CN111238499A - Road map generation method and device and related system - Google Patents
Road map generation method and device and related system Download PDFInfo
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- CN111238499A CN111238499A CN201811445882.7A CN201811445882A CN111238499A CN 111238499 A CN111238499 A CN 111238499A CN 201811445882 A CN201811445882 A CN 201811445882A CN 111238499 A CN111238499 A CN 111238499A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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Abstract
The invention discloses a road map generation method, a road map generation device and a related system. The method comprises the following steps: determining a road map area to be generated according to the current position information; acquiring all road segments of a road map area to be generated from map data; determining the position of each lane group unit of each road segment and generating lane modeling data of each lane group unit aiming at each road segment; and obtaining and drawing map drawing data of the road segments according to the lane modeling data of each lane group unit to generate a road map. By generating lane modeling data of each lane group unit of a road segment of a road map area, lane lines of each lane group unit can be drawn when the map is drawn, so that the generated road map realizes lane-level map display, improves the map display fineness and displays lane information which is more in line with a real road.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a road map generation method, a road map generation device and a related system.
Background
When the map is displayed, the existing navigation map only displays basic single-line images of roads and navigation routes, but cannot display the lane condition of the roads, so that the display fineness of the roads is insufficient. With the rapid development of the automobile industry, automobile navigation systems become essential important links in the automobile driving assistance technology and the automatic driving technology. Since the navigation map does not realize accurate map display at the lane level of the road, when navigation is performed, which lane the vehicle is in at the current position and the route of which lane the vehicle should go cannot be obtained, and lane level navigation of the vehicle cannot be realized.
Disclosure of Invention
In view of the above, the present invention is proposed in order to provide a road map generation method, apparatus and related system that overcome or at least partially solve the above problems.
In a first aspect, an embodiment of the present invention provides a method for generating a road map, including:
determining a road map area to be generated according to the current position information;
acquiring all road segments of a road map area to be generated from map data;
determining the position of each lane group unit of each road segment and generating lane modeling data of each lane group unit aiming at each road segment;
and for each lane group unit of the road segment, obtaining and drawing map drawing data of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
In one embodiment, the map data may include geographical location information of individual lane group units of the road segment, from which the location of the individual lane group units is determined.
In one embodiment, the generating lane modeling data of each lane group unit may include:
according to the traveling direction of each lane group unit of the road segment, obtaining the vehicle line vector data and the attribute information of each lane group unit in the map data to obtain the lane modeling data of the lane group unit.
In one embodiment, the obtaining and drawing map drawing data of the lane group unit from the lane modeling data of the lane group unit may include:
acquiring a starting point and a terminal point of each lane line in lane modeling data of a lane group unit, and sequentially connecting the starting points of the lane lines of the lane group unit to obtain a starting edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, bottom surface drawing data of the lane group unit is generated, and the bottom surface of the lane group unit is generated through drawing;
and acquiring shape points of each lane line of the lane group unit in the lane modeling data, performing surface processing to generate lane line drawing data of the lane group unit, and drawing the lane line of the lane group unit on the bottom surface of the lane group unit.
In an embodiment, the method for generating a road map further includes: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is a deviated lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the lane group unit which is separated is a lane group unit which contains multidirectional separation information in the attribute information of the lane group unit, and the road segment containing the separated lane group unit is a separated road segment; if so,
determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; and obtaining and drawing map drawing data of each lane of the deviated lane group unit to generate a deviated lane group unit map.
In an embodiment, the method for generating a road map further includes:
when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.
In an embodiment, the method for generating a road map further includes:
acquiring lane guide information in the attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring a lane guide line shape point in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.
In a second aspect, an embodiment of the present invention provides a road map generating apparatus, including:
the map area determining module is used for determining a road map area to be generated according to the current position information;
the acquisition module is used for acquiring all road segments of a road map area to be generated from the map data;
the modeling module is used for determining the positions of all lane group units of each road segment and generating lane modeling data of all the lane group units aiming at each road segment;
and the map drawing module is used for obtaining and drawing the map drawing data of the lane group unit according to the lane modeling data of the lane group unit aiming at each lane group unit of the road line segment to generate a road map.
In an embodiment, the modeling module is specifically configured to acquire geographic position information of each lane group unit of a road segment in the map data, and determine the position of each lane group unit according to the geographic position information.
In an embodiment, the modeling module is specifically configured to obtain vehicle line vector data and attribute information of each lane group unit in the map data according to a traveling direction of each lane group unit of the road segment, so as to obtain lane modeling data of the lane group unit.
In an embodiment, the map drawing module is specifically configured to obtain a start point and an end point of each lane line in lane modeling data of a lane group unit, and sequentially connect the start points of each lane line of the lane group unit to obtain a start edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, bottom surface drawing data of the lane group unit is generated, and the bottom surface of the lane group unit is generated through drawing;
and acquiring shape points of each lane line of the lane group unit in the lane modeling data, performing surface processing to generate lane line drawing data of the lane group unit, and drawing the lane line of the lane group unit on the bottom surface of the lane group unit.
In one embodiment, the road map generation apparatus may further include:
the first judging module is used for judging whether each lane group unit is a disengaged lane group unit or not according to the attribute information of each lane group unit of each road line segment; the lane group unit which is separated is a lane group unit which contains multidirectional separation information in the attribute information of the lane group unit, and the road segment containing the separated lane group unit is a separated road segment; if so,
the modeling module is also used for determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit;
the map drawing module is also used for obtaining and drawing map drawing data of each lane of the deviated lane group unit according to the lane modeling data of the deviated lane group unit, and generating a deviated lane group unit map.
In one embodiment, the road map generation apparatus may further include:
the second judging module is used for judging whether each lane group unit is an intersection lane group unit or not according to the attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
the modeling module is also used for determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;
the map drawing module is also used for obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing the map drawing data to generate the intersection of the road map.
In one embodiment, the modeling module is further configured to obtain lane guide information in the attribute information of each lane group unit of each road segment, determine a position of a lane guide line on the lane group unit, and obtain a lane guide line shape point in the lane modeling data of the road segment;
the map drawing module is also used for obtaining the map drawing data of the lane guide line according to the shape point of the lane guide line and drawing the map drawing data to generate the lane guide line of the road map.
In a third aspect, an embodiment of the present invention provides a road map generation system, including:
the map storage server is used for storing map data;
the terminal equipment comprises any one of the road map generation devices and is used for generating and displaying a road map.
In a fourth aspect, an embodiment of the present invention provides a road map generation system, including:
a map generation server including any one of the above-described road map generation apparatuses, for storing map data and generating a road map;
and the terminal equipment is used for displaying the road map.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program, the program being executed by a processor to perform the method for generating a road map as described in any one of the above.
In a sixth aspect, an embodiment of the present invention provides a computer device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for generating a road map as described in any one of the above.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the road map generation method provided by the embodiment of the invention, the lane modeling data of each lane group unit of the road segment of the road map area is generated, so that the lane lines of each lane group unit can be drawn when the map is drawn, and thus the generated road map realizes the lane-level map display, the map display fineness is improved, and the lane information which is more in line with the real road is displayed.
In the method for generating a road map provided by the embodiment of the invention, when the road map is generated, the map drawing is respectively carried out on each lane group unit of the road line segment in the road map area, in the map drawing process, the map drawing data of the bottom surface of each lane group unit of the road line segment and the lane line of each lane group unit of the road line segment can be respectively drawn, the map drawing of each lane group unit can be carried out simultaneously or separately, and the map drawing is flexible and simple.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a road map generation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection of lane group units of a lane segment according to an embodiment of the present invention;
FIG. 3 is a schematic view of a bottom pattern of the lane segment shown in FIG. 2;
fig. 4 is a flowchart of another road map generation method according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for generating a third road map according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for generating a fourth road map according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a road map generation apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another road map generation apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a road map generation system according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another road map generation system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the problem of insufficient map display fineness in the prior art, the embodiment of the invention provides a road map generation method, a road map generation device and a related system.
Example one
The embodiment of the invention provides a method for generating a road map, the flow of which is shown in fig. 1, and the method comprises the following steps:
s101: determining a road map area to be generated according to the current position information;
s102: acquiring all road segments of a road map area to be generated from map data;
s103: determining the position of each lane group unit of each road segment and generating lane modeling data of each lane group unit aiming at each road segment;
s104: and for each lane group unit of the road segment, obtaining and drawing map drawing data of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
According to the road map generation method provided by the embodiment of the invention, the lane modeling data of each lane group unit of the road segment of the road map area is generated, so that the lane lines of each lane group unit can be drawn when the map is drawn, and thus the generated road map realizes the lane-level map display, the map display fineness is improved, and the lane information which is more in line with the real road is displayed.
In the method for generating a road map provided by the embodiment of the invention, when the road map is generated, the map drawing is respectively carried out on each lane group unit of the road line segment in the road map area, in the map drawing process, the map drawing data of the bottom surface of each lane group unit of the road line segment and the lane line of each lane group unit of the road line segment can be respectively drawn, the map drawing of each lane group unit can be carried out simultaneously or separately, and the map drawing is flexible and simple.
The map data in the embodiment of the present invention may be collected in a standard data format, for example, nds (navigation data standard) format data, according to the collected original map data of the real road and Lane line, and the structure cache data (Lane Building Block) is obtained by data compiling. Specifically, in the data compiling process, the original map data may be divided into different road map areas according to blocks (Tile), each block includes a plurality of road segments (link), and each road segment is divided into at least two Lane Group units (Lane Group) according to the traveling Direction (Travel Direction). After the collected lane vector data and attribute information of the road are subjected to data compiling in the form of lane group units, the lane vector data and attribute information of each lane group unit of the road segment are stored in the structure cache data through data analysis. Each lane group unit has unique identification information, and the lane group units can be distinguished and searched according to the identification information of the lane group units. In a specific embodiment, the lane vector data may include Shape point data (Shape List) of lane lines and Shape point data of lane guide lines of each lane of the lane group unit, and the attribute information of the lane group unit may include geographical position information, lane information, Shape point attribute information (Boundary Element) of the lane lines, and lane center line Shape point information of the lane group unit.
In the embodiment of the present invention, the attribute information of the road segment includes Validity Range attribute information (Validity Range) of each lane group unit, the Validity Range attribute information of the lane group unit includes Start Position information (Start Position) and End Position information (End Position) of the lane group unit, and the Start point information and the End point information of the road segment in the embodiment of the present invention are respectively Start Position information of the Start lane group unit and End Position information of the End lane group unit. The first lane group unit arranged in the road line segment according to the walking direction is a starting lane group unit, and the last lane group unit arranged in the road line segment according to the walking direction is a stopping lane group unit.
In some optional embodiments, the lane group unit attribute information includes geographic position information, and the position of each lane group unit is determined according to the geographic position information by acquiring the geographic position information of each lane group unit in the map data. The geographical location information may be coordinate information obtained through geodetic surveying and mapping, or positioning information obtained through positioning by a satellite positioning system such as a GPS positioning system, a beidou satellite navigation system, or a GLONASS system. The determination of the geographical location information of the lane group unit is not limited to the above method, and is not limited in the embodiment of the present invention.
In some optional embodiments, the generating lane modeling data for each lane group unit includes:
according to the traveling direction of each lane group unit of the road segment, obtaining the vehicle line vector data and the attribute information of each lane group unit in the map data to obtain the lane modeling data of the lane group unit.
Specifically, it may be that the lane information of the lane group unit includes start point information and end point information of the lane line; when data processing is carried out on each road segment to generate lane modeling data, lane information in attribute information of each lane group unit of the road segment is sequentially acquired according to the traveling direction, and the number of lanes and lane line information of the lane group units are obtained.
Referring to fig. 2, three lane group units 1, 2 and 3 are provided on a road segment, the lane group unit 1 has 5 lanes, the lane group unit 2 has 4 lanes, the lane group unit 3 has 5 lanes, the lane group units 1-3 are sequentially connected in a traveling direction, the lane group unit 2 is decreased by 1 lane on the left side of the road segment relative to the lane group unit 1, and the lane group unit 3 is increased by 1 lane on the right side of the road segment relative to the lane group unit 2. When the road segment is subjected to data processing to generate lane modeling data, acquiring attribute information of lane group units 1-3 respectively, positioning the positions of the lane group units 1-3 according to the geographical position information of the lane group units, and determining the boundaries of the road segment represented by each lane group unit; the lane information of each lane of the lane group units 1-3 is acquired, the number of lanes of the road section represented by each lane group unit is judged, and the lane line of each lane is determined.
Since each lane of the road segment has a left lane line and a right lane line, when two or more lanes are included in the road segment, the lane lines between the adjacent two lanes are shared lane lines. In the embodiment of the present invention, a lane line located at a boundary of a lane line segment among lane lines is referred to as a boundary lane line, and a lane line located between two adjacent lanes is referred to as a shared lane line.
Specifically, referring to fig. 2, a lane line 1-1 and a lane line 1-6 of the lane group unit 1 are left and right boundary lane lines, respectively, and lane lines 1-2 to 1-5 are shared lane lines; the lane line 2-1 and the lane line 2-5 of the lane group unit 2 are respectively a left boundary lane line and a right boundary lane line, and the lane lines 2-2 to 2-4 are shared lane lines; the lane line 3-1 and the lane line 3-6 of the lane group unit 3 are the left boundary lane line and the right boundary lane line respectively, and the lane lines 3-2 to 3-5 are the shared lane lines. When generating lane modeling data of a lane group unit, shape point attribute information corresponding to a lane line is collected and stored in the lane modeling data. In the embodiment of the present invention, the shape point attribute information (Boundary Element) of the lane line may be shape point attribute information of the lane line being a white solid line, a long broken line, a short broken line, a double yellow line, or a tidal lane.
In some optional embodiments, the obtaining and drawing map drawing data of the lane group unit according to the lane modeling data of the lane group unit includes:
acquiring a starting point and a terminal point of each lane line in lane modeling data of a lane group unit, and sequentially connecting the starting points of the lane lines of the lane group unit to obtain a starting edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, bottom surface drawing data of the lane group unit is generated, and the bottom surface of the lane group unit is generated through drawing;
and acquiring shape points of each lane line of the lane group unit in the lane modeling data, performing surface processing to generate lane line drawing data of the lane group unit, and drawing the lane line of the lane group unit on the bottom surface of the lane group unit.
In a specific embodiment, the generating bottom surface drawing data of the lane group unit includes:
triangulating the bottom surface graph of the lane group unit to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the lane group unit consisting of the vertexes of the triangles;
and drawing each triangle in the data aiming at the bottom surface of the lane group unit, acquiring the vertex of the triangle and drawing to obtain the bottom surface of the lane group unit.
In a specific embodiment, the acquiring and surfacing shape points of each lane line of the lane group unit in the lane modeling data, and the generating lane line drawing data of the lane group unit includes:
and acquiring shape points of each lane line of a lane group unit in the lane modeling data, surfacing the shape point data of the lane line according to the line width information of each lane line, generating a wide line graph of the lane line, and obtaining the lane line drawing number of the lane group unit.
Acquiring boundary lane line information in lane modeling data of a lane group unit 1-3 of the road segment shown in fig. 2, namely lane line information of a lane line 1-1 and a lane line 1-6, a lane line 2-1 and a lane line 2-5, and a lane line 3-1 and a lane line 3-6, and enclosing the bottom surface of the lane group unit 1-3 of the road segment, namely respectively connecting the lane line 1-1 with the starting point and the ending point of the lane line 1-6 to obtain a starting edge line and a terminating edge line of the lane group unit 1; respectively connecting the starting point and the end point of the lane line 2-1 to the lane line 2-5 to obtain a starting edge line and an ending edge line of the lane group unit 2; respectively connecting the starting point and the end point of the lane line 3-1 to the lane line 3-6 to obtain a starting edge line and an ending edge line of the lane group unit 3; the bottom surface patterns of the lane group units 1-3 of the road line segment as shown in fig. 3, which are enclosed by the start and end edge lines of the lane group units and the left and right boundary lane lines of the road line segment, are obtained. The bottom surface graphics of the lane group units 1-3 shown in fig. 3 are respectively triangulated to obtain a plurality of triangular vertexes of the bottom surface graphics of the lane group units 1-3 after being subdivided, and bottom surface map drawing data of the lane group units 1-3 of road line segments including a plurality of pieces of information such as vertex positions, reference points, vectors, color information, and the like are acquired. And drawing each triangle in the data aiming at the bottom surface of the lane group unit 1-3 of the road line segment, acquiring the vertex of the triangle and drawing to obtain the bottom surface of the road line segment. The specific implementation of the triangulation processing on the bottom surface graph of the lane group unit 1-3 can refer to the method in the prior art, but the embodiment of the invention is not limited thereto.
The shape points of each lane line of the lane group units 1-3 in the lane modeling data are obtained, and the shape point data of the lane lines are surfaced according to the line width information of each lane line to generate a wide line graph of the lane lines, namely lane line map drawing data. In the embodiment of the present invention, a concrete implementation manner of generating wide-line graphic data capable of covering a texture picture by performing surfacing processing on a lane line through a line surfacing algorithm may refer to a method in the prior art, which is not limited herein.
In the process of drawing the map, bottom map drawing data of each lane group unit of the road segment can be obtained firstly to generate the bottom of the road segment; and acquiring lane map drawing data of each lane group unit of the road segment, and respectively generating lane lines of each lane group unit on the bottom surface of the generated road segment.
In the embodiment of the present invention, when a map is drawn, an OpenGL drawing technique or other map drawing techniques in the prior art may be used, which is not limited herein.
In some optional embodiments, referring to fig. 4, the method for generating a road map further includes:
s105: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is a deviated lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the lane group unit which is separated is a lane group unit which contains multidirectional separation information in the attribute information of the lane group unit, and the road segment containing the separated lane group unit is a separated road segment; if so,
s106: determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; and obtaining and drawing map drawing data of each lane of the deviated lane group unit to generate a deviated lane group unit map.
Because the real road in reality does not continue downwards along the traveling direction all the time, other roads, such as ramps of an expressway, can extend from a specific position of one road, or one road continues downwards along the traveling direction and is combined with other roads into one road at the specific position. In the embodiment of the invention, the condition that one road extends out of other roads is called divergence (split), the condition that one road and the other roads are combined into one road is called merge (merge), and the information of divergence or combination of the collected roads is called multi-directional emergence information when the map data is collected. When the road map is generated, the lane group unit containing the multi-directional departure information in the attribute information of the lane group unit of the road segment is called a departing lane group unit, and the road segment containing the departing lane group unit is called a departing road segment. When a map is drawn, each lane group unit of a deviated road segment needs to be drawn independently, and the deviated lane group unit is drawn according to lanes.
When all road segments of a road map area to be generated are obtained from map data, after the attribute information of each lane group unit of a road segment is obtained, whether the attribute information of each lane group unit of the road segment contains multi-directional drop-out information or not can be judged, and if the attribute information of each lane group unit of one road segment does not contain multi-directional drop-out information, the road map is generated by adopting the method described in the embodiment. If the attribute information of a certain lane group unit of a road segment contains multi-direction departure information, the lane group unit is a departing lane group unit, the road segment is a departing road segment, the lane group unit of the departing road segment needs to be drawn independently, lane modeling data is generated for the departing lane group unit according to lanes, map drawing data of the departing lane group unit is obtained, and drawing is carried out to generate a departing lane group unit map. Specifically, in the embodiment of the present invention, referring to fig. 4, after step S102 of the above embodiment is executed, step S105 may be executed first, and if there is no lane group unit that is out of lane group units of a certain road segment, step S103 may be executed; if the lane group unit of a certain route segment includes a deviated lane group unit, step S106 is executed. Specifically, the position of the deviated lane group unit is determined, and lane modeling data of the deviated lane group unit is generated according to the lane vector data and the attribute information of the deviated lane group unit; acquiring lane lines of all lanes in lane modeling data of a separated lane group unit, performing bottom surface surrounding of all lanes to obtain bottom surface graphs of all lanes, and performing triangulation to obtain bottom surface map drawing data of all lanes; performing surface processing on the shape points of the lane lines of each lane of the deviated lane group unit to obtain lane line map drawing data of each lane of the deviated lane group unit; drawing bottom map drawing data of each lane of the deviated lane group unit to generate the bottom of the deviated lane group unit; and drawing the lane lines of the deviated lane group unit on the bottom surface of the deviated lane group unit, generating the lane lines of each lane of the deviated lane group unit, and obtaining a deviated lane group unit map.
In some optional embodiments, referring to fig. 5, the method for generating a road map further includes:
s107: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
s108: and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.
Because the lane of the real road Has a certain width in reality, when map data is collected, the center line of the lane is used as a virtual line to collect the shape point information of the lane center line, and the shape point information of the lane center line is called as the shape point information (Has Geometry) of the lane center line. When different roads are intersected, intersections of different forms such as crossroads, Y-shaped intersections or T-shaped intersections can occur, when map data are collected, because no Lane center line exists in the intersections, the shape point information of the Lane center line can not be collected, when structure cache data are generated, the intersections of the roads are used as independent Lane Group units called intersection Lane Group units (intersection Lane Group), and in the data compiling process, the shape information of the intersection Lane Group units can be stored in advance. In the road map generation process, when a map is drawn, intersection lane group units are required to draw independently.
When all road segments of a road map area to be generated are obtained from map data, after the attribute information of each lane group unit of a road segment is obtained, whether each lane group unit attribute information in the road segment contains lane center line shape point information or not can be judged, and if the attribute information of each lane group unit of one road segment contains lane center line shape point information, the road map is generated by adopting the method described in the embodiment. If the attribute information of a certain lane group unit of a road segment does not contain the information of the shape point of the lane line, the lane group unit is an intersection lane group unit, and the intersection lane group unit needs to be drawn independently. Specifically, in the embodiment of the present invention, referring to fig. 4, after step S102 of the above embodiment is executed, step S105 may be executed first, and if there is no intersection lane group unit in the lane group unit of a certain road segment, step S103 may be executed; if the lane group unit of a certain route segment comprises an intersection lane group unit, step S106 is executed, the position of the intersection lane group unit is determined, modeling data of the intersection lane group unit is obtained, map drawing data of the intersection is obtained and drawn according to the modeling data of the intersection lane group unit, and the intersection of the road map is generated. And when the modeling data of the intersection lane group unit is obtained, the shape information of the intersection lane group unit is obtained, the bottom graph of the intersection lane group unit is obtained according to the shape information of the intersection, and the data processing is carried out on the bottom graph to obtain the map drawing data of the intersection. The data processing process of the bottom surface graph of the intersection lane group unit may refer to the method in the foregoing embodiment, and details are not described herein.
In some optional embodiments, when acquiring all road segments of a road map area to be generated from map data, after acquiring attribute information of each lane group unit of a road segment, and when judging that the road segments contain intersection lane group units, in the road map generation process, lane modeling data of other lane group units except the intersection lane group units can be obtained first, and map drawing data is obtained and drawn; and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing. When the map is drawn on the intersection lane group unit, the road surface is pressed at the joint of the intersection lane group unit and the adjacent lane group unit, specifically, when the surface drawing processing is performed on the edge line of the intersection according to the shape information of the intersection lane group unit, the shape surface of the edge line of the intersection is drawn into an arc line.
In some alternative embodiments, there may be lanes with lane guide lines, such as turning arrows, stop lines, pedestrian crossing lines, etc., that identify road traffic indicating information, due to the real road in reality. At the time of map data collection, the information of the lane guide line of the collected road is referred to as lane guide information. When generating a road map, it is necessary to draw a lane guide line on a lane.
In some optional embodiments, referring to fig. 6, the method for generating a road map further includes:
s109: acquiring lane guide information in the attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring a lane guide line shape point in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.
In the embodiment of the present invention, when all road segments of a road map area to be generated are acquired from map data, after attribute information of each lane group unit of a road segment is acquired, it can be determined whether the attribute information of each lane group unit of a road segment includes lane guide information for identifying a lane guide line, and if the attribute information of a certain lane group unit of a road segment includes lane guide information, the lane guide line is drawn. Specifically, the position of the lane guide line in the lane group unit of the road segment may be determined, the shape point of the lane guide line may be acquired, the shape point data of the lane guide line may be drawn according to the line width information of the lane guide line, a wide line pattern of the lane guide line may be generated, map drawing data of the lane guide line may be obtained, the drawing data of the lane guide line may be drawn, and the lane guide line of the road map may be generated.
Example two
Based on the same inventive concept, an embodiment of the present invention further provides a road map generating device, which may be disposed in a navigation server or a navigation terminal, and the structure of the device is as shown in fig. 7, including:
the map area determining module 101 is configured to determine a road map area to be generated according to the current position information;
the acquisition module 102 is configured to acquire all road segments of a road map area to be generated from map data;
the modeling module 103 is used for determining the positions of the lane group units of each road segment and generating lane modeling data of the lane group units for each road segment;
and the map drawing module 104 is used for obtaining and drawing map drawing data of the lane group units according to the lane modeling data of the lane group units aiming at each lane group unit of the road line segment to generate a road map.
The implementation of the road map generation apparatus provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the specific implementation may refer to the description of the road map generation method in the above embodiment, and therefore, no further description is given here.
In some optional embodiments, the modeling module 103 is specifically configured to obtain geographic position information of each lane group unit of a road segment in the map data, and determine the position of each lane group unit according to the geographic position information.
In some optional embodiments, the modeling module 103 is specifically configured to obtain vehicle line vector data and attribute information of each lane group unit in the map data according to a traveling direction of each lane group unit of the road segment, so as to obtain lane modeling data of the lane group unit.
In some optional embodiments, the map drawing module 104 is specifically configured to obtain a start point and an end point of each lane line in the lane modeling data of the lane group unit, and sequentially connect the start points of each lane line of the lane group unit to obtain a start edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, bottom surface drawing data of the lane group unit is generated, and the bottom surface of the lane group unit is generated through drawing;
and acquiring shape points of each lane line of the lane group unit in the lane modeling data, performing surface processing to generate lane line drawing data of the lane group unit, and drawing the lane line of the lane group unit on the bottom surface of the lane group unit.
In some optional embodiments, referring to fig. 8, the road map generating apparatus further includes:
the first judging module is used for judging whether each lane group unit is a disengaged lane group unit or not according to the attribute information of each lane group unit of each road line segment; the lane group unit which is separated is a lane group unit which contains multidirectional separation information in the attribute information of the lane group unit, and the road segment containing the separated lane group unit is a separated road segment; if so,
the modeling module is also used for determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit;
the map drawing module is also used for obtaining and drawing map drawing data of each lane of the deviated lane group unit according to the lane modeling data of the deviated lane group unit, and generating a deviated lane group unit map.
In some optional embodiments, referring to fig. 8, the road map generating apparatus further includes:
a second judging module 105, configured to judge whether each lane group unit is an intersection lane group unit according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
the modeling module 103 is further configured to determine the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;
the map drawing module 104 is further configured to obtain map drawing data of the intersection according to the modeling data of the intersection lane group unit, and draw the map drawing data to generate the intersection of the road map.
In some optional embodiments, the modeling module 103 is further configured to obtain lane guide information in the attribute information of each lane group unit of each road segment, determine a position of a lane guide line on the lane group unit, and obtain a lane guide line shape point in the lane modeling data of the road segment;
the map drawing module 104 is further configured to obtain and draw map drawing data of the lane guide line according to the shape point of the lane guide line, and generate the lane guide line of the road map.
EXAMPLE III
Based on the same inventive concept, an embodiment of the present invention further provides a road map generation system, which is shown in fig. 9 and includes:
a map storage server 1 for storing map data;
the terminal device 2 includes the road map generating apparatus 10 described in any of the above embodiments, and is configured to generate and display a road map.
The implementation of the road map generation system provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the specific implementation may refer to the description of the road map generation method in the above embodiment, and therefore, no further description is given here.
Example four
Based on the same inventive concept, an embodiment of the present invention further provides a road map generation system, which is shown in fig. 10 and includes:
a map generation server 3 including the road map generation apparatus 10 described in any one of the above embodiments, for storing map data and generating a road map;
and the terminal equipment 4 is used for displaying the road map.
The implementation of the road map generation system provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the specific implementation may refer to the description of the road map generation method in the above embodiment, and therefore, no further description is given here.
EXAMPLE five
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to perform the method for generating a road map as described in any of the above embodiments.
EXAMPLE six
Based on the same inventive concept, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the method for generating a road map as described in any of the above embodiments.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Claims (10)
1. A method for generating a road map is characterized by comprising the following steps:
determining a road map area to be generated according to the current position information;
acquiring all road segments of a road map area to be generated from map data;
determining the position of each lane group unit of each road segment and generating lane modeling data of each lane group unit aiming at each road segment;
and for each lane group unit of the road segment, obtaining and drawing map drawing data of the lane group unit according to the lane modeling data of the lane group unit to generate a road map.
2. The method of generating a road map according to claim 1, wherein the generating lane modeling data for each lane group unit includes:
according to the traveling direction of each lane group unit of the road segment, obtaining the vehicle line vector data and the attribute information of each lane group unit in the map data to obtain the lane modeling data of the lane group unit.
3. The method for generating a road map according to claim 2, wherein the obtaining and drawing map drawing data of the lane group unit from the lane modeling data of the lane group unit includes:
acquiring a starting point and a terminal point of each lane line in lane modeling data of a lane group unit, and sequentially connecting the starting points of the lane lines of the lane group unit to obtain a starting edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, bottom surface drawing data of the lane group unit is generated, and the bottom surface of the lane group unit is generated through drawing;
and acquiring shape points of each lane line of the lane group unit in the lane modeling data, performing surface processing to generate lane line drawing data of the lane group unit, and drawing the lane line of the lane group unit on the bottom surface of the lane group unit.
4. The generation method of a road map according to any one of claims 1 to 3, characterized by further comprising: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is a deviated lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the lane group unit which is separated is a lane group unit which contains multidirectional separation information in the attribute information of the lane group unit, and the road segment containing the separated lane group unit is a separated road segment; if so,
determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; and obtaining and drawing map drawing data of each lane of the deviated lane group unit to generate a deviated lane group unit map.
5. The generation method of a road map according to any one of claims 1 to 3, characterized by further comprising:
when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.
6. A road map generation device, characterized by comprising:
the map area determining module is used for determining a road map area to be generated according to the current position information;
the acquisition module is used for acquiring all road segments of a road map area to be generated from the map data;
the modeling module is used for determining the positions of all lane group units of each road segment and generating lane modeling data of all the lane group units aiming at each road segment;
and the map drawing module is used for obtaining and drawing the map drawing data of the lane group unit according to the lane modeling data of the lane group unit aiming at each lane group unit of the road line segment to generate a road map.
7. The road map generation device of claim 6, wherein the modeling module is specifically configured to obtain lane vector data and attribute information of each lane group unit in the map data according to a traveling direction of each lane group unit of the road segment, so as to obtain lane modeling data of the lane group unit.
8. The road map generation apparatus of claim 7, wherein the map drawing module is specifically configured to obtain a start point and an end point of each lane line in the lane modeling data of the lane group unit, and sequentially connect the start points of each lane line of the lane group unit to obtain a start edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit;
according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, bottom surface drawing data of the lane group unit is generated, and the bottom surface of the lane group unit is generated through drawing;
and acquiring shape points of each lane line of the lane group unit in the lane modeling data, performing surface processing to generate lane line drawing data of the lane group unit, and drawing the lane line of the lane group unit on the bottom surface of the lane group unit.
9. The road map generating apparatus according to any one of claims 6 to 8, further comprising:
the first judging module is used for judging whether each lane group unit is a disengaged lane group unit or not according to the attribute information of each lane group unit of each road line segment; the lane group unit which is separated is a lane group unit which contains multidirectional separation information in the attribute information of the lane group unit, and the road segment containing the separated lane group unit is a separated road segment; if so,
the modeling module is also used for determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit;
the map drawing module is also used for obtaining and drawing map drawing data of each lane of the deviated lane group unit according to the lane modeling data of the deviated lane group unit, and generating a deviated lane group unit map.
10. The road map generating apparatus according to any one of claims 6 to 8, further comprising:
the second judging module is used for judging whether each lane group unit is an intersection lane group unit or not according to the attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,
the modeling module is also used for determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;
the map drawing module is also used for obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing the map drawing data to generate the intersection of the road map.
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