the same concept, an embodiment of the present invention provides an electronic device, which may include: a processor (processor)601, a communication Interface (Communications Interface)602, a memory (memory)603 and a communication bus 604, wherein the processor 601, the communication Interface 602 and the memory 603 complete communication with each other through the communication bus 604. The processor 601 may call the logic instructions in the memory 603 to execute the steps of the medium-precision map intersection processing method provided by the above embodiments, for example, including: 101, acquiring an intersection from standard navigation electronic map data; 102, if judging that a special turning road in the same turning direction as the intersection road exists at the adjacent road of the intersection, acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road; 103, creating a connection relation of the lane central lines in the intersection according to the turning direction of the special turning lane and the advancing azimuth, and generating the lane central lines in the intersection.
In one embodiment, based on the same concept, the embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the steps of the medium-precision map intersection processing method provided in the foregoing embodiments when executed by a processor, and for example, the steps include: 101, acquiring an intersection from standard navigation electronic map data; 102, if judging that a special turning road in the same turning direction as the intersection road exists at the adjacent road of the intersection, acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road; 103, creating a connection relation of the lane central lines in the intersection according to the turning direction of the special turning lane and the advancing azimuth, and generating the lane central lines in the intersection.
In summary, embodiments of the present invention provide a method and a system for processing a map intersection with medium precision, which search for a special turning lane at an adjacent intersection of the intersection, obtain an advancing azimuth from the adjacent road of the intersection to the special turning lane, and then create a continuing relationship of lane center lines in the intersection according to a turning direction and the advancing azimuth of the special turning lane, so as to generate lane center lines in the intersection. The problem that when a special turning lane exists at the intersection, errors can occur in the connection relation of lane center lines in the intersection is created is solved. The lane center line connection relation in the intersection of the medium-precision map is closer to the actual road, and the usability of the medium-precision map data is improved. In addition, the invention improves the quality of the initial version data of the medium-precision map, thereby improving the working efficiency of verifying and updating the medium-precision map data in the later period.
The embodiments of the present invention can be arbitrarily combined to achieve different technical effects.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A medium-precision map intersection processing method is characterized by comprising the following steps:
101, acquiring an intersection from standard navigation electronic map data;
102, if judging that a special turning road in the same turning direction as the intersection road exists at the adjacent road of the intersection, acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road; wherein, the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is an included angle formed by the adjacent road to the special turning road in the anticlockwise direction;
103, creating a connection relation of the lane center lines in the intersection according to the turning direction of the special turning lane and the advancing azimuth angle, and generating the lane center line in the intersection; if the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is within the preset angle range, the connection relation of the center lines of the turning direction lanes of the two roads at the intersection is not established in the intersection.
2. The medium-precision map intersection processing method according to claim 1, further comprising, before step 102:
searching whether a special turning road in the same turning direction as the road of the intersection exists at an adjacent intersection of the intersection;
if not, generating a lane central line in the intersection according to the road connection relation at the intersection;
if yes, go to step 102.
3. The medium-precision map intersection processing method according to claim 2, wherein the searching for whether a special turning lane in the same turning direction as the intersection road exists at an adjacent intersection comprises:
starting from the intersection, respectively searching whether special turning roads in the same turning direction with the connection relation of the current intersection road exist at other intersections of the two roads along the directions opposite to the passing direction of the two roads at the intersection.
4. A medium accuracy map intersection processing system, comprising:
the intersection acquisition module is used for acquiring an intersection from the standard navigation electronic map data;
the judging module is used for acquiring a forward azimuth angle from the adjacent road of the intersection road to the special turning road if judging that the adjacent intersection of the intersection has the special turning road in the same turning direction as the intersection road; wherein, the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is an included angle formed by the adjacent road to the special turning road in the anticlockwise direction;
the lane center line generating module is used for creating a connection relation of lane center lines in the intersection according to the turning direction of the turning special lane and the advancing azimuth angle and generating the lane center line in the intersection; if the advancing azimuth angle from the adjacent road of the intersection road to the special turning road is within the preset angle range, the connection relation of the center lines of the turning direction lanes of the two roads at the intersection is not established in the intersection.
5. The medium accuracy map intersection processing system of claim 4, further comprising:
and the special turning road searching module is used for searching whether special turning roads in the same turning direction with the connection relation of the current intersection road exist at other intersections of the two roads or not from the intersection along the opposite passing directions of the two roads at the intersection.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the map intersection processing method as claimed in any one of claims 1 to 3 when executing the program.
7. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the medium precision map intersection processing method according to any one of claims 1 to 3.
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