CN109520513B - Three-dimensional map drawing method and device - Google Patents
Three-dimensional map drawing method and device Download PDFInfo
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Abstract
The invention provides a three-dimensional map drawing method and device. The method comprises the steps of extracting a target map layer from map original data, wherein the map original data are organized in map layer data, and each map layer data comprises a basic point coordinate set and a basic point attribute; carrying out coordinate transformation on a basic point coordinate set in a target layer to obtain point position data under a geocentric geostationary coordinate system; and drawing the three-dimensional shape represented by the target layer according to the point position data. The method directly uses the collected map data without compiling the map, saves the time required by processing the map data and ensures that the original data information is not lost due to the compiling process. The work of manually and manually calibrating map data is omitted by directly modeling the data in three dimensions. Compared with the existing three-dimensional map, the method has the advantages that the buildings around the road are three-dimensional, and the road model drawn by the method has a more spatial stereoscopic impression.
Description
Technical Field
The invention relates to the field of map data processing and visualization, in particular to a three-dimensional map drawing method and device.
Background
Before an intelligent driving automobile formally goes on a road, in order to save cost and ensure the safety of vehicles and pedestrians on the road, a driving algorithm of the unmanned intelligent driving automobile needs to be tested in a virtual environment generated by a computer. In order to provide a drivable road space for a motor vehicle and to simulate a real road as much as possible, in a constructed virtual environment, a corresponding three-dimensional road model needs to be drawn on the basis of actual map data.
As an indispensable part of the unmanned intelligent driving technology, high-precision maps have been widely used in the field of intelligent driving of automobiles. Different from the traditional electronic map, the service object of the high-precision electronic map is an unmanned vehicle; besides basic information describing the road level, the high-precision map also comprises description of information such as lanes, lane lines, road marking lines and traffic signs, so that a centimeter-level high-precision autonomous positioning function is provided for an automobile, and possibility and feasibility are provided for an intelligent driving function.
Conventional map data providers and internet enterprises providing map services can visualize map data to some extent. But the mapping they involve is mostly displayed as a two-dimensional map. In recent years, a plurality of map manufacturers have started providing a three-dimensional map display function. However, most of the existing three-dimensional map display functions tend to display three-dimensional buildings on two sides of a road, and cannot display three-dimensional roads which are vital to simulating real roads to train intelligent driving automobiles.
Further, a map data supplier generally processes the originally acquired data into a certain intermediate format during map data processing, and a conversion algorithm of the intermediate format is generally a core technology and cannot be disclosed to a vehicle developer, so that great difficulty is brought to the vehicle developer to acquire a three-dimensional road model.
Disclosure of Invention
In order to solve the technical problem, the invention provides a three-dimensional map drawing method and a three-dimensional map drawing device.
The invention is realized by the following technical scheme:
a method of three-dimensional mapping, the method comprising:
extracting a target layer from map original data, wherein the map original data are organized in the form of layer data, and each layer data comprises a basic point coordinate set and a basic point attribute;
carrying out coordinate transformation on a basic point coordinate set in a target layer to obtain point position data under a geocentric geostationary coordinate system;
and drawing the three-dimensional shape represented by the target layer according to the point position data.
Further, each layer data includes a basic point coordinate set and a basic point attribute, the basic point coordinate set is coordinate data defining a basic shape, and the basic point attribute may be recorded in a preset database.
Further, the drawing the three-dimensional shape represented by the target map layer according to the point location data includes drawing a road model, and the drawing the road model includes:
acquiring point location data corresponding to the lane layer, wherein the point location data represents coordinates of a basic point in a geocentric geostationary coordinate system;
acquiring attribute data corresponding to each basic point, wherein the attribute comprises the width of the lane with the basic point as the center;
and drawing the three-dimensional road according to the point data and the attribute data.
Further, the drawing of the three-dimensional road according to the point-bit data and the attribute data includes:
acquiring the orientation of each basic point;
expanding a plane in a direction perpendicular to the orientation according to the orientation of each basic point;
calculating left and right critical points of a lane corresponding to the point data according to the point data and the attribute data in the plane;
and connecting the left critical point and the right critical point to obtain the three-dimensional lane.
Further, a line connecting the base point and the next base point characterizes the orientation of the base point.
Further, after the three-dimensional lane is drawn, the drawn map sub-models are derived, before the derivation, coordinate offset is performed on each lane, and the offset process includes:
acquiring a local coordinate central point;
and offsetting each point in the three-dimensional lane according to the local coordinate central point.
Further, all the vertexes of a section of the lane surface are xiThe center point of the derived local coordinate of the model is
Go all the top points of the lane intoThe lines are shifted so that their coordinates become
A three-dimensional mapping device, the device comprising:
the data extraction module is used for extracting a target map layer from map original data, the map original data are organized in map layer data, and each map layer data comprises a basic point coordinate set and a basic point attribute;
the conversion module is used for carrying out coordinate transformation on the basic point coordinate set in the target layer to obtain point position data under a geocentric geostationary coordinate system;
and the drawing module is used for drawing the three-dimensional shape represented by the target layer according to the point position data.
Further, the rendering module includes:
the lane point location extraction unit is used for acquiring point location data corresponding to a lane layer, and the point location data represents coordinates of a basic point in a geocentric coordinate system;
the attribute data extraction unit is used for acquiring attribute data corresponding to each basic point, and the attribute comprises the width of the lane with the basic point as the center;
and the lane drawing unit is used for drawing the three-dimensional road according to the point bit data and the attribute data.
Further, the lane drawing unit includes:
an orientation acquisition unit configured to acquire an orientation of each of the basic points;
the expanding unit is used for expanding a plane in the direction vertical to the orientation according to the orientation of each basic point;
the critical point acquisition unit is used for calculating left and right critical points of a lane corresponding to the point data according to the point data and the attribute data in the plane;
and the connecting unit is used for connecting each left critical point and each right critical point to obtain the three-dimensional lane.
The invention has the beneficial effects that:
the invention provides a three-dimensional map drawing method and device. The invention directly uses the collected map data without map compiling, saves the time required by map data processing and ensures that the original data information loss caused by compiling process is avoided. The work of manually and manually calibrating map data is omitted by directly modeling the data in three dimensions. The drawing work is always carried out in a three-dimensional space, and the conversion of a two-dimensional image and a three-dimensional model cannot occur. Compared with the existing three-dimensional map, the method has the advantages that the buildings around the road are three-dimensional, and the road model drawn by the method has a more spatial stereoscopic impression.
Drawings
Fig. 1 is a flowchart of a three-dimensional mapping method according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for drawing a road model in a three-dimensional map according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for drawing a three-dimensional road according to an embodiment of the present invention;
fig. 4 is a block diagram of a three-dimensional mapping apparatus according to an embodiment of the present invention;
FIG. 5 is a block diagram of a rendering module provided by an embodiment of the invention;
fig. 6 is a block diagram of a lane drawing unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
For the vehicle developer, the obtained map data is the collected original ESRI format data. The high-precision map introduces information at the lane level, and the content of the map includes both data at the road level and data at the lane level. The lane level data which is not processed into the intermediate format already forms the condition for drawing the three-dimensional road model, and only an algorithm capable of drawing the three-dimensional road model and the three-dimensional map needs to be developed.
In addition, a large amount of manpower and material resources are consumed in the traditional map drawing process to carry out map calibration and drawing work, and high-precision data sampling points of a high-precision map sampled by a laser radar are more intensive, so that the difficulty of manually processing the information is increased. In order to improve the rendering efficiency of the three-dimensional road model and the three-dimensional map, it is necessary that the rendering algorithm can be completed without compiling the ESRI raw data.
In view of this, an embodiment of the present invention provides a three-dimensional mapping method, as shown in fig. 1, including:
s101, extracting a target layer from map original data, wherein the map original data are organized in the form of layer data, and each layer data comprises a basic point coordinate set and a basic point attribute.
The map original data is divided into map layers to define a road center line, a lane center line, a road connection point, a lane connection point, a line/planar traffic marking line, and a point/line/planar traffic facility. Each layer data comprises a basic point coordinate set and basic point attributes, the basic point coordinate set is coordinate data defining a basic shape, and the basic point attributes can be recorded in a preset database.
In order to be able to map road models in a three-dimensional map, the target layer should comprise a lane-dependent layer.
And S102, carrying out coordinate transformation on the basic point coordinate set in the target layer to obtain point position data under the geocentric geostationary coordinate system.
And S103, drawing the three-dimensional shape represented by the target layer according to the point data.
The recording format of the basic point coordinate set is longitude and latitude and altitude data under a geodetic coordinate system of WGS 84. In order to be able to more clearly display the detailed information inside the latitude and longitude of the small range, the WGS84 latitude and longitude altitude coordinates in degrees need to be converted into earth-centered-earth-fixed (ECEF) coordinates in meters. And in the modeling by using the point position data obtained through coordinate transformation, the basic shape of the point, the line or the surface represented by the basic point coordinate set can be obtained.
And when the three-dimensional shape represented by the layer is drawn, three-dimensional modeling is directly carried out, the drawing work is always carried out in a three-dimensional space, and the drawing process only needs to use an Application Programming Interface (API) provided by three-dimensional modeling software.
Specifically, the present invention provides a method for drawing a road model in a three-dimensional map, as shown in fig. 2, including:
and S1031, point location data corresponding to the lane layer are obtained, and the point location data represent coordinates of the basic points in a geocentric coordinate system.
S1032, acquiring attribute data corresponding to each basic point, wherein the attribute comprises the width of the lane with the basic point as the center.
And S1033, drawing the three-dimensional road according to the point bit data and the attribute data.
Specifically, as shown in fig. 3, the method for drawing a three-dimensional road includes:
s10331, acquiring the orientation of each basic point.
In particular, the line connecting the base point and the next base point characterizes the orientation of the base point.
S10332. according to the orientation of each basic point, a plane is developed in the direction perpendicular to the orientation.
S10333, calculating left and right critical points of a lane corresponding to the point data according to the point data and the attribute data in the plane.
S10334, connecting the left critical points and the right critical points to obtain a three-dimensional lane.
Specifically, the normal vector of the three-dimensional lane is upward.
Further, after the lane surface is drawn, the drawn map partial model can be derived due to other requirements. Actually, the origin of each road model coincides with the origin in the geocentric geo-stationary coordinate system, but the derived map has different local origin of coordinates, for this reason, before deriving, each road model needs to be derived after coordinate offset, and the offset process includes:
(1) and acquiring a local coordinate central point.
Suppose all the vertexes of a section of the lane surface are xiThe center point of the derived local coordinate of the model is
(2) And offsetting each point in the lane model according to the local coordinate central point.
To offset all the vertices of the lane by the scalar above, the coordinates for the other points become
The embodiment of the invention provides a three-dimensional map drawing method. According to the embodiment of the invention, the collected map data is directly used without map compiling, so that the time required by map data processing is saved, and the loss of original data information caused by a compiling process is avoided. Professional three-dimensional modeling software is directly used, and the work of manually calibrating map data is omitted. The drawing work is always carried out in a three-dimensional space, and the conversion of a two-dimensional image and a three-dimensional model cannot occur. Compared with the existing three-dimensional map, the three-dimensional map has the advantages that the buildings around the road are three-dimensional, and the road model directly drawn by the three-dimensional software has more spatial stereoscopic impression.
Furthermore, the embodiment of the invention can be automatically executed by depending on the automatic script, so that manual intervention is not needed in the map drawing process, manpower and material resources are saved to a great extent, and errors possibly caused by manual intervention are greatly reduced.
An embodiment of the present invention further provides a three-dimensional mapping apparatus, as shown in fig. 4, the apparatus includes:
the data extraction module 201 is configured to extract a target layer from map raw data, where the map raw data is organized in layer data, and each layer data includes a basic point coordinate set and a basic point attribute;
the conversion module 202 is configured to perform coordinate transformation on a basic point coordinate set in the target layer to obtain point location data in a geocentric geo-stationary coordinate system;
and the drawing module 203 is configured to draw the three-dimensional shape represented by the target layer according to the point location data.
As shown in fig. 5, the drawing module 203 includes:
the lane point location extraction unit 2031 is configured to obtain point location data corresponding to a lane layer, where the point location data represents a coordinate of a basic point in a geocentric coordinate system;
an attribute data extracting unit 2032 configured to acquire attribute data corresponding to each base point, where the attribute includes a width of the lane with the base point as a center;
a lane drawing unit 2033 for drawing a three-dimensional road according to the point bit data and the attribute data.
As shown in fig. 6, the lane drawing unit 2033 includes:
an orientation acquisition unit 20331 for acquiring an orientation of each basic point;
a development unit 203332 for developing a plane in a direction perpendicular to the orientation according to the orientation of each basic point;
a critical point obtaining unit 20333, configured to calculate, in the plane, a lane left and right critical point corresponding to the point data according to the point data and the attribute data;
a connecting unit 20334 for connecting the left critical points and the right critical points to obtain a three-dimensional lane.
The inventive device embodiment and the inventive method embodiment are based on the same inventive concept.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that although embodiments described herein include some features included in other embodiments, not other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims of the present invention, any of the claimed embodiments may be used in any combination.
The present invention may also be embodied as apparatus or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps or the like not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering and these words may be interpreted as names.
Claims (5)
1. A method of three-dimensional mapping, the method comprising:
extracting a target layer from map original data, wherein the map original data are organized in the form of layer data, and each layer data comprises a basic point coordinate set and a basic point attribute;
carrying out coordinate transformation on a basic point coordinate set in a target layer to obtain point position data under a geocentric geostationary coordinate system;
drawing a three-dimensional shape represented by a target layer according to the point position data;
the drawing of the three-dimensional shape represented by the target map layer according to the point location data comprises drawing a road model, wherein the drawing of the road model comprises:
acquiring point location data corresponding to the lane layer, wherein the point location data represents coordinates of a basic point in a geocentric geostationary coordinate system;
acquiring attribute data corresponding to each basic point, wherein the attribute comprises the width of a lane taking the basic point as a center;
drawing a three-dimensional road according to the point data and the attribute data;
the drawing of the three-dimensional road according to the point data and the attribute data comprises:
acquiring the orientation of each basic point;
expanding a plane in a direction perpendicular to the orientation according to the orientation of each basic point;
calculating left and right critical points of a lane corresponding to the point data according to the point data and the attribute data in the plane;
and connecting the left critical point and the right critical point to obtain the three-dimensional lane.
2. The method of claim 1, wherein:
each layer data comprises a basic point coordinate set and basic point attributes, the basic point coordinate set is coordinate data defining a basic shape, and the basic point attributes are recorded in a preset database.
3. The method of claim 1, wherein:
the line connecting the base point and the next base point characterizes the orientation of the base point.
4. The method of claim 1, wherein:
after the three-dimensional lane is drawn, the drawn map sub-models are exported, before the export, coordinate offset is carried out on each lane, and the offset process comprises the following steps:
all vertexes of a section of lane surface are xiAfter derivation, the local coordinate center point of the model is determined as
Shifting all the vertexes of the lane to change their coordinates into
5. A three-dimensional mapping apparatus, characterized in that the apparatus comprises:
the data extraction module is used for extracting a target map layer from map original data, the map original data are organized in map layer data, and each map layer data comprises a basic point coordinate set and a basic point attribute;
the conversion module is used for carrying out coordinate transformation on the basic point coordinate set in the target layer to obtain point position data under a geocentric geostationary coordinate system;
the drawing module is used for drawing the three-dimensional shape represented by the target map layer according to the point location data;
the drawing module includes:
the lane point location extraction unit is used for acquiring point location data corresponding to a lane layer, and the point location data represents coordinates of a basic point in a geocentric coordinate system;
the attribute data extraction unit is used for acquiring attribute data corresponding to each basic point, and the attribute comprises the width of the lane with the basic point as the center;
the lane drawing unit is used for drawing a three-dimensional road according to the point data and the attribute data;
the lane drawing unit includes:
an orientation acquisition unit configured to acquire an orientation of each of the basic points;
the expanding unit is used for expanding a plane in the direction vertical to the orientation according to the orientation of each basic point;
the critical point acquisition unit is used for calculating left and right critical points of a lane corresponding to the point data according to the point data and the attribute data in the plane;
and the connecting unit is used for connecting each left critical point and each right critical point to obtain the three-dimensional lane.
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