CN114323041A - Key point map establishing method and device and electronic equipment - Google Patents
Key point map establishing method and device and electronic equipment Download PDFInfo
- Publication number
- CN114323041A CN114323041A CN202111599121.9A CN202111599121A CN114323041A CN 114323041 A CN114323041 A CN 114323041A CN 202111599121 A CN202111599121 A CN 202111599121A CN 114323041 A CN114323041 A CN 114323041A
- Authority
- CN
- China
- Prior art keywords
- lane
- point
- points
- discrete
- key points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000008859 change Effects 0.000 claims abstract description 69
- 238000010586 diagram Methods 0.000 claims abstract description 28
- 230000009471 action Effects 0.000 claims description 19
- 230000015654 memory Effects 0.000 claims description 17
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000002955 isolation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention relates to the field of unmanned driving technology, in particular to a method and a device for establishing a key point diagram and electronic equipment. The method comprises the following steps: acquiring a discrete high-precision map of a target road; acquiring a starting point and a terminal point of a lane central line and a first point corresponding to a lane-cutting traffic change point; acquiring a starting point, a terminal point and a lane cutting point corresponding to the first point; and acquiring the attribute information of the key points and the connection relation between the key points and generating a key point diagram. The key point map building method provided by the embodiment of the invention defines the information such as the position information, the direction information, the connection relation and the like of key points on the road by building the dotting map, and simply and clearly represents the information required by the unmanned vehicle in various automatic driving tasks when the unmanned vehicle runs on the road.
Description
Technical Field
The invention relates to the field of unmanned driving technology, in particular to a method and a device for establishing a key point diagram and electronic equipment.
Background
Route planning is an important part of unmanned driving, and its task is to find a travelable and safe route from a starting point to an end point. Road information of some current environments needs to be given in advance when path planning is carried out, so that a path planning program of the unmanned vehicle knows how to walk specifically under the current environments, wherein a guide map for describing lane paths in related areas is indispensable.
For an unmanned vehicle, a common optional map is too large and contains a lot of contents, so that the map loading speed is very low, and the map making cost is very high.
Disclosure of Invention
The embodiment of the invention mainly solves the problem that the map making suitable for the unmanned vehicle in the prior art is complex.
In order to solve the above technical problem, one technical solution adopted by the embodiment of the present invention is: a method for establishing a key point map is provided, and the method comprises the following steps:
obtaining a discrete high-precision map of a target road, wherein the high-precision map comprises discrete points used for representing lane edge lines and lane center lines;
acquiring a starting point, a terminal point and a tangent lane traffic change point of the lane center line based on the high-precision discrete map, and acquiring a corresponding first point according to the tangent lane traffic change point, wherein the tangent lane traffic change point is a point at which the tangent lane traffic change of the lane center line of the lane changes, and the first point is a point obtained by moving the traffic change point by a half of the distance of the tangent lane against the driving direction;
sequentially taking lane cutting points to the left lane based on the starting point, the end point and the first point and combining the driving direction, and sequentially taking the lane cutting points to the right lane based on the starting point, the end point and the first point to obtain the lane cutting points;
recording the starting point, the end point, the first point and the lane cutting point as key points, acquiring attribute information of the key points, and determining a connection relation between adjacent key points based on the attribute information of the key points, wherein the attribute information comprises road information of a road corresponding to the key points and direction information of the key points;
and generating a key point diagram based on the key points and the connection relation.
Optionally, the obtaining of the tangent lane trafficability change point corresponding to the lane center line based on the high-precision discrete map includes:
acquiring discrete points on the center line of a lane corresponding to the travelable lane based on the high-precision discrete map;
whether the discrete point allows to get the lane point of cutting to the adjacent lane is judged in proper order, in order to judge whether the discrete point is the traffic nature change point of cutting the lane, include:
judging whether the discrete points allow lane points to be cut to the left lane or not, and if the current discrete point allows the left lane to be cut to the left of the current lane and the next discrete point does not allow the left lane to be cut to the left of the current lane or the current discrete point allows the left lane to be cut to the left of the current lane and the last discrete point does not allow the left lane to be cut to the left of the current lane, determining that the current discrete point is a lane-cut traffic change point;
judging whether the discrete points allow a lane point to be cut to the right lane or not, and if the discrete points allow the lane point to be cut to the right of the current lane and the next discrete point does not allow the lane point to be cut to the right of the current lane, or the discrete points allow the lane point to be cut to the right of the current lane and the previous discrete point does not allow the lane point to be cut to the right of the current lane, determining that the discrete points are the lane-cut traffic change points at present.
Optionally, if the lane is a lane allowing bidirectional driving, lane-cutting trafficability change points corresponding to two driving directions are respectively obtained.
Optionally, the lane taking and cutting point includes:
continuously executing a single lane changing action to the left side based on the current discrete point until no lane is changed, so as to obtain the lane cutting point of the current point on the left side of the lane;
and continuously executing a single lane changing action to the right side based on the current discrete point until no lane is changed, so as to obtain the lane-switching point of the current point on the right side of the lane.
Optionally, the lane switching point is a point after the vehicle performs the single lane changing action, and the lane switching distance is a relative distance that the vehicle moves along a driving direction in the single lane changing action.
Optionally, the method further includes merging similar key points, where merging similar key points includes:
acquiring two adjacent key points of which the relative distance along the driving direction is smaller than a preset parameter;
and if the direction information of the two adjacent key points is the same, combining the two adjacent key points.
Optionally, the generating a key point diagram based on the key points and the connection relationships includes:
acquiring the key points with the same lane and the same direction information;
sequentially generating connecting lines to connect adjacent key points along a driving direction based on the connection relationship of the key points;
acquiring two lanes adjacent to each other end to end, and acquiring two key points at the joint of the two lanes;
generating a connecting line to connect the two key points along a driving direction based on the direction information of the key points;
and generating a key point diagram based on the key points and the connecting lines.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: provided is a key point map building device, including:
the information acquisition module is used for acquiring a discrete high-precision map of a target road, wherein the high-precision map comprises discrete points for representing lane edge lines and lane center lines;
the discrete point acquisition module is used for acquiring a starting point, a terminal point and a lane-cut traffic change point of the lane central line based on the high-precision discrete map, wherein the lane-cut traffic change point is a point where the lane-cut traffic change occurs on the lane central line of the lane;
the lane cutting point generating module is used for sequentially taking lane cutting points to the left lane based on the starting point, the end point and the lane cutting traffic characteristic change points and combining the driving direction, and sequentially taking lane cutting points to the right lane based on the starting point, the end point and the lane cutting traffic characteristic change points to obtain lane cutting points;
a key point obtaining module, configured to obtain the starting point, the ending point, and the lane cutting point as key points, obtain attribute information of the key points, and determine a connection relationship between adjacent key points based on the attribute information of the key points, where the attribute information includes road information of a road corresponding to the key points and direction information of the key points;
and the map generation module is used for generating a key point diagram based on the key points and the connection relation.
Optionally, the apparatus further includes a key point merging module, where the key point merging module is configured to:
acquiring two adjacent key points of which the relative distance along the driving direction is smaller than a preset parameter;
and if the direction information of the two adjacent key points is the same, combining the two adjacent key points.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: provided is an electronic device, including:
at least one processor;
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the key map building method described above.
The invention provides a key point map building method, a key point map building device and electronic equipment, which are different from the related technology, wherein the method comprises the following steps: acquiring a discrete high-precision map of a target road; acquiring a starting point and a terminal point of a lane central line and a first point corresponding to a lane-cutting traffic change point; acquiring a starting point, a terminal point and a lane cutting point corresponding to the first point; and acquiring the attribute information of the key points and the connection relation between the key points and generating a key point diagram. The key point map building method provided by the embodiment of the invention defines the information such as the position information, the direction information, the connection relation and the like of key points on the road by building the dotting map, and simply and clearly represents the information required by the unmanned vehicle in various automatic driving tasks when the unmanned vehicle runs on the road.
Drawings
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
FIG. 1 is a schematic flow chart diagram of a key point diagram establishing method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of obtaining a start point, an end point and a lane-cutting traffic change point of a lane center line according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of obtaining lane-cut points corresponding to a start point, an end point and a lane-cut traffic change point according to the embodiment of the present invention;
fig. 4 is a schematic flowchart of acquiring attribute information of key points and a connection relationship between the key points according to the embodiment of the present invention;
FIG. 5 is an exemplary diagram of cut lane points provided by embodiments of the present invention;
FIG. 6 is an exemplary diagram of taking lane-cut points based on lane-cut traffic variability points, provided by embodiments of the present invention;
FIG. 7 is a flowchart of a method for establishing a key point map according to an embodiment of the present invention;
FIG. 8 is a schematic flow chart of merging close key points according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a key point map creating apparatus according to an embodiment of the present invention;
fig. 10 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiment of the invention provides a method for establishing a key point diagram, please refer to fig. 1, and the method comprises the following steps:
s11, obtaining a discrete high-precision map of the target road, wherein the high-precision map comprises discrete points used for representing lane edge lines and lane center lines. The discrete high-precision map is a map expression mode for describing a road structure, and represents lane edge lines, lane center lines, road reference lines and the like of a road in a discrete point mode, and information such as the position of the discrete point corresponding to the road and the driving direction of the road is recorded in the discrete point, wherein a discrete point sequence formed by discrete points corresponding to double yellow lines or isolation zones in the road can be called as the reference line of the road, two sides of the reference line of the road are generally lanes with different driving directions, for example, in an expressway, an isolation zone in the middle of the road is the reference line, and the driving directions of the lanes on two sides are different.
And S12, acquiring a starting point, a terminal point and a lane-cutting traffic change point of the lane center line based on the high-precision discrete map, and acquiring a corresponding first point according to the lane-cutting traffic change point, wherein the lane-cutting traffic change point is a point where the lane-cutting traffic change occurs on the lane center line of the lane, and the first point is a point obtained by moving the traffic change point by a half lane-cutting distance in the opposite driving direction. If one lane cannot pass through, the lane is not taken into the acquisition range, and if one lane can run in two directions, a starting point and an end point corresponding to two running directions need to be respectively shown and can be marked as a starting point s and an end point d, and the starting point and the end point both include corresponding running directions.
Specifically, referring to fig. 2, obtaining the lane-cutting traffic change point corresponding to the lane center line includes:
s121, acquiring discrete points on the corresponding center line of the travelable lane based on the high-precision discrete map;
and S122, sequentially judging whether the discrete points allow the lane cutting points to be taken from the adjacent lanes or not so as to judge whether the discrete points are lane cutting traffic change points or not.
For a lane, whether the discrete point is a traffic change point or not can be sequentially judged from the starting point of the lane central line until the end point of the lane central line is judged. Specifically, if the current discrete point allows the current lane left-hand cut lane and the next discrete point does not allow the current lane left-hand cut lane, or the current discrete point allows the current lane left-hand cut lane and the previous discrete point does not allow the current lane left-hand cut lane, it is determined that the current discrete point is a lane-cut traffic change point. The traffic change point obtained by whether or not to allow the lane point to be cut into the left lane may be referred to as a left-hand lane traffic change point.
In a similar way, the trafficability change point obtained by whether the lane point to be cut into the right lane is allowed to be taken may also be referred to as a right-cut lane trafficability change point, and specifically, if the current discrete point allows the right-cut lane of the current lane and the next discrete point does not allow the right-cut lane of the current lane, or the current discrete point allows the right-cut lane of the current lane and the previous discrete point does not allow the right-cut lane of the current lane, it is determined that the current discrete point is the right-cut lane trafficability change point.
And S13, sequentially taking the lane cutting points to the left lane based on the starting point, the end point and the first point and the driving direction, and sequentially taking the lane cutting points to the right lane based on the starting point, the end point and the first point to obtain the lane cutting points. Specifically, referring to fig. 3, the lane taking and cutting point includes:
s131, continuously executing a single lane changing action to the left side based on the current discrete point until no lane changing is available, so as to obtain the lane switching point of the current point on the left side of the lane;
s132, continuously executing a single lane changing action to the right side based on the current discrete point until no lane is changed, so as to obtain the lane-switching point of the current point on the right side of the lane.
The lane switching point is a point after the vehicle performs the single lane changing action relative to a point before the single lane changing action is performed, and the lane switching distance is a relative distance of the vehicle moving along the driving direction in the single lane changing action.
Referring to fig. 5, the road in fig. 5 includes lanes a, b, c and d, the four lanes are different lanes in the same driving direction, the driving direction is from bottom to top, for convenience of distinction, five vertical solid lines are used to represent lane edge lines, four vertical dotted lines are used to represent lane center lines of the four lanes, and it is assumed that the left lane edge line of lane a is a reference line of the road. Taking the lane-cutting point of Q0 as an example, the lane-changing action of single lane is sequentially executed from the point Q0 to the left side, namely, the lane-changing action is executed from the point Q0 of the lane c to the lane b, the lane-changing action is executed at the point Q1 of the lane b when the lane-changing action is completed, and then the lane-changing action is executed from the point Q1 of the lane b to the lane a. The relative distance of the movement of Q0 to Q1 relative to the reference line direction is recorded as Q, the Q is the lane cutting distance, and Q11 is obtained according to Q1 and Q. It should be noted that the reference line in the figure is a straight line, in some other embodiments, the reference line may also be a curved line, in this case, a first point of the reference line corresponding to Q0 is found, and a second point of the reference line corresponding to Q1 is found, and an arc length passing from the first point to the second point is the lane cutting distance Q of Q0. It should be noted that Q0 in fig. 5 is only an example for explaining how to cut the lane point, and Q0 is not the start point, the end point, or the first point of the road, and when actually cutting the lane point, only the start point, the end point, or the first point corresponds to the cut lane point.
In fig. 5, after the lane-cutting distance Q is obtained, the lane-cutting points corresponding to all lanes of Q0 are obtained according to the position of Q0 and the lane-cutting distance Q, for example, Q1, Q11 and Q12 in the figure are all left lane-cutting points of Q0, wherein Q12 is obtained after Q0 points are taken right to cut lanes against the driving direction, and Q12 is still considered as the left lane-cutting point of Q0 since Q12 is still obtained based on the data (left lane-cutting distance and driving direction) of Q0 left lane. Similarly, performing a lane change to the left at Q0 results in Q2, and then obtaining Q21 and Q22 in turn from the lane-cut distance and Q2, where Q2, Q21, and Q22 are all right lane-cut points of Q0, and Q21 and Q22 are the right lane-cut points of Q0 to the left against the driving direction, and since Q21 and Q22 are still based on the data (right lane-cut distance and driving direction) of the right lane of Q0, Q21 and Q22 are still considered as the right lane-cut points of Q0 for the same reason as above. The left lane-cutting point of Q0 and the right lane-cutting point of Q0 both belong to the lane-cutting point corresponding to Q0, and the acquired lane-cutting points are all points on the center line of the lane. It should be noted that, when a single lane change operation is performed, if the lane to be changed is not passable, or the lane change process violates the traffic rules, the lane switching point corresponding to the lane to be changed cannot be obtained.
Referring to fig. 6, fig. 6 is a schematic diagram of obtaining a lane-cutting point corresponding to a first point according to a traffic change point. The section of road in fig. 6 includes lanes e, f, g, and h, the first half of the four lanes are different lanes in the same driving direction, the driving direction is from bottom to top, the second half of the lane g and the lane h is a right-turn lane, for convenience of distinction, the lane edge lines are still represented by solid lines, the lane center lines of the four lanes are represented by dotted lines, it is assumed that the left lane edge line of the lane e is the reference line of the road, and in addition, the reference line corresponding to the lane g and the second half of the lane h may be the lane edge line of the left curve of the lane g.
Point a in fig. 6 represents the position where the lane g leaves the lane f, and it can be determined according to the above method that point P0 in fig. 6 is a left-hand lane trafficability change point in the lane g, i.e., the left-hand lane to the lane f through the current lane g is allowed at P0, and the next discrete point is not allowed to pass the left-hand lane to the lane f through the current lane g. Here, the lane cutting distance q is calculated from the position of P0 with respect to the reference line by taking the left lane edge line of the lane e as the reference line, and for convenience of illustration, the lane cutting distance is shown on the lane edge line corresponding to the point a, and the distance of P0 with respect to the point a in the reference line direction is half of the lane cutting distance q.
And acquiring a corresponding first point, namely a point P2 obtained by moving the P0 by a half lane-cutting distance against the driving direction according to the lane-cutting traffic characteristic change point P0, wherein the driving direction of the lane is from bottom to top in the figure, a point P2 of which the P0 moves downwards by 0.5q is the first point corresponding to the P0, and acquiring left lane-cutting points, namely P3, P31 and P21, corresponding to the first point P2.
In some other embodiments, different from the above scheme that the corresponding first point is obtained according to the lane-cut traffic characteristic change point, a corresponding second point may also be obtained according to the lane-cut traffic characteristic change point, and the lane-cut point is obtained based on the second point, where the second point is obtained by moving the lane-cut traffic characteristic change point by half lane-cut distance along the driving direction at the corresponding point on the lane to be changed. Referring to fig. 6, a left-hand lane-cutting trafficability change point of the lane g is P0, a corresponding point of P0 on the lane f to be changed is P1, and a point P3 obtained by moving the P1 by a half lane-cutting distance of 0.5q in the driving direction is a second point. Similarly, left-hand lane-cutting points, i.e., P31, P2 and P21, corresponding to the second point P3 are obtained. The lane cutting points obtained by the method are the same as the lane cutting points obtained by the method, and any appropriate method can be selected to calculate the lane cutting points during actual use, or two methods can be simultaneously adopted to calculate the lane cutting points, and then the results corresponding to the two methods are averaged, and the like.
According to the above manner of obtaining the lane-switching point through the first point or/and the second point, a certain buffer distance may be added to the unmanned vehicle, for example, the unmanned vehicle needs to switch lane left in lane g in fig. 6, if the operation of changing lane to left is executed when the vehicle runs to the traffic change point P0, the lane-switching failure may be caused by some reasons, for example, if there is some delay in the positioning information transmission process, it is likely that the unmanned vehicle has already run through point P0 when starting to execute the lane-switching operation, and the unmanned vehicle may collide with the isolation belt where point a is located during the lane-switching process to cause a traffic accident, whereas the method provided in this embodiment may allow the vehicle to execute the operation of changing lane to left at point P2, reserve a sufficient buffer distance, and greatly reduce the probability of occurrence of the accident. It should be noted that the manner of taking the corresponding lane cutting point based on the traffic change point is not limited to the above two methods, and in other embodiments, the manner may also be a method different from the above method, so that the safety problem when the unmanned vehicle changes lanes can be guaranteed, and the method is not limited herein.
S14, recording the starting point, the end point, the first point and the lane cutting point as key points, acquiring attribute information of the key points, and determining a connection relation between adjacent key points based on the attribute information of the key points, wherein the attribute information comprises road information of a road corresponding to the key points and direction information of the key points.
And S15, generating a key point diagram based on the key points and the connection relation. Specifically, referring to fig. 4, the generating a key point diagram based on the key points and the connection relationships includes:
s151, obtaining the key points with the same lane and the same direction information; the key points comprise a starting point, an end point, a first point of a lane and corresponding lane cutting points, and the key points comprise position information and driving direction information of a corresponding road, information of connection relations between adjacent key points and the like.
S152, sequentially generating connecting lines along the driving direction to connect adjacent key points based on the connection relation of the key points; therefore, the key points in the same lane are connected to form a key point sequence corresponding to the lane.
S153, acquiring two lanes adjacent to each other end to end, and acquiring two key points at the joint of the two lanes;
s154, generating a connecting line along the driving direction to connect the two key points based on the direction information of the key points; for example, two lanes are connected in front and back, the end point of the front lane is connected with the start point of the rear lane, and the key point sequences corresponding to the two lanes connected in front and back are connected according to the two start points and the end points. If the number of lanes changes, for example, a certain road is a single lane road, and the road adjacent to the end point of the certain road is a multi-lane road, the end point of the lane in the single lane road is connected to the start point of each lane in the multi-lane road, and the case of connecting the multi-lane to the single lane is similar to the above case. In addition, under the condition that multiple lanes are connected, the key point sequences corresponding to each front lane are spliced with the key point sequences corresponding to all rear lanes which can be directly driven into.
And S155, generating a key point diagram based on the key points and the connecting lines. And displaying the obtained key points and the connection relation in a key point map in a key point mode, wherein the key point map comprises a plurality of key points and connecting lines for connecting the key points, and each key point is attached with corresponding road attributes comprising position information, lane-cutting information, driving direction and other information.
In some other embodiments, referring to fig. 7, the method includes:
s21, acquiring a discrete high-precision map of the target road; the discrete point sequence formed by the discrete points corresponding to the double yellow lines or the isolation zones in the road may be referred to as a reference line of the road, and two sides of the reference line of the road are usually lanes with different driving directions, for example, in an expressway, the isolation zone in the middle of the road is the reference line, and the driving directions of the lanes on two sides are different.
S22, acquiring a starting point and an end point of a lane central line and a first point corresponding to the lane-cutting traffic change point;
s23, acquiring a starting point, an end point and a lane cutting point corresponding to the first point as key points; please refer to the above embodiments for the method of cutting lane points, which is not described herein.
S24, acquiring attribute information of the key points and the connection relation between the key points; the attribute information comprises road information of a road corresponding to the key point and direction information of the key point.
And S25, merging the similar key points. Referring to fig. 8, the merging of the similar key points includes:
s251, two adjacent key points with the relative distance along the driving direction smaller than a preset parameter are obtained; the preset parameters can be set by a manufacturer in advance, for example, if the relative distance between two adjacent key points along the driving direction is less than 0.05, then the two points can be judged to be very close to each other.
And S252, if the direction information of the two adjacent key points is the same, combining the two adjacent key points. When two key points meeting the above conditions are detected, because the positions of the two key points are very close and the driving directions are also the same, the two key points can be combined into one point for the simplicity of the map, and the position information of the two key points can be set as the average value of the position information of the two key points before combination.
And S26, generating a key point diagram. And generating a key point map according to the connection relation between the key points and the adjacent key points, wherein the key point map comprises a plurality of key points and connecting lines for connecting the key points, and each key point is attached with corresponding road attributes comprising position information, lane cutting information, driving direction and other information.
Referring to fig. 9, an embodiment of the present invention provides a key point map creating apparatus 300, including:
the information acquisition module 31 is used for acquiring a discrete high-precision map of the target road, wherein the high-precision map comprises discrete points for representing lane edge lines and lane center lines; the discrete high-precision map is a map expression mode for describing a road structure, lane edge lines, lane center lines, road reference lines and the like of a road are represented in a discrete point mode, and information such as the position of the discrete point in the corresponding road, the driving direction of the road and the like is recorded in the discrete point.
A discrete point obtaining module 32, where the discrete point obtaining module 32 is configured to obtain a start point and an end point of the lane center line and a lane-cut traffic change point based on the high-precision discrete map, and obtain a corresponding first point according to the lane-cut traffic change point, where the lane-cut traffic change point is a point where lane-cut traffic change occurs on the lane center line of the lane, and the first point is a point where the traffic change point moves a half lane-cut distance in a reverse driving direction. In addition, if one lane cannot pass through, the lane is not taken into the acquisition range, and if one lane can run in two directions, a starting point and an end point corresponding to two running directions need to be respectively shown and can be marked as a starting point s and an end point d, and the starting point and the end point both include corresponding running directions.
And the lane cutting point generating module 33 is configured to sequentially take the lane cutting points to the left lane based on the starting point, the end point and the first point in combination with the driving direction, and sequentially take the lane cutting points to the right lane based on the starting point, the end point and the first point to obtain the lane cutting points. The lane switching point is a point after the vehicle performs the single lane changing action relative to a point before the single lane changing action is performed, and the lane switching distance is a relative distance of the vehicle moving along the driving direction in the single lane changing action.
A key point obtaining module 34, where the key point obtaining module 34 is configured to obtain the starting point, the ending point, the first point, and the lane cutting point as key points, obtain attribute information of the key points, and determine a connection relationship between adjacent key points based on the attribute information of the key points, where the attribute information includes road information of a road corresponding to the key points and direction information of the key points;
a map generation module 35, wherein the map generation module 35 is configured to generate a key point map based on the key points and the connection relationships.
In some other embodiments, the apparatus 300 further comprises a keypoint merge module 36, and the keypoint merge module 36 is configured to:
acquiring two adjacent key points of which the relative distance along the driving direction is smaller than a preset parameter;
and if the direction information of the two adjacent key points is the same, combining the two adjacent key points.
It should be noted that the key point map creating apparatus can execute the key point map creating method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the key point map creating apparatus, reference may be made to the key point map creating method provided in the embodiment of the present invention.
Referring to fig. 10, an embodiment of the invention provides an electronic device 500, including:
at least one processor 51;
a memory 52 communicatively coupled to the at least one processor 51;
wherein the memory 52 stores instructions executable by the at least one processor 51, the instructions being executable by the at least one processor 51 to enable the at least one processor 51 to perform the key point map mapping method described above.
The processor 51 and the memory 52 may be connected by a bus or other means, and the memory 52 is shown in fig. 10 as a non-volatile computer-readable storage medium for storing non-volatile software programs, non-volatile computer-executable programs, and modules, for example. The processor 51 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 52, that is, implements the key point map building method in the above-described embodiments.
The memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the electronic device, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 52 optionally includes memory 52 remotely located from the processor 51. These remote memories may be connected to the electronic device 500 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 52 and, when executed by the one or more processors 51, perform the method of keypoint mapping in any of the embodiments described above, e.g., performing the method steps of fig. 1-4.
The product can execute the key point diagram establishing method provided by the embodiment of the invention and is provided with a corresponding functional module for executing the key point diagram establishing method. For details of the technique not described in detail in this embodiment, reference may be made to the method for establishing a key point diagram provided in the embodiment of the present invention.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for establishing a key point map is characterized by comprising the following steps:
obtaining a discrete high-precision map of a target road, wherein the high-precision map comprises discrete points used for representing lane edge lines and lane center lines;
acquiring a starting point, a terminal point and a tangent lane traffic change point of the lane center line based on the high-precision discrete map, and acquiring a corresponding first point according to the tangent lane traffic change point, wherein the tangent lane traffic change point is a point at which the tangent lane traffic change of the lane center line of the lane changes, and the first point is a point obtained by moving the traffic change point by a half of the distance of the tangent lane against the driving direction;
sequentially taking lane cutting points to the left lane based on the starting point, the end point and the first point and combining the driving direction, and sequentially taking the lane cutting points to the right lane based on the starting point, the end point and the first point to obtain the lane cutting points;
recording the starting point, the end point, the first point and the lane cutting point as key points, acquiring attribute information of the key points, and determining a connection relation between adjacent key points based on the attribute information of the key points, wherein the attribute information comprises road information of a road corresponding to the key points and direction information of the key points;
and generating a key point diagram based on the key points and the connection relation.
2. The method of claim 1, wherein the obtaining of the tangent lane trafficability change point corresponding to the lane centerline based on the high-precision discrete map comprises:
acquiring discrete points on the center line of a lane corresponding to the travelable lane based on the high-precision discrete map;
whether the discrete point allows to get the lane point of cutting to the adjacent lane is judged in proper order, in order to judge whether the discrete point is the traffic nature change point of cutting the lane, include:
judging whether the discrete points allow lane switching points to be taken from a left lane or not, and if the current discrete point allows the lane switching point to be left from the current lane and the next discrete point does not allow the lane switching point to be left from the current lane or the current discrete point allows the lane switching point to be left from the current lane and the last discrete point does not allow the lane switching point to be left from the current lane, determining that the current discrete point is a lane switching traffic change point;
and judging whether the discrete points allow a lane switching point to be taken from the right lane or not, if the discrete points allow the right lane switching point to pass through the current lane and the next discrete point does not allow the right lane switching point to pass through the current lane, or the discrete points allow the right lane switching point to pass through the current lane and the previous discrete point does not allow the right lane switching point to pass through the current lane, determining that the discrete points are lane switching traffic change points at present.
3. The method according to claim 2, wherein if the lane is a lane allowing bidirectional driving, lane-cutting traffic change points corresponding to two driving directions are respectively obtained.
4. The method of any of claims 1-3, wherein the cut lane points comprise:
continuously executing a single lane changing action to the left side based on the current discrete point until no lane is changed, so as to obtain the lane cutting point of the current point on the left side of the lane;
and continuously executing a single lane changing action to the right side based on the current discrete point until no lane is changed, so as to obtain the lane-switching point of the current point on the right side of the lane.
5. The method of claim 4, wherein the lane-cut point is a point after the vehicle performs the single lane change maneuver relative to a point before the single lane change maneuver is performed, and the lane-cut distance is a relative distance that the vehicle moves in a direction of travel during the single lane change maneuver.
6. The method of claim 1, further comprising merging nearby keypoints, the merging of nearby keypoints comprising:
acquiring two adjacent key points of which the relative distance along the driving direction is smaller than a preset parameter;
and if the direction information of the two adjacent key points is the same, combining the two adjacent key points.
7. The method of claim 1, wherein generating a keypoint map based on the keypoints and the connection relationships comprises:
acquiring the key points with the same lane and the same direction information;
sequentially generating connecting lines to connect adjacent key points along a driving direction based on the connection relationship of the key points;
acquiring two lanes adjacent to each other end to end, and acquiring two key points at the joint of the two lanes;
generating a connecting line to connect the two key points along a driving direction based on the direction information of the key points;
and generating a key point diagram based on the key points and the connecting lines.
8. A key point map building device is characterized by comprising:
the information acquisition module is used for acquiring a discrete high-precision map of a target road, wherein the high-precision map comprises discrete points for representing lane edge lines and lane center lines;
the discrete point acquisition module is used for acquiring a starting point, a terminal point and a lane-cutting traffic change point of the lane center line based on the high-precision discrete map, and acquiring a corresponding first point according to the lane-cutting traffic change point, wherein the lane-cutting traffic change point is a point where the lane-cutting traffic change occurs on the lane center line of the lane, and the first point is a point obtained by moving the traffic change point by a half lane-cutting distance in the opposite driving direction;
the lane cutting point generating module is used for sequentially taking lane cutting points to the left lane based on the starting point, the end point and the first point and combining the driving direction, and sequentially taking lane cutting points to the right lane based on the starting point, the end point and the first point so as to obtain lane cutting points;
a key point obtaining module, configured to obtain the starting point, the ending point, the first point, and the lane cutting point as key points, obtain attribute information of the key points, and determine a connection relationship between adjacent key points based on the attribute information of the key points, where the attribute information includes road information of a road corresponding to the key points and direction information of the key points;
and the map generation module is used for generating a key point diagram based on the key points and the connection relation.
9. The apparatus of claim 8, further comprising a keypoint merge module configured to:
acquiring two adjacent key points of which the relative distance along the driving direction is smaller than a preset parameter;
and if the direction information of the two adjacent key points is the same, combining the two adjacent key points.
10. An electronic device, comprising:
at least one processor;
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599121.9A CN114323041A (en) | 2021-12-24 | 2021-12-24 | Key point map establishing method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111599121.9A CN114323041A (en) | 2021-12-24 | 2021-12-24 | Key point map establishing method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114323041A true CN114323041A (en) | 2022-04-12 |
Family
ID=81013003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111599121.9A Pending CN114323041A (en) | 2021-12-24 | 2021-12-24 | Key point map establishing method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114323041A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106525057A (en) * | 2016-10-26 | 2017-03-22 | 陈曦 | Generation system for high-precision road map |
| CN109916422A (en) * | 2019-03-29 | 2019-06-21 | 北京经纬恒润科技有限公司 | A kind of global path planning method and device |
| CN110160552A (en) * | 2019-05-29 | 2019-08-23 | 百度在线网络技术（北京）有限公司 | Navigation information determines method, apparatus, equipment and storage medium |
| WO2020029601A1 (en) * | 2018-08-06 | 2020-02-13 | 武汉中海庭数据技术有限公司 | Method and system for constructing transverse topological relationship of lanes in map, and memory |
| CN111238497A (en) * | 2018-11-29 | 2020-06-05 | 华为技术有限公司 | High-precision map construction method and device |
| CN112308076A (en) * | 2020-10-30 | 2021-02-02 | 山东华锐智能技术有限公司 | Multi-semantic safety map construction, use and scheduling method for AGV navigation scheduling |
| CN112985445A (en) * | 2021-04-20 | 2021-06-18 | 速度时空信息科技股份有限公司 | Lane-level precision real-time motion planning method based on high-precision map |
| CN112988938A (en) * | 2021-03-31 | 2021-06-18 | 深圳一清创新科技有限公司 | Map construction method and device and terminal equipment |
| CN113551664A (en) * | 2021-08-02 | 2021-10-26 | 湖北亿咖通科技有限公司 | Map construction method and device, electronic equipment and storage medium |
-
2021
- 2021-12-24 CN CN202111599121.9A patent/CN114323041A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106525057A (en) * | 2016-10-26 | 2017-03-22 | 陈曦 | Generation system for high-precision road map |
| WO2020029601A1 (en) * | 2018-08-06 | 2020-02-13 | 武汉中海庭数据技术有限公司 | Method and system for constructing transverse topological relationship of lanes in map, and memory |
| CN111238497A (en) * | 2018-11-29 | 2020-06-05 | 华为技术有限公司 | High-precision map construction method and device |
| CN109916422A (en) * | 2019-03-29 | 2019-06-21 | 北京经纬恒润科技有限公司 | A kind of global path planning method and device |
| CN110160552A (en) * | 2019-05-29 | 2019-08-23 | 百度在线网络技术（北京）有限公司 | Navigation information determines method, apparatus, equipment and storage medium |
| CN112308076A (en) * | 2020-10-30 | 2021-02-02 | 山东华锐智能技术有限公司 | Multi-semantic safety map construction, use and scheduling method for AGV navigation scheduling |
| CN112988938A (en) * | 2021-03-31 | 2021-06-18 | 深圳一清创新科技有限公司 | Map construction method and device and terminal equipment |
| CN112985445A (en) * | 2021-04-20 | 2021-06-18 | 速度时空信息科技股份有限公司 | Lane-level precision real-time motion planning method based on high-precision map |
| CN113551664A (en) * | 2021-08-02 | 2021-10-26 | 湖北亿咖通科技有限公司 | Map construction method and device, electronic equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 祖似杰;张攀;罗跃军;: "基于车道驾驶态势的拓扑构建与路径规划", 地理空间信息, no. 05 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109724612B (en) | AGV path planning method and device based on topological map | |
| Bellingham et al. | Receding horizon control of autonomous aerial vehicles | |
| CN105675000A (en) | Lane-level path planning method and system based on high precision map | |
| KR102332045B1 (en) | Method and apparatus for processing driving reference line, and vehicle | |
| KR20220041788A (en) | Method for vehicle lane changing control, device, storage medium, and program product | |
| WO2020196328A1 (en) | Navigation system | |
| CN113085850B (en) | Vehicle obstacle avoidance method and device, electronic equipment and storage medium | |
| CN113682318B (en) | Vehicle running control method and device | |
| CN114812566B (en) | Method and device for planning driving path of mine vehicle and computer equipment | |
| CN112988938A (en) | Map construction method and device and terminal equipment | |
| CN104760592B (en) | Self-propelled vehicle Decision Control method | |
| CN114537381B (en) | Lane obstacle avoidance method and device for automatic driving vehicle | |
| CN111998863A (en) | Intersection generation method and device | |
| CN113418522B (en) | AGV path planning method, following method, device, equipment and storage medium | |
| CN114620070A (en) | Driving track planning method, device, equipment and storage medium | |
| CN114168698A (en) | Discrete high-precision mapping method and device and electronic equipment | |
| CN114323041A (en) | Key point map establishing method and device and electronic equipment | |
| AU2021362864A1 (en) | Traffic control system for mining trucks and method for same | |
| CN115451988B (en) | Path planning method, device and navigator | |
| CN116383321A (en) | Decision environment construction method, device, vehicle and storage medium | |
| CN113670308B (en) | Method for guiding vehicle to run and related system and storage medium | |
| CN115743183A (en) | Automatic driving control method, device, equipment, medium and vehicle | |
| CN113788028B (en) | Vehicle control method, device and computer program product | |
| CN115683139A (en) | Vehicle-mounted map path planning method, system, electronic equipment and storage medium | |
| CN114964292A (en) | Global path planning method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |