CN111829536A - Navigation map road network generation method and device, storage medium and electronic equipment - Google Patents
Navigation map road network generation method and device, storage medium and electronic equipment Download PDFInfo
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- 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
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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
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Abstract
The invention relates to a navigation map road network generation method, a navigation map road network generation device, a storage medium and electronic equipment, wherein the method obtains reference lines of a plurality of target roads in a target area through a high-precision map; determining a navigation road line of each target road according to the reference line of the target road, wherein the navigation road line is used for representing the target road in a navigation map; determining at least one road intersection in the target area according to the navigation road line corresponding to each target road in the target area; and generating a navigation map road network corresponding to the target area according to the navigation channel route and the road intersection. Because the precision of the reference line in the high-precision map can reach the decimeter level, the precision of the navigation map road network can be effectively improved, the dependence of the navigation map road network generation process on GPS signals can be avoided, and the reliability of the navigation map road network generation can be improved.
Description
Technical Field
The present disclosure relates to the field of navigation maps, and in particular, to a method and an apparatus for generating a road network of a navigation map, a storage medium, and an electronic device.
Background
In an unmanned vehicle simulation environment, when an unmanned vehicle usually roams in a simulated road, a navigation map road network needs to be displayed on a simulation interface, and the navigation map road network needs to display the trend of each road within a certain range and intersections between the roads for integrally displaying the current vehicle position and the course.
The existing navigation map road network is mostly characterized in that road information is measured in real time through a Global Positioning System (GPS), and then the navigation map road network is drawn according to the measured road information, so that the integrity and the quality of the drawn navigation map road network are greatly influenced by the strength of a GPS signal, and even in an area with a weak GPS signal or without the GPS signal, the problem that the navigation map road network is difficult to generate exists.
Disclosure of Invention
The invention aims to provide a navigation map road network generation method, a navigation map road network generation device, a storage medium and electronic equipment.
In order to achieve the above object, a first aspect of the present disclosure provides a navigation map road network generating method, including:
acquiring reference lines of a plurality of target roads in a target area through a high-precision map;
determining a navigation road line of each target road according to the reference line of the target road, wherein the navigation road line is used for representing the target road in a navigation map;
determining at least one road intersection in the target area according to the navigation channel route corresponding to each target road in the target area;
and generating a navigation map road network corresponding to the target area according to the navigation channel route and the road intersection.
Optionally, the determining a navigation road line of each target road according to the reference line of the target road includes:
when the target road is determined to be a first road comprising a middle isolation belt, determining the central line of the reference line corresponding to the road on the two sides of the middle isolation belt as the navigation channel route of the first road;
when the target road is determined to be the first road, obtaining a center line of a first reference line corresponding to the first one-way traffic road and a center line of a second reference line corresponding to the second one-way traffic road, and determining the center lines as the navigation channel route of the first road;
determining the reference line of the target road as the navigation channel route of the target road when it is determined that the target road is not the first road.
Optionally, the determining at least one road intersection in the target area according to the route of the navigation channel corresponding to each target road in the target area includes:
acquiring a plurality of target participating roads corresponding to each intersection in the target area;
acquiring the intersection point of the navigation channel routes corresponding to any two target participating roads;
taking each intersection point as one undetermined intersection point to obtain at least one undetermined intersection point corresponding to each intersection;
and determining the road intersection corresponding to the intersection from at least one undetermined intersection corresponding to each intersection.
Optionally, the obtaining of multiple target participating roads corresponding to each intersection in the target area includes:
acquiring a participating road corresponding to each intersection in the target area;
acquiring the passing direction of each road, wherein the passing direction comprises a direction of driving into the intersection and a direction of driving out of the intersection;
and determining the participating road with the passing direction as the direction of entering the intersection as the target participating road.
Optionally, the obtaining an intersection point of the route of the navigation channel corresponding to any two of the target participating roads includes:
acquiring a first fitting parameter of a first navigation channel route and a second fitting parameter of a second navigation channel route in any two navigation channel routes;
fitting a first curve between the first navigation channel route and the second navigation road route through a preset algorithm according to the first fitting parameter and the second fitting parameter;
and acquiring a midpoint of the first curve, and determining the midpoint as the intersection point corresponding to the first navigation channel route and the second navigation channel route.
Optionally, the determining the road intersection corresponding to the intersection from the at least one to-be-determined intersection corresponding to each intersection includes:
respectively acquiring the distance sum from each undetermined intersection point in at least one undetermined intersection point corresponding to the intersection to the navigation channel route corresponding to each target participating road;
and determining the distance with the minimum distance in at least one distance sum and the corresponding undetermined intersection point as the road intersection point corresponding to the intersection.
Optionally, the generating a navigation map road network corresponding to the target area according to the navigation channel route and the road intersection includes:
fitting the navigation channel route corresponding to the target reference road of each intersection in the target area to the road intersection corresponding to the intersection to generate the navigation map road network corresponding to the target area.
Optionally, the fitting the navigation channel route corresponding to the target reference road of each intersection in the target area to the road intersection corresponding to the intersection includes:
acquiring a first target fitting parameter at each road intersection;
acquiring second target fitting parameters of other navigation channel routes except the first target navigation channel route and the second target navigation channel route in the navigation channel route corresponding to the target reference road of each intersection;
and fitting the other navigation road lines to the road intersection corresponding to the intersection according to the first target fitting parameter and the second target fitting parameter of each intersection.
In a second aspect of the present disclosure, there is provided a navigation map road network generating apparatus, comprising:
the acquisition module is used for acquiring reference lines of a plurality of target roads in a target area through a high-precision map;
the first determination module is used for determining a navigation road line of each target road according to the reference line of the target road, wherein the navigation road line is used for representing the target road in a navigation map;
the second determination module is used for determining at least one road intersection in the target area according to the navigation channel route corresponding to each target road in the target area;
and the generating module is used for generating a navigation map road network corresponding to the target area according to the navigation channel route and the road intersection.
Optionally, the first determining module is configured to:
when the target road is determined to be a first road comprising a middle isolation belt, determining the central line of the reference line corresponding to the road on the two sides of the middle isolation belt as the navigation channel route of the first road;
determining the reference line of the target road as the navigation channel route of the target road when it is determined that the target road is not the first road.
Optionally, the second determining module includes:
the second obtaining submodule is used for obtaining a plurality of target participation roads corresponding to each intersection in the target area;
the third obtaining submodule is used for obtaining the intersection point of the navigation channel routes corresponding to any two target participating roads;
the third determining submodule is used for taking each intersection point as one undetermined intersection point so as to obtain at least one undetermined intersection point corresponding to each intersection;
and the fourth determining submodule is used for determining the road intersection corresponding to the intersection from at least one undetermined intersection corresponding to each intersection.
Optionally, the second obtaining sub-module is configured to:
acquiring a participating road corresponding to each intersection in the target area;
acquiring the passing direction of each road, wherein the passing direction comprises a direction of driving into the intersection and a direction of driving out of the intersection;
and determining the participating road with the passing direction as the direction of entering the intersection as the target participating road.
Optionally, the third obtaining sub-module is configured to:
acquiring a first fitting parameter of a first navigation channel route and a second fitting parameter of a second navigation channel route in any two navigation channel routes;
fitting a first curve between the first navigation channel route and the second navigation road route through a preset algorithm according to the first fitting parameter and the second fitting parameter;
and acquiring a midpoint of the first curve, and determining the midpoint as the intersection point corresponding to the first navigation channel route and the second navigation channel route.
Optionally, the fourth determining submodule is configured to:
respectively acquiring the distance sum from each undetermined intersection point in at least one undetermined intersection point corresponding to the intersection to the navigation channel route corresponding to each target participating road;
and determining the distance with the minimum distance in at least one distance sum and the corresponding undetermined intersection point as the road intersection point corresponding to the intersection.
Optionally, the generating module is configured to:
fitting the navigation channel route corresponding to the target reference road of each intersection in the target area to the road intersection corresponding to the intersection to generate the navigation map road network corresponding to the target area.
Optionally, the generating module includes:
the fourth obtaining submodule is used for obtaining a first target fitting parameter at each road intersection;
a fifth obtaining sub-module, configured to obtain second target fitting parameters of other navigation channel routes, except for the first target navigation channel route and the second target navigation channel route, in the navigation channel route corresponding to the target reference road at each intersection;
and the fitting sub-module is used for fitting the other navigation road lines to the road intersection corresponding to the intersection according to the first target fitting parameter and the second target fitting parameter of each intersection.
In a third aspect of the present disclosure there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method as set forth in the first aspect above.
In a fourth aspect of the present disclosure, there is provided an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of the first aspect above.
According to the technical scheme, the navigation road line of the target road is determined through the reference line of the target road in the high-precision map, the road intersection point is determined according to the navigation road line, the navigation map road network corresponding to the target area is generated according to the navigation road line and the road intersection point, and the accuracy of the reference line in the high-precision map can reach the level of decimeter, so that the accuracy of the navigation map road network can be effectively improved, the dependence of the navigation map road network on a GPS signal in the generation process can be avoided, and the reliability of the generated navigation map road network can be improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method for generating a road network of a navigation map according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating the generation of intersections in accordance with an exemplary embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating a method for generating a road network of a navigation map according to an exemplary embodiment of the present disclosure;
fig. 4 is a block diagram of a navigation map road network generation apparatus according to an exemplary embodiment of the present disclosure;
FIG. 5 is a block diagram of another navigation map road network generating apparatus according to the embodiment shown in FIG. 4;
FIG. 6 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Before describing the embodiments of the present disclosure in detail, the following description will first be made on an application scenario of the present disclosure, and the present disclosure may be applied to a generation process of a navigation map road network, for example, a scenario in which a navigation map is generated in an unmanned vehicle simulation environment, or a scenario in which a navigation route is displayed in a navigation mode in an operation map. Taking an unmanned vehicle simulation scene as an example for detailed description, in an unmanned vehicle simulation environment, when an unmanned vehicle runs on a simulation road, a navigation map road network needs to be displayed on a simulation interface, and the navigation map road network needs to display the trend of each road in a certain range and intersections between the roads for integrally displaying the current vehicle position and the course. The navigation map road network generation method related in the related art mostly generates a navigation map road network based on road information measured by a GPS positioning system, and as is known, the strength of a GPS signal is greatly influenced by terrain, in an open area, the GPS signal is generally strong, in an area with complex terrain and serious shielding, the GPS signal is generally weak, a GPS blind area can even appear in a deep mountain or a jungle, and in an area with weak GPS signal or a GPS blind area, the road information of the area cannot be acquired through the GPS signal, so that the method for drawing the navigation map road network depending on the road information measured by the GPS is greatly influenced by the strength of the GPS signal, and is easy to cause a problem that the navigation map road network generation is difficult in an area with weak GPS signal or without GPS signal, which is not beneficial to improving the reliability of generating the navigation map.
In order to solve the above technical problems, the present disclosure provides a method, an apparatus, a storage medium, and an electronic device for generating a road network of a navigation map, where the method determines a navigation road line of a target road through a reference line of the target road in a high-precision map, determines a road intersection according to the navigation road line, and generates a navigation map network corresponding to the target area according to the navigation road line and the road intersection, and since the precision of the reference line in the high-precision map can reach a decimeter level, the precision of the navigation map network can be effectively improved, and the dependence of the navigation map network generation process on a GPS signal can be avoided, thereby improving the reliability of generating the navigation map network.
FIG. 1 is a flow chart illustrating a method for generating a road network of a navigation map according to an exemplary embodiment of the present disclosure; referring to fig. 1, the method may include the steps of:
The high-precision map can be an electronic map which is stored in advance, has the precision reaching the decimeter level or the level above the decimeter level and has fine definition data, a large amount of road information and driving auxiliary information are stored as the structural data in the high-precision map, and the reference line is a line which is stored in the high-precision map and used for representing the skeleton of the target road.
For example, the road information may include information such as a road name, a road type, a road width, and a reference line position, and the driving assistance information may include lane information such as a lane line position, a lane type, a lane width, a lane gradient, and a lane curvature, and may further include fixed object information around the lane, for example, information such as traffic signs, traffic lights, lane limits, crossing gates, obstacles, and other road details, and infrastructure information such as an overhead object, a guard rail, a number, a road edge type, and a roadside landmark.
And 102, determining a navigation road line of each target road according to the reference line of the target road.
Wherein the navigation road line is used for representing the target road in the navigation map.
One possible implementation manner in this step is: when the target road is determined to be a first road comprising a middle isolation belt, determining the central line of the reference line corresponding to the road on the two sides of the middle isolation belt as the navigation channel route of the first road; determining the reference line of the target road as the navigation channel route of the target road when it is determined that the target road is not the first road.
Exemplarily, whether the target road is a first road is determined through the high-precision map, the first road comprises a first one-way traffic road, a second one-way traffic road, and an intermediate isolation belt, the intermediate isolation belt is located between the first one-way traffic road and the second one-way traffic road, and is used for isolating a first vehicle driving on the first one-way traffic road and a second vehicle driving on the second one-way traffic road; when the target road is determined to be the first road, obtaining the center lines of a first reference line corresponding to the first one-way passing road and a second reference line corresponding to the second one-way passing road, and determining the center lines as the navigation road line of the first road; when the target road is determined to be not the first road, the reference line of the target road is determined as the navigation road line of the target road.
It should be noted that the passing direction corresponding to the first one-way passing road is different from the passing direction of the second one-way passing road, the first reference line is a reference line corresponding to the first one-way passing road, the second reference line is a reference line corresponding to the second one-way passing road, both the first reference line and the second reference line can be read from a high-precision map, and under the condition that the first reference line and the second reference line are known, the method for acquiring the center lines of the first reference line and the second reference line is common in the prior art, and the disclosure is not repeated herein.
In this step, a plurality of target participating roads corresponding to each intersection in the target area can be obtained; acquiring the intersection point of the navigation channel route corresponding to any two target participating roads; taking each intersection point as one undetermined intersection point to obtain at least one undetermined intersection point corresponding to each intersection; and determining the road intersection corresponding to the intersection from at least one undetermined intersection corresponding to each intersection.
One possible implementation manner of obtaining the multiple target participating roads corresponding to each intersection in the target area is as follows: acquiring a participating road corresponding to each intersection in the target area; acquiring the passing direction of each road, wherein the passing direction comprises a direction of driving into the intersection and a direction of driving out of the intersection; and determining the participating road with the passing direction as the direction of the driving intersection as the target participating road.
It should be noted that the intersection is an intersection, and the intersection may be an intersection where two roads intersect, an intersection where three roads intersect (e.g., a t-junction, a Y-junction), an intersection where four roads intersect (e.g., an intersection of a cross, an X-junction), and the like. It should be noted that in a section of circular intersection (e.g., a roundabout), each group of two adjacent roads may be defined to form an intersection (a triple intersection) with a circular line, and a plurality of intersections may be included in a roundabout, and the circular line in the roundabout is a common target participating road at each intersection in the roundabout. The participating roads comprise all roads forming an intersection, the participating roads forming the intersection are stored in a high-precision map, and the target participating roads are the participating roads left after the roads in the direction of the intersection are removed from all the roads forming the intersection. The method for eliminating the roads out of the intersection is to reduce the number of generated undetermined intersections, and generally, in a target road comprising a road in the intersection entering direction and a road out of the intersection exiting direction, navigation reference lines corresponding to the road in the intersection entering direction and the road out of the intersection exiting direction are the same navigation channel route, so that the same undetermined intersection is prevented from being repeatedly generated, before the undetermined intersection is determined, the participating roads in the intersection exiting direction are firstly eliminated, and only the undetermined intersection between the participating roads in the intersection entering direction (namely the target participating roads) is calculated, so that the undetermined amount is reduced, and the generation efficiency of a navigation map road network is improved.
The above embodiment of obtaining the intersection point of the route of the navigation channel corresponding to any two of the target participating roads may include the following steps:
s1, obtaining a first fitting parameter of a first navigation channel route and a second fitting parameter of a second navigation channel route of any two of the navigation channel routes, wherein the first fitting parameter includes a first coordinate of a first end point and a first tangent vector at the first end point, and the second fitting parameter includes a second coordinate of a second end point of the second navigation channel route and a second tangent vector at the second end point;
s2, fitting a first curve between the first navigation path route and the second navigation path route by a preset algorithm according to the first fitting parameter and the second fitting parameter, wherein the first curve can be a first curve obtained by fitting the first end point and the second end point by a preset algorithm according to the first coordinate, the first tangent vector, the second coordinate, and the second tangent vector;
and S3, acquiring a midpoint of the first curve, and determining the midpoint as the intersection point corresponding to the first navigation channel route and the second navigation channel route.
The first navigation channel route is any one of the two navigation channel routes, the second navigation channel route is the other one of the two navigation channel routes, the first end endpoint and the second end endpoint are both endpoints of one end of the navigation road line close to the intersection, the first tangent vector is a tangent vector of the first navigation channel route at the first end endpoint, the second tangent vector is a tangent vector of the second navigation channel route at the second end endpoint, the preset algorithm can be a Hermit curve algorithm or other curve fitting algorithms in the related technology, and the first curve is a fitted curve between the first end endpoint and the second end endpoint.
It should be noted that, in a case where coordinates of end points of two curves and tangential directions at the end points are known, fitting a first curve between the two curves according to the Hermit curve algorithm belongs to the prior art, and a specific implementation of fitting the first curve by the Hermit curve algorithm may refer to the description in the prior art, which is not limited by the present disclosure.
Alternatively, the above determination of the midpoint of the first curve as the intersection point corresponding to the first navigation channel route and the second navigation channel route may be used for a yaw angle between a first direction pointed by the vehicle head when driving in a road corresponding to the first navigation channel route and a second direction pointed by the vehicle head when driving in a road corresponding to the second navigation channel route, belonging to a range of 0 to 45 degrees, or 315 degrees to 360 degrees.
In addition, when the yaw angle is 45 degrees to 135 degrees, or 225 degrees to 315 degrees, an intersection of an extension line of the first navigation channel route and an extension line of the second navigation channel route may be directly taken as an intersection of the first navigation channel route and the second navigation channel route; when the yaw angle is between 135 degrees and 225 degrees, if the extension line of the first navigation channel route intersects with the extension line of the second navigation channel route, the intersection point of the extension line of the first navigation channel route and the extension line of the second navigation channel route is taken as the intersection point of the first navigation channel route and the second navigation channel route, and if the extension line of the first navigation channel route intersects with the second navigation channel route, the intersection point of the extension line of the first navigation channel route and the second navigation channel route is taken as the intersection point of the first navigation channel route and the second navigation channel route.
It should be noted that, when the yaw angle is in the range of 0 to 45 degrees, or 315 to 360 degrees, it may be characterized that the change of the heading direction angle from the first navigation path line to the second navigation path line is small, and the road where the first navigation path line is located is straight when the road where the second navigation path line is located is straight; when the yaw angle is 45-135 degrees, representing that the road where the first navigation road line is located turns left when the road where the second navigation road line is located; when the yaw angle is 225 degrees to 315 degrees, representing that the road where the first navigation road line is located is right-turned to the road where the second navigation road line is located; when the yaw angle is between 135 degrees and 225 degrees, if the extension line of the first navigation channel route intersects with the extension line of the second navigation channel route, the vehicle turning around is represented when the road where the first navigation road line is located is connected with the road where the second navigation road line is located; and when the yaw angle is between 135 and 225 degrees, if the extension line of the first navigation road line intersects with the second navigation road line, the road where the first navigation road line is located is characterized as an expressway.
Illustratively, as shown in fig. 2, fig. 2 is a schematic diagram of generating an intersection according to an exemplary embodiment of the present disclosure, where fig. 2 includes a road 1, a road 2, a road 3, a road 4, a road 5 and a road 6, where the road 1 is a road exiting from an intersection, the road 2 is a road entering the intersection, the navigation roads of the road 1 and the road 2 are both a road a, the road 3 is a bidirectional road, (both the road entering the intersection and the road exiting from the intersection), the navigation roads of the road 3 are both a road B, the road 4 is a road exiting from the intersection, the road 5 is a road entering the intersection, the navigation roads of the road 4 and the road 5 are both a road C, the road 6 is also a bidirectional road, (both the road entering the intersection and the road exiting from the intersection), the navigation roads of the road 6 are both a road D, and since the navigation roads of the road 1 and the road 2 are both a, the navigation roads of the road 4 and the road 5 are both a road C, in order not to repeatedly calculate the intersection points of the line A and the line B, the line A and the line C, the line A and the line D, and the way 2 and the way 4 are removed, only the intersection points between the way 1 and the way 3, the way 1 and the way 5, the way 1 and the way 6, the way 3 and the way 5, the way 3 and the way 6, and the way 5 and the way 6 are calculated, namely the intersection points of the line A and the line B, the line A and the line C, the line A and the line D, the line B and the line C, and the line C and the line D are calculated.
In addition, taking the acquisition of the intersection between the line D and the line B as an example here, an embodiment of determining the intersection between the first navigation channel route and the second navigation channel route when the yaw angle between the first navigation channel route and the second navigation channel route falls within a range of 0 to 45 degrees, or 315 degrees to 360 degrees is exemplarily described: where the yaw angle between line D and line B is 0 degrees, the first end point O of line D is taken4Coordinates and first end point O4First tangent vector T at line DdObtaining the second end point O of the line B2Coordinates and second end point O2Second tangent T at line BbAccording to (O)4，Td，O2，Tb) Hermit fitting may be performed to obtain a first curve L, the midpoint of which is taken as the intersection point P between the line D and the line B0。
The above embodiment of determining the road intersection corresponding to each intersection from at least one to-be-determined intersection corresponding to the intersection is as follows: respectively acquiring the distance sum from each undetermined intersection point in at least one undetermined intersection point corresponding to the intersection to the navigation channel route corresponding to each target participating road; and determining the distance with the minimum distance in at least one distance sum and the corresponding undetermined intersection as the road intersection corresponding to the intersection.
Still taking the example of fig. 2 as above, after the intersections of the line a and the line B, the line a and the line C, the line a and the line D, and the line B and the line C, the line B and the line D, and the line C and the line D are obtained, the tangent of the line a to the midpoint P of the curve fitted by the line D and the line B is obtained respectively0Distance d of1Tangent to line C to point P0Distance d of2Thus line B and line D to point P0Transverse perpendicularity ofDistances are respectively d3And d4Thereby obtaining the line A, the line B, the line C and the line D to the intersection point P in the intersection0Distance of (D) and0is d1+d2+d3+d4It should be noted that the tangent line of the line A reaches the point P0Distance d of1Is referred to as the crossing point P0Making a perpendicular line to the tangent of line A, the perpendicular line intersecting the tangent of line A at the first foot, the point P0The distance from the first drop foot; tangent to line C to point P0Distance d of2Is a passing point P0Making a perpendicular line to the tangent of line C, the perpendicular line intersecting the tangent of line C at the second foot, the point P0The distance from the second foot, line B to the point P0Distance d of3Is a passing point P0Making a perpendicular line to the extension line of the line B, wherein the perpendicular line and the tangent line of the line B are intersected at a third vertical leg, and the point P0From the third foot, line D to the point P0Distance d of4Is a passing point P0Making a perpendicular line to the extension line of the line D, wherein the perpendicular line and the tangent line of the line D are intersected at a fourth vertical foot, and the point P0And the distance from the fourth drop foot. The distance sum D can be obtained as described above0Sequentially obtaining a tangent of line B and a tangent of line D to an intersection point P of line A and line C1Distance of (D) and1obtaining the tangent of line B and the tangent of line C to the intersection point P of line A and line D2Distance of (D) and2obtaining the tangent of line A and the tangent of line D to the intersection point P of line B and line C3Distance of (D) and3obtaining the tangent of line D and the tangent of line C to the intersection point P of line B and line A4Distance of (D) and4and obtaining the tangent of line A and the tangent of line B to the intersection point P of line C and line D5Distance of (D) and5comparing the distance with D1Distance and D2Distance and D3And the sum of distances D4The smallest distance and the corresponding intersection point are determined as the road intersection point P corresponding to the intersection, and the distance sum D is assumed0Less than the sum of the distances D2Distance and D3And the sum of distances D4The intersection point P of the line A and the line B0Is the cross-countryThe intersection point P corresponds to the fork.
Wherein the intersection point P of the line A and the line D2May be the intersection of line A with the extension of line D, the intersection P of line B with line C3May be the intersection of line B with an extension of line C, the intersection P of line A with line B4May be the intersection of the extension of line A and line B, and the intersection P of line C and line D5May be the intersection of line C and an extension of line D.
And 104, generating a navigation map road network corresponding to the target area according to the navigation road line and the road intersection.
In this step, the navigation road line corresponding to the target reference road of each intersection in the target area may be fitted to the road intersection corresponding to the intersection, so as to generate the navigation map road network corresponding to the target area.
One possible implementation is as follows: acquiring a first target fitting parameter at each road intersection point, and acquiring a second target fitting parameter of other navigation channel routes except the first target navigation channel route and the second target navigation channel route in the navigation channel routes corresponding to the target reference road of each intersection; and fitting the other navigation road lines to the road intersection corresponding to the intersection according to the first target fitting parameter and the second target fitting parameter of each intersection.
The first target fitting parameters comprise a first target tangent vector of a second curve at each road intersection point and target position coordinates of each road intersection point, and the second curve is a fitting line of a first target navigation channel route and a second target navigation channel route; the second target fitting parameters comprise fitting end points of other navigation channel routes except the first target navigation channel route and the second target navigation channel route in the navigation channel corresponding to the target reference road of each intersection and second target tangent vectors at the fitting end points.
It should be noted that the fitting end point is an end point of the navigation road line to be fitted, which is close to one end of the intersection, and the second curve is a first curve obtained by fitting when the to-be-determined intersection corresponding to the road intersection is determined, and for a specific implementation of obtaining the first curve, reference may be made to the above description of the example shown in fig. 2 in step 103, which is not described in detail herein.
In addition, in order to make the fitting curve of other navigation road lines to the road intersection smoother, in the fitting process, besides the first target tangent vector is determined, a third target tangent vector perpendicular to the first target tangent vector can be obtained, or a fourth target tangent vector opposite to the first target tangent vector in direction, passing through the target position coordinates, when the fitting curve obtained by the first target tangent vector, the fitting end point and the second target tangent vector is not smooth, a first yaw angle between the second target tangent vector and the third target tangent vector, and a second yaw angle between the second target tangent vector and the fourth target tangent vector may be obtained, in the case where the first yaw angle is smaller than the second yaw angle, by the target position coordinates, the third target tangent vector, the fitting end point and the second target tangent vector obtain a smooth fitting curve; and under the condition that the first yaw angle is larger than the second yaw angle, obtaining a smooth fitting curve through the target position coordinate, the fourth target tangent vector, the fitting endpoint and the second target tangent vector. Therefore, the smoothness of the fitting route can be effectively improved by obtaining the third target tangent vector perpendicular to the first target tangent vector and the fourth target tangent vector opposite to the second target tangent vector in direction and fitting the second target tangent vector in the direction with the minimum yaw angle in the fitting process.
Illustratively, and also by way of example in FIG. 2, the midpoint P of the first curve L obtained by fitting the line D to the line B0For the corresponding road intersection point P, fitting the line A and the line C to the point P0Here to fit a line a to a point P0To illustrate by way of example, a first curve L is obtained at a point P0The direction of the tangent is obtained to obtain the first target tangent vector T1Obtaining a point P0And obtaining a fitting end point O of the line A1Coordinates and the line A at the fitting end point O1Second target tangent vector T of2According to (P)0，T1，O1，T2) A Hermit fit may be made to fit the line a to the line D and line B at the road intersection point P (point P)0) And (6) fitting. Similarly, line C is fitted to point P0Is fitted to the line A to the point P0The present disclosure is not repeated herein, similarly to the embodiments described above.
According to the technical scheme, the navigation road line of the target road is determined through the reference line of the target road in the high-precision map, the road intersection point is determined according to the navigation road line, the navigation map road network corresponding to the target area is generated according to the navigation road line and the road intersection point, and the accuracy of the reference line in the high-precision map can reach the level of decimeter, so that the accuracy of the navigation map road network can be effectively improved, the dependence of the navigation map road network generation process on GPS signals can be avoided, and the reliability of the navigation map road network can be improved.
FIG. 3 is a flow chart illustrating a method for generating a road network of a navigation map according to an exemplary embodiment of the present disclosure; referring to fig. 3, the method may include the steps of:
The high-precision map can be an electronic map which is stored in advance, has the precision reaching the decimeter level or the level above the decimeter level and has fine definition data, a large amount of road information and driving auxiliary information are stored as the structural data in the high-precision map, and the reference line is a line which is stored in the high-precision map and used for representing the skeleton of the target road.
And step 302, determining whether the target road is the first road or not through the high-precision map.
The first road comprises a first one-way traffic road, a second one-way traffic road and a middle isolation belt, wherein the middle isolation belt is located between the first one-way traffic road and the second one-way traffic road and used for isolating a first vehicle running on the first one-way traffic road and a second vehicle running on the second one-way traffic road. The passing direction corresponding to the first one-way passing road is different from that of the second one-way passing road.
In this step, when it is determined that the target road is the first road, step 303 is executed; upon determining that the target road is not the first road, step 304 is performed.
The first reference line is a reference line corresponding to the first one-way traffic road, and the second reference line is a reference line corresponding to the second one-way traffic road.
In step 304, the reference line of the target road is determined as the navigation road line of the target road.
305, acquiring a plurality of target participating roads corresponding to each intersection in the target area;
one possible implementation manner in this step is: acquiring a participating road corresponding to each intersection in the target area; acquiring the passing direction of each road, wherein the passing direction comprises a direction of driving into the intersection and a direction of driving out of the intersection; and determining the participating road with the passing direction as the direction of the driving intersection as the target participating road.
The intersection is an intersection, which may be an intersection where two roads intersect, an intersection where three roads intersect (e.g., a t-intersection, a Y-intersection), an intersection where four roads intersect (e.g., an intersection, an X-intersection), and the like, where it is to be noted that, in a section where circles intersect (e.g., a roundabout), each group of two adjacent roads and a circle line may be defined to form an intersection (a triple intersection), one roundabout may include a plurality of intersections, and the circle line in the roundabout is a common target-participating road of each intersection in the roundabout. The participating roads comprise all roads forming an intersection, the participating roads forming the intersection are stored in a high-precision map, and the target participating roads are the participating roads left after the roads in the direction of the intersection are removed from all the roads forming the intersection.
One possible implementation manner in this step is: acquiring a first coordinate of a first end point of a first navigation channel route and a first tangent vector at the first end point, and a second coordinate of a second end point of a second navigation channel route and a second tangent vector at the second end point in any two navigation channel routes; fitting the first end point and the second end point into a first curve by a preset algorithm according to the first coordinate, the first tangent vector, the second coordinate and the second tangent vector; and acquiring a midpoint of the first curve, and determining the midpoint as the intersection point corresponding to the first navigation channel route and the second navigation channel route.
It should be noted that the first navigation channel route is any one of the two navigation channel routes, the second navigation channel route is the other one of the two navigation channel routes, the first end endpoint and the second end endpoint are both endpoints of one end of the navigation road line close to the intersection, the first tangent vector is a tangent vector of the first navigation channel route at the first end endpoint, the second tangent vector is a tangent vector of the second navigation channel route at the second end endpoint, the preset algorithm may be a Hermit curve algorithm or other curve fitting algorithms in the related art, and the first curve is a fitted curve between the first end endpoint and the second end endpoint.
And 307, taking each intersection point as one undetermined intersection point to obtain at least one undetermined intersection point corresponding to each intersection.
And 308, determining the road intersection corresponding to the intersection from at least one undetermined intersection corresponding to each intersection.
One possible implementation manner in this step is: respectively acquiring the distance sum from each undetermined intersection point in at least one undetermined intersection point corresponding to the intersection to the navigation channel route corresponding to each target participating road; and determining the distance with the minimum distance in at least one distance sum and the corresponding undetermined intersection as the road intersection corresponding to the intersection.
The distance sum is used for representing the cost generated by fitting each target participation road to one undetermined intersection, and the smaller the distance sum is, the smaller the cost generated by the representation is, the more suitable the distance sum is as the road intersection of the intersection.
In this step, a first target tangent vector of a second curve at each road intersection point may be obtained, where the second curve is a fitted line of a first target navigation channel route and a second target navigation channel route; acquiring fitting end points of other navigation channel routes except the first target navigation channel route and the second target navigation channel route in the navigation channel corresponding to the target reference road of each intersection and a second target tangent vector at the fitting end points; acquiring the target position coordinates of each road intersection; and fitting the other navigation channel routes to the road intersection corresponding to each intersection according to the target position coordinate corresponding to the road intersection of each intersection, the first target tangent vector, the fitting endpoint and the second target tangent vector.
It should be noted that, for a specific implementation of this step, reference may be made to the implementation process shown in step 104 in fig. 1, and details of this disclosure are not repeated here.
According to the technical scheme, the navigation road line of the target road is determined through the reference line of the target road in the high-precision map, the road intersection point is determined according to the navigation road line, the navigation map road network corresponding to the target area is generated according to the navigation road line and the road intersection point, the accuracy of the reference line in the high-precision map can reach the level of decimeter, therefore, the accuracy of the navigation map road network can be effectively improved, the quantity of the generated undetermined intersection points is reduced by removing the roads out of the intersection direction, therefore, the repeated generation of the same undetermined intersection point is avoided, the efficiency of generating the undetermined intersection point is effectively improved, the speed of generating the navigation map road network is improved, the GPS signal is avoided being adopted in the process of generating the navigation map, and therefore, the dependence of the navigation map road network generating process on the GPS signal can also be avoided, therefore, the reliability of generating the navigation map road network can be improved.
Fig. 4 is a block diagram of a navigation map road network generation apparatus according to an exemplary embodiment of the present disclosure; referring to fig. 4, the apparatus may include:
an obtaining module 401, configured to obtain reference lines of multiple target roads in a target area through a high-precision map;
a first determining module 402, configured to determine a navigation road line of each target road according to the reference line of the target road, where the navigation road line is used to represent the target road in a navigation map;
a second determining module 403, configured to determine at least one road intersection in the target area according to the navigation road line corresponding to each target road in the target area;
a generating module 404, configured to generate a navigation map road network corresponding to the target area according to the navigation road line and the road intersection.
According to the technical scheme, the navigation road line of the target road is determined through the reference line of the target road in the high-precision map by the acquisition module 401, the road intersection point is determined according to the navigation road line by the second determination module 403, and the navigation map road network corresponding to the target area is generated according to the navigation road line and the road intersection point by the generation module 404.
FIG. 5 is a block diagram of another navigation map road network generating apparatus according to the embodiment shown in FIG. 4; referring to fig. 5, the first determining module 402 includes:
a first determining sub-module 4021, configured to determine whether the target road is a first road through the high-precision map, where the first road includes a first one-way traffic road, a second one-way traffic road, and an intermediate isolation zone, located between the first one-way traffic road and the second one-way traffic road, for isolating a first vehicle traveling on the first one-way traffic road from a second vehicle traveling on the second one-way traffic road;
the first obtaining sub-module 4022 is configured to, when the target road is determined to be the first road, obtain a center line of a first reference line corresponding to the first one-way passing road and a second reference line corresponding to the second one-way passing road, and determine the center line as the navigation road line of the first road;
the second determining sub-module 4023 is configured to determine the reference line of the target road as the route of the navigation channel of the target road when the target road is determined to be not the first road.
Optionally, the second determining module 403 includes:
a second obtaining sub-module 4031, configured to obtain multiple target participating roads corresponding to each intersection in the target area;
a third obtaining sub-module 4032, configured to obtain an intersection of the route of the navigation channel corresponding to any two of the target participating roads;
a third determining submodule 4033, configured to use each intersection as one to-be-determined intersection, so as to obtain at least one to-be-determined intersection corresponding to each intersection;
a fourth determining submodule 4034, configured to determine the road intersection corresponding to each intersection from the at least one to-be-determined intersection corresponding to the intersection.
Optionally, the second obtaining sub-module 4031 is configured to:
acquiring a participating road corresponding to each intersection in the target area;
acquiring the passing direction of each road, wherein the passing direction comprises a direction of driving into the intersection and a direction of driving out of the intersection;
and determining the participating road with the passing direction as the direction of the driving intersection as the target participating road.
Optionally, the third obtaining sub-module 4032 is configured to:
acquiring a first coordinate of a first end point of a first navigation channel route and a first tangent vector at the first end point, and a second coordinate of a second end point of a second navigation channel route and a second tangent vector at the second end point in any two navigation channel routes;
fitting the first end point and the second end point into a first curve by a preset algorithm according to the first coordinate, the first tangent vector, the second coordinate and the second tangent vector;
and acquiring a midpoint of the first curve, and determining the midpoint as the intersection point corresponding to the first navigation channel route and the second navigation channel route.
Optionally, the fourth determining sub-module 4034 is configured to:
respectively acquiring the distance sum from each undetermined intersection point in at least one undetermined intersection point corresponding to the intersection to the navigation channel route corresponding to each target participating road;
and determining the distance with the minimum distance in at least one distance sum and the corresponding undetermined intersection as the road intersection corresponding to the intersection.
Optionally, the generating module 404 is configured to:
and fitting the navigation road line corresponding to the target reference road of each intersection in the target area to the road intersection corresponding to the intersection to generate the navigation map road network corresponding to the target area.
Optionally, the generating module 404 includes:
a fourth obtaining sub-module 4041, configured to obtain a first target tangent vector of a second curve at each road intersection, where the second curve is a fitted line of the first target navigation channel route and the second target navigation channel route;
a fifth obtaining sub-module 4042, configured to obtain fitting end points of other navigation channel routes, except for the first target navigation channel route and the second target navigation channel route, in the navigation channel route corresponding to the target reference road at each intersection and a second target tangent vector at the fitting end points;
a sixth obtaining sub-module 4043, configured to obtain a target position coordinate of each road intersection;
the fitting submodule 4044 is configured to fit the other navigation channel routes to the corresponding road intersection of each intersection according to the target position coordinate, the first target tangent vector, the fitting end point, and the second target tangent vector corresponding to the road intersection of each intersection.
According to the technical scheme, the navigation road line of the target road is determined through the reference line of the target road in the high-precision map, the road intersection point is determined according to the navigation road line, the navigation map road network corresponding to the target area is generated according to the navigation road line and the road intersection point, the accuracy of the reference line in the high-precision map can reach the level of decimeter, therefore, the accuracy of the navigation map road network can be effectively improved, the quantity of the generated undetermined intersection points is reduced by removing the roads out of the intersection direction, therefore, the repeated generation of the same undetermined intersection point is avoided, the efficiency of generating the undetermined intersection point is effectively improved, the speed of generating the navigation map road network is improved, the GPS signal is avoided being adopted in the process of generating the navigation map, and therefore, the dependence of the navigation map road network generating process on the GPS signal can also be avoided, therefore, the reliability of generating the navigation map road network can be improved.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
FIG. 6 is a block diagram illustrating an electronic device in accordance with an example embodiment. For example, the electronic device 600 may be provided as a server. Referring to fig. 6, the electronic device 600 includes a processor 622, which may be one or more in number, and a memory 632 for storing computer programs executable by the processor 622. The computer program stored in memory 632 may include one or more modules that each correspond to a set of instructions. Further, the processor 622 may be configured to execute the computer program to execute the navigation map road network generating method described above.
Additionally, electronic device 600 may also include a power component 626 that may be configured to perform power management of electronic device 600 and a communication component 650 that may be configured to enable communication, e.g., wired or wireless communication, of electronic device 600. The electronic device 600 may also include input/output (I/O) interfaces 658. The electronic device 600 may operate based on an operating system, such as Windows Server, stored in the memory 632TM，Mac OSXTM，UnixTM,LinuxTMAnd so on.
In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions, which when executed by a processor, implement the steps of the navigation map road network generating method described above. For example, the computer readable storage medium may be the memory 632 including the program instructions, which can be executed by the processor 622 of the electronic device 600 to implement the navigation map road network generating method.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (11)
1. A navigation map road network generation method is characterized by comprising the following steps:
acquiring reference lines of a plurality of target roads in a target area;
determining a navigation road line of each target road according to the reference line of the target road, wherein the navigation road line is used for representing the target road in a navigation map;
determining at least one road intersection in the target area according to the navigation channel route corresponding to each target road in the target area;
and generating a navigation map road network corresponding to the target area according to the navigation channel route and the road intersection.
2. The method of claim 1, wherein determining the navigation road line of each target road according to the reference line of the target road comprises:
when the target road is determined to be a first road comprising a middle isolation belt, determining the central line of the reference line corresponding to the road on the two sides of the middle isolation belt as the navigation channel route of the first road;
determining the reference line of the target road as the navigation channel route of the target road when it is determined that the target road is not the first road.
3. The method of claim 1, wherein the determining at least one road intersection in the target area according to the route of the navigation channel corresponding to each of the target roads in the target area comprises:
acquiring a plurality of target participating roads corresponding to each intersection in the target area;
acquiring the intersection point of the navigation channel routes corresponding to any two target participating roads;
taking each intersection point as one undetermined intersection point to obtain at least one undetermined intersection point corresponding to each intersection;
and determining the road intersection corresponding to the intersection from at least one undetermined intersection corresponding to each intersection.
4. The method according to claim 3, wherein the obtaining of the plurality of target participating roads corresponding to each intersection in the target area comprises:
acquiring a participating road corresponding to each intersection in the target area;
acquiring the passing direction of each road, wherein the passing direction comprises a direction of driving into the intersection and a direction of driving out of the intersection;
and determining the participating road with the passing direction as the direction of entering the intersection as the target participating road.
5. The method according to claim 3, wherein the obtaining an intersection point of the route of the navigation channel corresponding to any two of the target participating roads comprises:
acquiring a first fitting parameter of a first navigation channel route and a second fitting parameter of a second navigation channel route in any two navigation channel routes;
fitting a first curve between the first navigation channel route and the second navigation road route through a preset algorithm according to the first fitting parameter and the second fitting parameter;
and acquiring a midpoint of the first curve, and determining the midpoint as the intersection point corresponding to the first navigation channel route and the second navigation channel route.
6. The method according to claim 3, wherein the determining the road intersection corresponding to each intersection from the at least one to-be-determined intersection corresponding to the intersection comprises:
respectively acquiring the distance sum from each undetermined intersection point in at least one undetermined intersection point corresponding to the intersection to the navigation channel route corresponding to each target participating road;
and determining the distance with the minimum distance in at least one distance sum and the corresponding undetermined intersection point as the road intersection point corresponding to the intersection.
7. The method according to any one of claims 1-6, wherein said generating a road network of navigation maps corresponding to said target area based on said route of navigation channels and said road intersections comprises:
fitting the navigation channel route corresponding to the target reference road of each intersection in the target area to the road intersection corresponding to the intersection to generate the navigation map road network corresponding to the target area.
8. The method of claim 7, wherein fitting the course of the navigation channel corresponding to the target reference road for each intersection within the target area to the road intersection corresponding to the intersection comprises:
acquiring a first target fitting parameter at each road intersection;
acquiring second target fitting parameters of other navigation channel routes except the first target navigation channel route and the second target navigation channel route in the navigation channel route corresponding to the target reference road of each intersection;
and fitting the other navigation road lines to the road intersection corresponding to the intersection according to the first target fitting parameter and the second target fitting parameter of each intersection.
9. A navigation map road network generation apparatus, comprising:
the acquisition module is used for acquiring reference lines of a plurality of target roads in a target area through a high-precision map;
the first determination module is used for determining a navigation road line of each target road according to the reference line of the target road, wherein the navigation road line is used for representing the target road in a navigation map;
the second determination module is used for determining at least one road intersection in the target area according to the navigation channel route corresponding to each target road in the target area;
and the generating module is used for generating a navigation map road network corresponding to the target area according to the navigation channel route and the road intersection.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
11. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 8.
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