WO2021135845A1 - Method and system for marking road surface - Google Patents
Method and system for marking road surface Download PDFInfo
- Publication number
- WO2021135845A1 WO2021135845A1 PCT/CN2020/134393 CN2020134393W WO2021135845A1 WO 2021135845 A1 WO2021135845 A1 WO 2021135845A1 CN 2020134393 W CN2020134393 W CN 2020134393W WO 2021135845 A1 WO2021135845 A1 WO 2021135845A1
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- information
- road
- road surface
- marking
- optional implementation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
Definitions
- the present invention relates to the field of computer technology, in particular to a method and system for marking road surfaces.
- the present invention provides a method and system for marking roads and road surface information, which can provide a better or more effective description of the types of directions that can be driven.
- One feature of the present invention is that the data structure is relatively simple, and road information can be marked for larger scenes.
- another feature of the present invention is that it can really provide a possibility for distributed deployment servers to store distributed data.
- a method for marking a road surface which is characterized in that it comprises:
- the information of each vertex can be collected according to both sides of the road surface (relative to the drivable direction), refer to FIG. 1.
- the information of the vertex includes global positioning information (GPS coordinates), or coordinates relative to the origin of a certain coordinate system.
- the vertex information can be collected from the vertex on one side until it returns to the original vertex after a circle, refer to FIG. 2.
- the collection interval of the vertices can have many kinds, which can be 0.1 m, 1 m, 10 m, 20 m, 50 m, etc., or customize according to needs.
- the minimum height can be used to constrain the height of the road section polygon, or the minimum height can be separately stored as road marking information.
- the road marking information may have a type of node that does not preferentially select driving to represent situations such as dirt roads and small roads.
- the height of the road surface information where the sky is the height limit can be set to 1000 meters.
- the road marking information of the current road section can be cut off when the road forks, and two new road marking information are created on the two road sections respectively. Refer to FIG. 3 for the style.
- the polygons of each road marking information may overlap or intersect.
- the method of dividing the target area (the area marked with road information by the method of the present invention) into a grid can be a square grid (seeing from the top view), and the square grid can be It is spread out equally in size, for example, a square grid with a radius of 100 kilometers or 10 kilometers or 1 kilometers.
- the corresponding grid (the container to which it belongs) can be found for storage according to the coordinate area or the global positioning information area of the road marking information.
- the road surface information data can be distributed and stored in different servers according to regions or grids.
- a data request relay server can be used to check the data according to the regions and grids. The request to retrieve road information is distributed.
- multiple servers can store the same information for certain key areas or grids.
- load balancing servers can be used to distribute the amount of requests for retrieving road surface information.
- the load balancing server may dynamically allocate the current retrieval task according to the retrieval amount shared by the sub-servers.
- all road surface information data can be stored in a file or a folder.
- the target area may be divided into different files for storage.
- each grid in a target area can be divided into different files for storage.
- each road marking information can also be stored as a file separately.
- Fig. 1 schematically shows a schematic diagram of a method for collecting vertices from both sides, top view.
- Fig. 2 schematically shows a schematic diagram of a style where the vertices are collected from one side to the end where the initial vertices are connected on the other side, top view.
- FIG. 3 schematically shows a schematic diagram of a disconnection of road surface information at a fork intersection, a top view.
- Fig. 4 schematically shows a schematic diagram of a method for dividing road surface information of various road sections at an intersection, a top view.
- Step 1 Select a section of road and collect the vertex information on the left side of the road.
- the vertex information is global positioning information or ⁇ and coordinate information (coordinate information is the coordinates relative to the origin of a certain coordinate system), and divide a road into the left
- the two logical containers on the side and the right side separately store the vertices on the left in the vertex storage container on the left, and store the vertex information on the right separately in the vertex storage container on the right, as shown in Figure 1.
- Step 2 After collecting the vertex information of the road surface information, set the type of the road surface information (such as single-lane, double-lane, types that cannot be driven, types that are not preferred, etc.), the maximum and minimum speed limits, Minimum height limit, containment box and other information.
- type of the road surface information such as single-lane, double-lane, types that cannot be driven, types that are not preferred, etc.
- the containment box (or containment rectangle or bounding box) of the road surface information can be obtained based on all vertices, and the calculation of this information (containing box) can be used to quickly determine overlap and intersection in the future.
- Step 3 Determine the area to belong to according to the containment box information of the pre-delimited area (usually a horizontal rectangle, the coordinates of the four corners are the information to determine the area range).
- a road surface information can belong to multiple areas, because the road surface information Sometimes it may be longer.
- Step 4 Determine whether the road surface information is in a certain grid according to the edge information of the grid in each area defined in advance (also the containment box of the horizontal plane or the containment rectangle). If there is a little overlap, it is considered to be in this grid. In the grid, the same method of judging is to determine whether the containment box (containing rectangle) of the road information and the containing box (containing rectangle) of the grid have an overlapping area. If there is an overlapping area (use two rectangles to determine whether there is overlap), then It can be determined that the road surface information also belongs to this grid.
- the details of the road surface information can be ignored here (that is, the overlap judgment is used to replace the judgment made by each vertex), because under normal circumstances, the grid will be relatively large and one
- the road surface information in the grid is usually not much (for example, usually no more than 10,000), so it is not very accurate to determine whether the vertex list (polygon) of the road surface information accurately overlaps the grid.
- Step 5 Store the road information in one area as a storage file or folder.
- Step 6 Store the road surface information in a grid as a storage file or folder.
- Step 1 Select a section of road, when collecting vertex information, start from one side and collect a circle of vertices until you return to the first vertex.
- the sequence can be clockwise to collect connected vertices, as shown in Figure 2. .
- Step 2 After collecting the vertex information of the road surface information, set the type of the road surface information (such as single-lane, double-lane, types that cannot be driven, types that are not prioritized, etc.), the maximum and minimum speed limits, Minimum height limit, containment box and other information.
- type of the road surface information such as single-lane, double-lane, types that cannot be driven, types that are not prioritized, etc.
- the containment box (or containment rectangle) of the road surface information can be obtained from all vertices, and the calculation of this information (containment box) can be used to quickly determine overlap and intersection in the future.
- Step 3 Determine the area to belong to according to the containment box information of the pre-delimited area (usually a horizontal rectangle, the coordinates of the four corners are the information to determine the area range).
- a road surface information can belong to multiple areas, because the road surface information Sometimes it may be longer.
- Step 4 Determine whether the road surface information is in a certain grid according to the edge information of the grid in each area defined in advance (also the containment box of the horizontal plane or the containment rectangle). If there is a little overlap, it is considered to be in this grid. In the grid, the same method of judging is to determine whether the containment box (containing rectangle) of the road information and the containing box (containing rectangle) of the grid have an overlapping area. If there is an overlapping area (use two rectangles to determine whether there is overlap), then It can be determined that the road surface information also belongs to this grid.
- the details of the road surface information can be ignored here (that is, the overlap judgment is used to replace the judgment made by each vertex), because under normal circumstances, the grid will be relatively large and one
- the road surface information in the grid is usually not much (for example, usually no more than 10,000), so it is not very accurate to determine whether the vertex list (polygon) of the road surface information accurately overlaps the grid.
- Step 5 Store the road information in one area as a storage file or folder.
- Step 6 Store the road surface information in a grid as a storage file or folder.
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Abstract
Description
Claims (6)
- 一种标记路面的方法,其特征在于,包括:A method for marking a road surface, which is characterized in that it comprises:将路面收集路面标记信息来进行标记;Collect road marking information to mark the road surface;将路面标记信息按照储存方式储存起来。Store the road marking information according to the storage method.
- 根据权利要求1所述的方法,其特征在于,“将路面收集路面标记信息来进行标记”,还包括:The method according to claim 1, characterized in that "collecting road marking information for marking the road surface" further comprises:类型的种类有单向可行驶的路面信息,双向可行驶的路面信息,不可以行车的路面信息,不优先选择行驶的路面信息;Types include road information that can be driven in one direction, road information that can be driven in two directions, road information that cannot be driven, and road surface information that is not preferentially selected for driving;每个标记信息还包含的数据是顶点或\和顶点的连接顺序;The data contained in each tag information is the connection sequence of vertices or \ and vertices;进一步地,顶点的坐标信息可以是全球定位坐标也可以是相对于某坐标系原点的坐标;Further, the coordinate information of the vertices may be global positioning coordinates or coordinates relative to the origin of a certain coordinate system;每个标记信息还包括最小和最大限速信息;Each tag information also includes minimum and maximum speed limit information;每个标记信息还包括高度限制信息;Each mark information also includes height restriction information;作为一种可选的实施方式,每个标记信息还可以包含自身所有顶点计算得到的包容盒信息。As an optional implementation manner, each tag information may also include containment box information calculated from all vertices of itself.
- 根据权利要求1所述的方法,其特征在于,“将路面标记信息按照储存方式储存起来”,还包括:The method according to claim 1, characterized in that "storing road marking information according to a storage method" further comprises:作为一种可选的实施方式,可以将数据全都储存到对应的目标区域的容器中;As an optional implementation manner, all the data can be stored in the container of the corresponding target area;作为一种可选的实施方式,可以将目标区域划分成格子,将设置好连接信息的路面标记的节点信息储存到此节点所在的格子对应的容器中;As an optional implementation manner, the target area may be divided into grids, and the node information of the road markings with the connection information set up is stored in the container corresponding to the grid where the node is located;进一步地,可以根据路面标记信息的坐标区域或全球定位信息区域来找到对应的格子来进行存储。Further, the corresponding grid can be found for storage according to the coordinate area of the road marking information or the global positioning information area.
- 一种标记路面的***,其特征在于,包括:A system for marking roads, which is characterized in that it comprises:计算机设备及储存介质,其特点是能够储存信息;Computer equipment and storage media are characterized by the ability to store information;作为一种可选的实施方式,可以将所有路面信息的数据储存在一个文件中或一个文件夹下;As an optional implementation, all road information data can be stored in a file or a folder;作为一种可选的实施方式,可以按照目标区域来划分成不同的文件来储存的;As an optional implementation, it can be divided into different files for storage according to the target area;作为一种可选的实施方式,可以按照一个目标区域中的每个格子来划分成不同的文件来储存的。As an optional implementation manner, each grid in a target area may be divided into different files for storage.
- 一种计算机可读写介质,其上存储有计算机程序和相关数据,其特征在于,A computer readable and writable medium on which computer programs and related data are stored, characterized in that:所述程序被处理器执行时实现本发明的相关计算功能和内容。When the program is executed by the processor, the relevant calculation function and content of the present invention are realized.
- 一种电子设备,其特征在于,包括:An electronic device, characterized in that it comprises:一个或多个处理器;One or more processors;存储装置,用于存储一个或多个程序。The storage device is used to store one or more programs.
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CN201911386932.3A CN113051282A (en) | 2019-12-29 | 2019-12-29 | Method and system for marking road surface |
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Citations (5)
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CN103186986A (en) * | 2011-12-31 | 2013-07-03 | 高德软件有限公司 | Method and device used for terminal to display road conditions, and equipment |
US20140267282A1 (en) * | 2013-03-14 | 2014-09-18 | Robert Bosch Gmbh | System And Method For Context Dependent Level Of Detail Adjustment For Navigation Maps And Systems |
CN104077326A (en) * | 2013-03-29 | 2014-10-01 | 北京图盟科技有限公司 | Road data processing method and device |
CN105488066A (en) * | 2014-09-19 | 2016-04-13 | 昆达电脑科技(昆山)有限公司 | Method for creating spatial data base and data structure product of creating spatial data base |
CN107480180A (en) * | 2017-07-05 | 2017-12-15 | 北京辰安信息科技有限公司 | The processing method of road data, road positioning method, apparatus and system |
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- 2019-12-29 CN CN201911386932.3A patent/CN113051282A/en active Pending
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- 2020-12-08 WO PCT/CN2020/134393 patent/WO2021135845A1/en active Application Filing
Patent Citations (5)
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CN103186986A (en) * | 2011-12-31 | 2013-07-03 | 高德软件有限公司 | Method and device used for terminal to display road conditions, and equipment |
US20140267282A1 (en) * | 2013-03-14 | 2014-09-18 | Robert Bosch Gmbh | System And Method For Context Dependent Level Of Detail Adjustment For Navigation Maps And Systems |
CN104077326A (en) * | 2013-03-29 | 2014-10-01 | 北京图盟科技有限公司 | Road data processing method and device |
CN105488066A (en) * | 2014-09-19 | 2016-04-13 | 昆达电脑科技(昆山)有限公司 | Method for creating spatial data base and data structure product of creating spatial data base |
CN107480180A (en) * | 2017-07-05 | 2017-12-15 | 北京辰安信息科技有限公司 | The processing method of road data, road positioning method, apparatus and system |
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