WO2022011808A1 - 基于雷达的弯道绘制方法、装置、电子设备和存储介质 - Google Patents
基于雷达的弯道绘制方法、装置、电子设备和存储介质 Download PDFInfo
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- WO2022011808A1 WO2022011808A1 PCT/CN2020/113523 CN2020113523W WO2022011808A1 WO 2022011808 A1 WO2022011808 A1 WO 2022011808A1 CN 2020113523 W CN2020113523 W CN 2020113523W WO 2022011808 A1 WO2022011808 A1 WO 2022011808A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
Definitions
- the invention relates to curve drawing, in particular to an intelligent curve drawing method.
- the road alignment is formed by the combination of curves and straight lines. Whether the road alignment is coordinated has a great impact on the safety and smoothness of road traffic. A large number of traffic accidents are caused by unsafe road conditions or road environment, and unsafe road conditions are related to the coordination of road alignment. Especially when it comes to curves, the risk of accidents is relatively high, so the impact of road alignment on traffic safety cannot be ignored.
- the use of radar to draw lanes in a straight line only needs to know the length of the lane, the width of the lane and the center point of the lane, and the lane line can be generated through the connection between the four points, but this method cannot accurately draw the curve.
- Bezier curves are mathematical curves used in 2D graphics applications.
- a curve consists of a start point, an end point, and a control point (multiple).
- the purpose of the present invention is to provide a radar-based curve drawing method, which is used to solve the technical problem that the existing drawing methods cannot accurately perform curve drawing.
- the present invention proposes the following technical solutions:
- each vertical line takes one of the endpoints as the vertical foot, and the same point has one and only one vertical foot; the distance between each vertical line is Two coordinate points are determined at the position where the vertical foot is D/2, where D is the preset lane width;
- the starting point and the ending point of the curve detected by the radar are obtained, the starting point is one end in the driving direction of the curve and the midpoint of the most edge lane, and the ending point is the other side in the driving direction. the midpoint of the above lane at one end;
- start and end points of each curve other than the first drawn curve are obtained by the following methods:
- control points of the Bezier curve in the first drawn curve are manually added.
- control points of the Bezier curve in each curve other than the first drawn curve are obtained by the following methods:
- a connection is formed between every two points on the Bezier curve of an adjacent and completed curve, and the connection is translated along its own vertical direction by a distance D to form a new connection, and two new connections are formed.
- the intersection point is used as the new control point.
- points belonging to the lane line between the same adjacent curves are fitted, so that a lane line is formed between the adjacent curves.
- the method is performed in the radar coordinate system; the control points are adjusted so that the direction of the Bezier curve avoids the obstacles in the radar image.
- the origin of the radar coordinate system is taken as the starting point of the first drawn curve, and a point on the coordinate axis of the radar coordinate system is taken as the end point of the first drawn curve.
- Another aspect of the present invention provides a radar-based curve drawing device, comprising:
- the map obtaining module is used to obtain the map where the curve is located
- each curve drawing module includes a Bezier curve drawing module and a vertical line drawing module, wherein:
- Bezier curve drawing module draw the Bezier curve with the starting point and end point of the lane as the start point and end point respectively, add a number of control points between the start point and the end point, and adjust the control points to make the direction of the Bezier curve match that on the map.
- the direction of the curve is the same;
- the vertical line drawing module uses the connecting line of all adjacent two points on the Bezier curve as the vertical line, and each vertical line takes one of the endpoints as the vertical foot, and the same point has one and only one vertical foot; Two coordinate points are determined on the vertical line at a distance from the vertical foot to D/2, where D is the preset lane width;
- the coordinate point obtaining module is used to obtain the coordinates of the point on the Bezier curve and the coordinate points on both sides of the Bezier curve, so that the center line can be drawn on the road according to the coordinates of the point on the Bezier curve and the center line can be drawn according to the Bezier curve.
- the coordinate points on both sides of the curve are respectively connected to form lane lines.
- Another aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory and the processor are connected in communication with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the above method.
- Another aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the above method.
- the technical solution of the present invention provides a radar-based curve drawing method, the method obtains the overall contour of the curve through radar, and then determines the starting point and the end point of the two ends of the first drawn curve.
- the end point of the Bezier curve of the curve then add control points, adjust the control points to make the direction of the Bezier curve consistent with the direction of the road on the map, and then move to the vertical direction with the points on the Bezier curve
- Half the width of the lane forms points on the lane line, and then connects the corresponding points on the lane line to form the lane line;
- the control points of the remaining lanes form a connection line every two points on the Bezier curve of a previously drawn curve, Translate the connection line along its own vertical line by one lane width to form a new connection line, take the intersection of the new connection lines as the new control point, and then draw the current curve by referring to the first curve drawn. and the corners that follow.
- the curve drawn by the above method can achieve precise direction control through the control points, and can provide clear coordinates for each point on the curve to ensure the accuracy of the curve line position on the actual road.
- Fig. 1 is the schematic flow chart of the present invention
- FIG. 2 is a schematic diagram of a device module of the present invention
- Fig. 3 is the schematic diagram of the first drawn curve in the present invention.
- FIG. 4 is a schematic diagram of obtaining the control points of the second drawn curve in the present invention.
- the specific embodiment of the present invention is a scientific method proposed to solve the problem of affecting the driving safety due to the fact that the drawing process of the curve is an arc, and the drawing process greatly depends on the experience of the on-site drawing personnel, resulting in unevenness between the lanes.
- the curve drawing method of the invention can accurately obtain the specific coordinates of the drawing point by using this method, and complete the drawing of the arc according to the specific coordinates, so that the drawn curves are evenly distributed, which is conducive to ensuring driving safety.
- the core of the method of the invention is to rely on the Bezier curve to form the precise control of the curve direction through the control points of the curve, and then rely on mathematical translation and other relations to expand to realize the drawing of multiple lanes.
- the implementation of the present invention requires the use of radar scanning technology and an electronic map.
- the boundary point of the actual road is obtained through the radar scanning technology, and the coordinates of the necessary points are also provided as the boundary of the drawing curve, and the reference of the road direction can be provided through the electronic map. Drawing is more accurate.
- FIG. 1 it is a radar-based curve drawing method in a specific embodiment of the present invention, including the following steps:
- S101 Obtain a map where the curve is located.
- the map can show the direction of the overall road, which can be used as a reference for drawing curves later.
- adjust the actual irradiation direction of the radar so that the curve to be calibrated falls within the irradiation range of the radar.
- the location of the radar can be calibrated according to the latitude and longitude information in the map coordinate system, and the latitude and longitude information also provides the specific location coordinates of each location point obtained subsequently.
- the radar can detect the edge position of the lane, and the number of lanes and the width D of each lane are preset, the positions of the two end points of the center line of the most edge lane are calculated, that is, the determination of Obtain the starting point and end point of the curve detected by the radar, the starting point is one end of the curve in the driving direction and the midpoint of the most edge lane, and the end point is the other end of the above-mentioned driving direction.
- the above start and end points serve as the start and end points of the first drawn curve.
- the start and end points of other lanes can also be arbitrarily selected as the first drawn lane, and the Bezier curve of the lane can be formed as long as the start and end points of the corresponding lane are found by referring to the above method.
- control points of the Bezier curve in the first drawn curve are manually added, and the density of the addition can be performed as required.
- the start and end points for each curve other than the first drawn curve are obtained by:
- control points of the Bezier curve in each curve other than the first drawn curve are obtained by the following methods:
- a connection is formed between every two points on the Bezier curve of an adjacent and completed curve, and the connection is translated along its own vertical direction by a distance D to form a new connection, and two new connections are formed.
- the intersection point is used as the new control point.
- any two points on the Bezier curve are used to form connecting lines L1, L2, L1, L2 have intersection G, and L1, L2 are respectively along their own vertical direction. Shift the distance D in the direction of the next curve to be drawn to obtain L1' and L2' and their intersection H, thereby forming a control point H of the next curve to be drawn.
- a plurality of control points are formed, whereby a new Bezier curve can be obtained, and a second drawn lane is formed with reference to the previous first drawn lane.
- the method is performed in the radar coordinate system; the radar can simultaneously scan the obstacles in the actual road into the system, so it is necessary to adjust the control points so that the Bezier curve avoids the obstacles in the radar map.
- the adjusted Bezier curve and the formed lane can better avoid obstacles in the field, so that lane drawing is accurate and the safety factor is high.
- this embodiment provides a radar-based curve drawing device, including
- the map obtaining module is used to obtain the map where the curve is located.
- the curve drawing module is used to draw curves one by one.
- the drawing method of each curve is as follows:
- each vertical line takes one of the endpoints as the vertical foot, and the same point has one and only one vertical foot; the distance between each vertical line is Two coordinate points are determined at the position where the vertical foot is D/2, where D is the preset lane width.
- the coordinate point obtaining module is used to obtain the coordinates of the point on the Bezier curve and the coordinate points on both sides of the Bezier curve, so that the center line can be drawn on the road according to the coordinates of the point on the Bezier curve and the center line can be drawn according to the Bezier curve.
- the coordinate points on both sides of the curve are respectively connected to form lane lines.
- Another embodiment of the present invention discloses an electronic device, comprising a memory and a processor, wherein the memory and the processor are communicatively connected to each other, for example, connected by a bus or other means, the memory stores computer instructions, The processor executes the method for drawing a curve based on radar by executing the computer instructions.
- the processor is preferably, but not limited to, a central processing unit (Central Processing Unit, CPU).
- the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field Programmable Gate Array (Field Programmable Gate Array, FPGA) or other Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above types of chips.
- DSP Digital Signal Processor
- ASIC Application Specific Integrated Circuit
- FPGA Field Programmable Gate Array
- FPGA Field Programmable Gate Array
- the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the corresponding radar-based curve drawing method in the embodiment of the present invention.
- Program instructions/modules the processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, to implement a radar-based bending method in the above method embodiments. Road drawing method.
- the memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created by the processor, and the like.
- the memory is preferably, but not limited to, high-speed random access memory, for example, may also be non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device.
- the memory may also optionally include memory located remotely from the processor, such remote memory being connectable to the processor via 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 storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive) , abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memories.
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Abstract
一种基于雷达的弯道绘制方法、装置、电子设备和存储介质,通过获得弯道所在的地图(S101),逐条绘制弯道(S102):以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致(S1021);以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度(S1022);获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线(S103)。
Description
本发明涉及弯道的绘制,特别是一种智能化的弯道绘制方法。
近年来随着社会经济快速发展和人民生活水平的不断提高,我国汽车化进程不断加快。随着汽车保有量的增加、车流量的加大以及行车速度的提高,道路交通事故呈逐年上升的态势,特别是特大恶***通事故频繁的发生,给人民的生命财产和国民经济造成了巨大的损失。
汽车的行驶和道路线的绘制有密切的关系,道路线型由曲线和直线组合在一起形成的,道路线型是否协调对道路交通安全和畅通有很大的影响。大量的交通事故是由于不安全的道路条件或道路环境所造成的,而不安全的道路条件则与道路线型是否协调有关。尤其涉及弯道部分的时候,产生事故的风险相对较高,因此道路线型对交通安全的影响不可忽视。
目前采用雷达参与直线绘制车道中只需要知道车道长度和车道宽度和车道中心点,通过四点之间的连线就可以生成车道线,但是往往这种方法无法准确地绘制出弯道。
贝塞尔曲线是应用于二维图形应用程序的数学曲线。在二维坐标系中,曲线由起始点、终止点、控制点(可多个)。移动起始/终止端点时可以改变曲线的曲率(弯曲程度),移动控制点,曲线在起始、终止端点锁定的情况下做均匀运动,从而贝塞尔曲线的形状会发生变化。
发明内容
本发明目的在于提供一种基于雷达的弯道绘制方法,用于解决现有的绘制方法无法准确地进行弯道绘制的技术问题。
为达成上述目的,本发明提出如下技术方案:
基于雷达的弯道绘制方法,
获得弯道所在的地图;
逐条绘制弯道,其中每条弯道的绘制方法如下:
以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致;
以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度;
获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线。
进一步的,在本发明中,获得雷达检测到的弯道的起点和终点,所述起点为弯道行车方向上的一端且最边缘一道车道的中点,所述终点为上述行车方向上的另一端上述车道的中点;
将上述起点和终点作为第一条绘制的弯道的起点和终点。
进一步的,在本发明中,对于第一条绘制的弯道以外的其他每条弯道的起点和终点通过以下方式获得:
沿相邻的且完成绘制的一条弯道的起点所在的垂线上距离该起点为D的位置确定新起点,沿所述相邻的且完成绘制的一条弯道的终点所在的垂线上距离该终点为D的位置确定新终点,所述新起点和新终点相对于所述的且完成绘制的一条弯道的贝塞尔曲线位于同侧;所述新起点和新终点分别为当前所绘制的弯道的贝塞尔曲线的起始点和终止点。
进一步的,在本发明中,对于第一条绘制的弯道中的贝塞尔曲线的控制点手动添加。
进一步的,在本发明中,对于第一条绘制的弯道以外的其他每条弯道中的 贝塞尔曲线的控制点通过以下方式获得:
在相邻的且完成绘制的一条弯道的贝塞尔曲线上每两点形成连线,将连线沿其自身的垂线方向平移距离D形成新的连线,将两两新的连线的交点作为新控制点。
进一步的,在本发明中,拟合属于同一相邻弯道之间的车道线上的点,以使在相邻弯道之间形成一条车道线。
进一步的,在本发明中,本方法在雷达坐标系中进行;调整控制点,使得贝塞尔曲线的走向避让雷达图中的障碍物。
进一步的,在本发明中,以雷达坐标系的原点作为第一条绘制的弯道的起点,以雷达坐标系的坐标轴上的一个点作为第一条绘制的弯道的终点。
本发明的另一方面,提供一种基于雷达的弯道绘制装置,包括
地图获得模块,用于获得弯道所在的地图;
弯道绘制模块,用于逐条绘制弯道,其中每个弯道绘制模块包括贝塞尔曲线绘制模块和垂线绘制模块组成,其中:
贝塞尔曲线绘制模块,以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致;
垂线绘制模块,以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度;
坐标点获得模块,用于获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线。
本发明的另一方面,提供一种电子设备,包括存储器和处理器,所述存储器和所述处理器之间互相通信连接,所述存储器中存储有计算机指令,所述处理器通过执行所述计算机指令,从而执行上述方法。
本发明的另一方面,提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机指令,所述计算机指令用于使所述计算机执行上述方法。
由以上技术方案可知,本发明的技术方案提供了一种基于雷达的弯道绘制方法,该方法通过雷达获得弯道的整体轮廓,然后定出第一条绘制的弯道的两端的起点和终点作为该弯道的贝塞尔曲线的端点,接着添加控制点,通过调整控制点使得贝塞尔曲线的走向与地图上的道路走向一致,然后以贝塞尔曲线上的点向垂线方向移动半个车道宽度形成车道线上的点,接着连接对应的车道线上的点形成车道线;其余车道的控制点以前一个已完成绘制的弯道的贝塞尔曲线上每两点形成连线,将连线沿其自身的垂线方向平移距离一个车道宽度形成新的连线,将两两新的连线的交点作为新控制点,接着参照第一条绘制的弯道的方式绘制当前弯道以及之后的弯道。
由上述方法绘制的弯道,通过控制点可以实现精确的走向控制,对于每个弯道上的点可以提供明确的坐标,保证实际道路上弯道线位置的准确性。
应当理解,前述构思以及在下面更加详细地描述的额外构思的所有组合只要在这样的构思不相互矛盾的情况下都可以被视为本公开的发明主题的一部分。
结合附图从下面的描述中可以更加全面地理解本发明教导的前述和其他方面、实施例和特征。本发明的其他附加方面例如示例性实施方式的特征和/或有益效果将在下面的描述中显见,或通过根据本发明教导的具体实施方式的实践中得知。
附图不意在按比例绘制。在附图中,在各个图中示出的每个相同或近似相同的组成部分可以用相同的标号表示。为了清晰起见,在每个图中,并非每个组成部分均被标记。现在,将通过例子并参考附图来描述本发明的各个方面的 实施例,其中:
图1为本发明的流程示意图;
图2为本发明的装置模块示意图;
图3为本发明中第一条绘制的弯道的示意图;
图4为本发明中获得第二条绘制的弯道的控制点的示意图。
为了更了解本发明的技术内容,特举具体实施例并配合所附图式说明如下。
在本公开中参照附图来描述本发明的各方面,附图中示出了许多说明的实施例。本公开的实施例不必定意在包括本发明的所有方面。应当理解,上面介绍的多种构思和实施例,以及下面更加详细地描述的那些构思和实施方式可以以很多方式中任意一种来实施,这是因为本发明所公开的构思和实施例并不限于任何实施方式。另外,本发明公开的一些方面可以单独使用,或者与本发明公开的其他方面的任何适当组合来使用。
本发明的具体实施例是针对弯道绘制时因为是弧线,绘制过程极大地依赖现场绘制人员的经验,导致各车道之间不均匀,从而带来影响行车安全的问题而提出的一种科学的弯道绘制方法,利用该方法能够准确地得到绘制点的具体坐标,根据具体的坐标完成弧线的绘制使得绘制出的弯道分布均匀,有利于保障行车安全。
本发明方法的核心是依靠贝塞尔曲线,通过曲线的控制点形成曲线走向的精确控制,然后还依靠数学平移等关系进行扩展,实现多条车道的绘制。
实施本发明需要用到雷达扫描技术和电子地图,通过雷达扫描技术获得实际道路的边界点,作为绘制弯道的界限同时也提供必要的点的坐标,通过电子地图可以提供道路走向的参考,使得绘制更加准确。
实施例1、
如图1所示,为本发明的具体实施例中的基于雷达的弯道绘制方法,包括以下步骤:
S101、获得弯道所在的地图。地图中能够呈现出整体道路的走向,能够作为之后绘制弯道的参考。另外,参照地图中道路分布情况,调整雷达实际的照射方向使得待标定的弯道落在雷达的照射范围内。可根据地图坐标系中的经纬度信息标定雷达所在位置,同时经纬度信息还提供了后续获得的各个位置点的具***置坐标。
S102、逐条绘制弯道,其中每条弯道的绘制方法如下:
S1021、以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致。由此,获得的贝塞尔曲线作为弯道的中心线。如图3所示,A点和B点分别为其中一个贝塞尔曲线相对应的起点和终点,贝塞尔曲线上具有若干个点,例如图中的C点和D点。
S1022、以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度。如图3所示,在贝塞尔曲线上,在CD两点之间还具有一H点,以H点与D点之间的连线做经过H点的垂线,距离垂足D/2的位置确定2个坐标点为C’和D’。参照上述方法,以贝塞尔曲线上起点和终点之间的两两点分别重复上述操作,例如,以B点和其相邻的点之间的线段做经过B点的垂线并能获得对应的E点和F点,如此每次做的垂线均经过离B点较近的一个点,直至A点和其相邻的点之间的线段分别做经过该线段两端点的垂线,其中经过A点的垂线上获得E1点和F1点。
S103、获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线。如图3所示,具体的坐标点可根据在雷达坐标系中的点与点之间的距离以及线段与坐标轴之间的夹角θ等参数计算获得。将贝塞尔曲线左右两侧的坐标点分别圆滑的连接起来,即得车道线。
在上述方法中,需首先选择第一条绘制的车道,尤其是该车道的起点和终点的位置的至关重要的。在本发明的实施例中,由于雷达可以检测到车道的边缘位置,并且预设了车道数量和每条车道的宽度D,那么计算得到最边缘车道的中心线的两个端点的位置,即确定获得雷达检测到的弯道的起点和终点,所述起点为弯道行车方向上的一端且最边缘一道车道的中点,所述终点为上述行车方向上的另一端上述车道的中点,将上述起点和终点作为第一条绘制的弯道的起点和终点。
在其他实施例中,也可以任意选择其他车道的起点和终点来作为第一条绘制车道,只要通过参照上述方法找到对应车道的起点和终点即可形成该车道的贝塞尔曲线。
其次,对于第一条绘制的弯道中的贝塞尔曲线的控制点通过手动添加,添加的密集程度可根据需要进行,密集程度越高,则控制越精确。
对于第一条绘制的弯道以外的其他每条弯道的起点和终点通过以下方式获得:
沿相邻的且完成绘制的一条弯道的起点所在的垂线上距离该起点为D的位置确定新起点,沿所述相邻的且完成绘制的一条弯道的终点所在的垂线上距离该终点为D的位置确定新终点,所述新起点和新终点相对于所述的且完成绘制的一条弯道的贝塞尔曲线位于同侧;所述新起点和新终点分别为当前所绘制的弯道的贝塞尔曲线的起始点和终止点。
如图4所示,以弯道的左边缘一道为第一条绘制的车道,以A点沿E1F1方向向其右侧移动D的距离至A’的位置作为第二条绘制的车道的起点,以B点沿EF方向向右侧移动D的距离至B’的位置作为第二条绘制的车道的终点。
进一步的,对于第一条绘制的弯道以外的其他每条弯道中的贝塞尔曲线的控制点通过以下方式获得:
在相邻的且完成绘制的一条弯道的贝塞尔曲线上每两点形成连线,将连线沿其自身的垂线方向平移距离D形成新的连线,将两两新的连线的交点作为新 控制点。
如图4所示,在第一条绘制的车道内,以贝塞尔曲线上的任意两点形成连线L1、L2,L1、L2具有交点G,分别将L1、L2沿自身的垂线方向向下一条待绘制的弯道方向平移距离D,得到L1’和L2’以及二者的交点H,由此形成下一条待绘制的弯道的一个控制点H。参照上述方法,形成多个控制点,由此,可以获得新的贝塞尔曲线,并参照之前的第一条绘制的车道形成第二条绘制的车道。
进一步的,在本发明实施例中,由于相邻的弯道之间的车道线会形成2次,例如在图4中F1、E点由第一条绘制的车道形成,F1’、E’点由第二条绘制的车道形成,所以需拟合属于同一相邻弯道之间的车道线上的点,以使在相邻弯道之间形成一条车道线。
更为优选的,本方法在雷达坐标系中进行;雷达可同时将实际道路中的障碍物扫描进入***,所以需要调整控制点,使得贝塞尔曲线的走向避让雷达图中的障碍物。由此,调整后的贝塞尔曲线以及形成的车道能够在现场较好地避开障碍物,使得车道绘制准确且安全系数高。
进一步的,在本发明的实施例赵红,由于运用了几何知识,所以为了计算方便,如图3和图4所示,以雷达坐标系的原点作为第一条绘制的弯道的起点,以雷达坐标系的坐标轴上的一个点作为第一条绘制的弯道的终点。
实施例2、
如图2所示,本实施例提供一种基于雷达的弯道绘制装置,包括
地图获得模块,用于获得弯道所在的地图。
弯道绘制模块,用于逐条绘制弯道,其中每条弯道的绘制方法如下:
以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致。
以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中 一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度。
坐标点获得模块,用于获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线。
实施例3、
本发明的另一个实施例公开一种电子设备,包括存储器和处理器,所述存储器和所述处理器之间互相通信连接,例如通过总线或者其他方式连接,所述存储器中存储有计算机指令,所述处理器通过执行所述计算机指令,从而执行所述一种基于雷达的弯道绘制方法。
处理器优选但不限于是中央处理器(Central Processing Unit,CPU)。例如,处理器还可以为其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现场可编程门阵列(FieldProgrammable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片,或者上述各类芯片的组合。
存储器作为一种非暂态计算机可读存储介质,可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块,如本发明实施例中的一种基于雷达的弯道绘制方法对应的程序指令/模块,处理器通过运行存储在存储器的非暂态软件程序、指令以及模块,从而执行处理器的各种功能应用以及数据处理,即实现上述方法实施例中的一种基于雷达的弯道绘制方法。
存储器可以包括存储程序区和存储数据区,其中,存储程序区可存储操作***、至少一个功能所需要的应用程序;存储数据区可存储处理器所创建的数据等。此外,存储器优选但不限于高速随机存取存储器,例如,还可以是非暂态存储器,例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中,存储器还可选包括相对于处理器远程设置的存储器,这些远程存储器可以通过网络连接至处理器。上述网络的实例包括但不限于互联 网、企业内部网、局域网、移动通信网及其组合。
本领域技术人员可以理解,实现上述实施例方法中的全部或部分流程,是可以通过计算机程序来指令相关的硬件来完成的程序,可存储于一计算机可读取存储介质中,该程序在执行时,可包括如上述各方法的实施例的流程。其中,存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)、随机存储记忆体(Random Access Memory,RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive,缩写:HDD)或固态硬盘(Solid-State Drive,SSD)等;存储介质还可以包括上述种类的存储器的组合。
虽然本发明已以较佳实施例揭露如上,然其并非用以限定本发明。本发明所属技术领域中具有通常知识者,在不脱离本发明的精神和范围内,当可作各种的更动与润饰。因此,本发明的保护范围当视权利要求书所界定者为准。
Claims (11)
- 基于雷达的弯道绘制方法,其特征在于:获得弯道所在的地图;逐条绘制弯道,其中每条弯道的绘制方法如下:以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致;以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度;获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线。
- 根据权利要求1所述的基于雷达的弯道绘制方法,其特征在于:获得雷达检测到的弯道的起点和终点,所述起点为弯道行车方向上的一端且最边缘一道车道的中点,所述终点为上述行车方向上的另一端上述车道的中点;将上述起点和终点作为第一条绘制的弯道的起点和终点。
- 根据权利要求2所述的基于雷达的弯道绘制方法,其特征在于:对于第一条绘制的弯道以外的其他每条弯道的起点和终点通过以下方式获得:沿相邻的且完成绘制的一条弯道的起点所在的垂线上距离该起点为D的位置确定新起点,沿所述相邻的且完成绘制的一条弯道的终点所在的垂线上距离该终点为D的位置确定新终点,所述新起点和新终点相对于所述的且完成绘制的一条弯道的贝塞尔曲线位于同侧;所述新起点和新终点分别为当前所绘制的弯道的贝塞尔曲线的起始点和终止点。
- 根据权利要求1所述的基于雷达的弯道绘制方法,其特征在于:对于第一条绘制的弯道中的贝塞尔曲线的控制点手动添加。
- 根据权利要求1所述的基于雷达的弯道绘制方法,其特征在于:对于第一条绘制的弯道以外的其他每条弯道中的贝塞尔曲线的控制点通过以下方式获得:在相邻的且完成绘制的一条弯道的贝塞尔曲线上每两点形成连线,将连线沿其自身的垂线方向平移距离D形成新的连线,将两两新的连线的交点作为新控制点。
- 根据权利要求1所述的基于雷达的弯道绘制方法,其特征在于:拟合属于同一相邻弯道之间的车道线上的点,以使在相邻弯道之间形成一条车道线。
- 根据权利要求2所述的基于雷达的弯道绘制方法,其特征在于:本方法在雷达坐标系中进行;调整控制点,使得贝塞尔曲线的走向避让雷达图中的障碍物。
- 根据权利要求7所述的基于雷达的弯道绘制方法,其特征在于:以雷达坐标系的原点作为第一条绘制的弯道的起点,以雷达坐标系的坐标轴上的一个点作为第一条绘制的弯道的终点。
- 基于雷达的弯道绘制装置,其特征在于:包括地图获得模块,用于获得弯道所在的地图;弯道绘制模块,用于逐条绘制弯道,其中每个弯道绘制模块包括贝塞尔曲线绘制模块和垂线绘制模块组成,其中:贝塞尔曲线绘制模块,以车道的起点和终点分别作为起始点和终止点绘制贝塞尔曲线,在起点和终点之间增加若干控制点,调整控制点使得贝塞尔曲线的走向与地图上弯道的走向一致;垂线绘制模块,以贝塞尔曲线上所有相邻的两点的连线分别作垂线,其中每条垂线以其中一个端点为垂足,同一点有且仅作一次垂足;在每条垂线上距离垂足为D/2的位置确定两个坐标点,所述D为预设的车道宽度;坐标点获得模块,用于获得贝塞尔曲线上点的坐标以及贝塞尔曲线两侧的坐标点,以使能够根据贝塞尔曲线上点的坐标在道路上绘制中心线以及根据贝塞尔曲线两侧的坐标点分别连线形成车道线。
- 一种电子设备,其特征在于,包括存储器和处理器,所述存储器和所述处理器之间互相通信连接,所述存储器中存储有计算机指令,所述处理器通过执行所述计算机指令,从而执行权利要求1-8任一项所述方法。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机指令,所述计算机指令用于使所述计算机执行权利要求1-8任一项方法。
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