CN115406456A - Transverse deceleration marked line and pedestrian crossing data processing method and system - Google Patents

Abstract

The present invention provides a data processing method and system for lateral deceleration markings and pedestrian crossings. The processing method includes: screening out the data of lateral deceleration markings and pedestrian crossings that need to be repaired from high-precision data; Or the polygonal shape of the pedestrian crossing data, reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data; based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data, cut out the lateral deceleration markings and pedestrian crossings. The invention can solve the problem of incomplete lateral deceleration markings and pedestrian crossings when the car-end platform displays road information in the process of intelligent navigation assisted driving. This method can optimize and restore the complete shape of the horizontal deceleration markings and pedestrian crossings, improving the visual experience of the picture.

Description

A data processing method and system for lateral deceleration markings and pedestrian crossings

technical field

The invention relates to the field of high-precision map data, and more specifically, to a data processing method and system for lateral deceleration markings and pedestrian crossings.

Background technique

With the maturity of autonomous driving technology and the increasing popularity of intelligent navigation assisted driving, higher requirements are put forward for the display of lane information. When the map data collection vehicle scans and collects the lateral deceleration markings and pedestrian crossings on the road, if there are obstacles and obstructions on the lateral deceleration markings and pedestrian crossings, some data will be missing from the collected lateral deceleration markings and pedestrian crossings, and the shape will be irregular. .

Contents of the invention

Aiming at the technical problems existing in the prior art, the present invention provides a data processing method and system for lateral deceleration markings and pedestrian crossings.

According to a first aspect of the present invention, a method for processing data on lateral deceleration markings and pedestrian crossings is provided, including:

Select the data of lateral deceleration markings and pedestrian crossings that need to be repaired from high-precision data;

Reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired;

Based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data, the lateral deceleration markings and pedestrian crossings are cut out.

On the basis of the above technical solution, the present invention can also make the following improvements.

Optionally, the lateral deceleration marking data and crosswalk data that need to be repaired are selected from the high-precision data, including:

Collect high-precision data of national roads through map data collection vehicles;

Screen out the data of lateral deceleration markings and pedestrian crossings from the high-precision data;

Based on the number of vertices of the lateral deceleration markings or pedestrian crossing data, it is judged whether the lateral deceleration markings or pedestrian crossing data need to be repaired.

Optionally, the judging whether the lateral deceleration markings and pedestrian crossing data need to be repaired based on the number of vertices of the lateral deceleration markings or pedestrian crossing data includes:

If the number of vertices of the lateral deceleration markings or pedestrian crossing data is greater than four, the lateral deceleration markings or pedestrian crossing data need to be repaired.

Optionally, rebuilding the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired, including:

Obtain the longest side and the second longest side of the polygonal shape of the lateral deceleration marking data or pedestrian crossing data, and make a vertical line between the two sides;

Based on the polygonal shape and the vertical line, a complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data is reconstructed.

Optionally, cutting out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data includes:

The short side of the rectangular shape is cut with a first set step and width to obtain a lateral deceleration marking, and the long side of the rectangular shape is cut with a second set step and width to obtain a pedestrian crossing.

According to a second aspect of the present invention, a lateral deceleration marking and pedestrian crossing data processing system is provided, including:

The screening module is used to screen out the data of lateral deceleration markings and pedestrian crossings that need to be repaired from high-precision data;

A building block for reconstructing a complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired;

The cutting module is configured to cut out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data.

Optionally, the building module is used to reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired, including:

Obtain the longest side and the second longest side of the polygonal shape of the lateral deceleration marking data or pedestrian crossing data, and make a vertical line between the two sides;

Based on the polygonal shape and the vertical line, a complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data is reconstructed.

Optionally, the cutting module is configured to cut out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data, including:

The short side of the rectangular shape is cut with a first set step and width to obtain a lateral deceleration marking, and the long side of the rectangular shape is cut with a second set step and width to obtain a pedestrian crossing.

According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, and the processor is used to implement the steps of the data processing method for lateral deceleration markings and pedestrian crossings when executing computer management programs stored in the memory.

According to the fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management program is stored, and when the computer management program is executed by a processor, the steps of the data processing method for lateral deceleration markings and pedestrian crossings are realized .

The invention provides a data processing method and processing system for lateral deceleration markings and pedestrian crossings, which repairs the missing parts of lateral deceleration markings and pedestrian crossings, and processes them into normal rectangles; when displaying road data, the car-end platform will display complete The horizontal deceleration markings and pedestrian crossings conform to the state of the real road, and solve the problem that the vehicle-end platform displays road information in the process of intelligent navigation and assisted driving. The horizontal deceleration markings and pedestrian crossings are incomplete. This method can optimize and restore the complete shape of the horizontal deceleration markings and pedestrian crossings, improving the visual experience of the picture.

Description of drawings

Fig. 1 is a kind of flow chart of lateral deceleration marking and crosswalk data processing method provided by the present invention;

Fig. 2 is a schematic diagram of reconstructing a rectangular shape;

Figure 3 is a schematic diagram of the real-time display effect of the lateral deceleration marking;

Figure 4 is a schematic diagram of the real-time display effect of the pedestrian crossing;

Fig. 5 is a schematic structural diagram of a lateral deceleration marking and pedestrian crossing data processing system provided by the present invention;

FIG. 6 is a schematic diagram of a hardware structure of a possible electronic device provided by the present invention;

FIG. 7 is a schematic diagram of a hardware structure of a possible computer-readable storage medium provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In addition, the technical features in each embodiment or a single embodiment provided by the present invention can be combined arbitrarily with each other to form a feasible technical solution. This combination is not restricted by the sequence of steps and/or structural composition mode, but it must be Based on the ability of those skilled in the art to realize, when the combination of technical solutions is contradictory or unrealizable, it should be considered that such combination of technical solutions does not exist and is not within the protection scope of the present invention.

Fig. 1 is a kind of flow chart of lateral deceleration marking and crosswalk data processing method provided by the present invention, as shown in Fig. 1, this processing method mainly comprises the following steps:

S1, select the data of lateral deceleration markings and pedestrian crossings that need to be repaired from the high-precision data.

As an embodiment, the screening out the lateral deceleration marking data and crosswalk data that need to be repaired from the high-precision data includes: collecting high-precision data of roads across the country through a map data collection vehicle; Deceleration markings and pedestrian crossing data; based on the number of vertices of the lateral deceleration markings or pedestrian crossing data, it is judged whether the lateral deceleration markings or pedestrian crossing data need to be repaired.

The judging whether the lateral deceleration markings and pedestrian crossing data need to be repaired based on the number of vertices of the lateral deceleration markings or pedestrian crossing data includes: if the number of vertices of the lateral deceleration markings or pedestrian crossing data is greater than four , then the data of the lateral deceleration marking or pedestrian crossing needs to be repaired.

It is understandable that to obtain Class A surveying and mapping qualifications, the high-precision data of roads across the country are collected through map data collection vehicles, and the data of lateral deceleration markings and pedestrian crossings are screened out from the high-precision data.

For the filtered data of lateral deceleration markings and pedestrian crossings, some data of lateral deceleration markings and pedestrian crossings may be missing. For the missing data, supplementary repair is required to restore the shape of lateral deceleration markings and pedestrian crossings on the road.

Among them, the number of vertices of the lateral deceleration markings and pedestrian crossing data is judged. If the number of vertices is greater than four, it means that the graph is a polygon. In reality, the shape of the lateral deceleration markings and pedestrian crossings is a rectangle. Therefore, in high-precision data Horizontal deceleration markings or pedestrian crosswalks in polygonal shape are lateral deceleration markings and pedestrian crossings that need to be repaired.

S2. Based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired, reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data.

As an embodiment, the reconstruction of the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or the pedestrian crossing data that needs to be repaired includes: acquiring the lateral deceleration marking data or the pedestrian crossing The longest side and the second longest side of the polygonal shape of the data, and a vertical line is drawn between the two sides; based on the polygonal shape and the vertical line, the complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data is reconstructed.

It is understandable that if the data of lateral deceleration markings or pedestrian crossings needs to be repaired, the length of each side of the polygon is calculated at this time to obtain the longest side and the second longest side, based on the longest side and the second longest side, in the two Draw a vertical line between the two sides, use the direction angle and trigonometric functions to calculate the length of the vertical line, and reconstruct the rectangle based on the longest side, the second longest side and the vertical line.

Specifically, referring to Figure 2, the steps of reconstructing the rectangular shape include:

(1) The collected data is shown in the polygonal structure of ABCDE in Figure 2, ABCDE is sorted clockwise, and ABCDE is a point of latitude and longitude;

(2) According to the latitude and longitude of each point, the length of each side can be calculated and the second longest side BC and the longest side EA can be obtained;

(3) Make a vertical line EF from the longest side to the second longest side, and get point F on the extension line of BC;

(4) According to the latitude and longitude of point C and point E, the direction angle of CE and the length of CE can be calculated;

(5) Get the direction angle of CE and then get the size of ∠CEF;

(6) Knowing the length of the hypotenuse CE and the size of the included angle ∠CEF, the length of FE can be calculated by using trigonometric functions;

(7) At this time, the longitude and latitude of point F can be calculated by using the latitude and longitude of point E, the length of FE, and the deflection of 90 degrees at point E;

(8) Complete the above steps to calculate the four vertices ABFE of a new quadrilateral, i.e. the reconstructed rectangular shape.

S3, based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data, cutting out the lateral deceleration markings and the pedestrian crossing.

As an embodiment, the cutting out the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data includes: cutting the short side of the rectangular shape with the first set step length and width cutting to obtain a lateral deceleration marking, and cutting the long side of the rectangular shape with the second set step and width to obtain a pedestrian crossing.

It can be understood that after constructing the rectangular shape representing the lateral deceleration marking and pedestrian crossing, if the rectangular shape represents the lateral deceleration marking, the short side of the rectangular shape is cut to obtain the lateral deceleration marking. If the rectangular shape characterizes the crosswalk, then the long side of the rectangle is cut to get the crosswalk.

Specifically, please refer to FIG. 3 , which is a display effect diagram of the lateral deceleration markings. The short side of the rectangular shape is cut with the first set step and width to obtain the lateral deceleration markings. Wherein, the first setting step is the interval between two adjacent lateral deceleration markings, and the first setting width is the width of each lateral deceleration marking.

Similarly, referring to FIG. 4 , an effect diagram is shown for the crosswalk, and the long side of the rectangular shape is cut with the second set step and width to obtain the crosswalk. Wherein, the second set step length is the interval between two adjacent crosswalks, and the second set width is the width of each crosswalk.

Export and save the repaired lateral deceleration markings and pedestrian crossings.

Referring to Fig. 5, a data processing method and system for lateral deceleration markings and pedestrian crossings of the present invention are provided, the processing system includes a screening module 501, a building module 502 and a cutting module 503, wherein:

The screening module 501 is used to screen out the data of lateral deceleration markings and pedestrian crossing data that need to be repaired from the high-precision data; the construction module 502 is used to reconstruct the lateral deceleration marking data or the polygonal shape of the pedestrian crossing data based on the data of lateral deceleration markings or pedestrian crossing data that need to be repaired. The complete rectangular shape corresponding to the deceleration marking data or the pedestrian crossing data; the cutting module 503 is configured to cut out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data.

Wherein, the construction module 502 is used to reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired, including: obtaining the lateral deceleration marking The longest side and the second longest side of the polygonal shape of line data or crosswalk data, make a vertical line between the two sides; Full rectangular shape.

The cutting module 503 is configured to cut out the lateral deceleration markings and the pedestrian crossing based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data, including: using the first set step length and width to cut the short length of the rectangular shape The side is cut to obtain the lateral deceleration marking, and the long side of the rectangular shape is cut with the second set step length and width to obtain the pedestrian crossing.

It can be understood that a lateral deceleration marking and pedestrian crossing data processing system provided by the present invention corresponds to the lateral deceleration marking and pedestrian crossing data processing method provided in the foregoing embodiments, and the correlation between the lateral deceleration marking and pedestrian crossing data processing system For the technical features, please refer to the relevant technical features of the lateral deceleration markings and pedestrian crossing data processing methods, and will not be repeated here.

Please refer to FIG. 6 . FIG. 6 is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As shown in Figure 6, the embodiment of the present invention provides an electronic device 600, including a memory 610, a processor 620, and a computer program 611 stored in the memory 610 and operable on the processor 620, and the processor 620 executes the computer program At 611, the following steps are implemented: from the high-precision data, the lateral deceleration marking data and pedestrian crossing data that need to be repaired are screened out; based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired, the lateral deceleration marking data or pedestrian crossing is reconstructed The complete rectangular shape corresponding to the data; based on the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crosswalk data, the lateral deceleration marking lines and pedestrian crossings are cut out.

Please refer to FIG. 7, which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As shown in FIG. 7 , this embodiment provides a computer-readable storage medium 700, on which a computer program 711 is stored. When the computer program 711 is executed by a processor, the following steps are implemented: filter out high-precision data that needs to be repaired. The horizontal deceleration marking data and pedestrian crossing data; based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired, reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data; based on the lateral deceleration marking data or pedestrian crossing The complete rectangular shape corresponding to the data cuts out the lateral deceleration markings and pedestrian crossings.

The embodiment of the present invention provides a data processing method and processing system for lateral deceleration markings and pedestrian crossings, which repairs the missing parts of lateral deceleration markings and pedestrian crossings, and processes them into normal rectangles; when displaying road data, the car-end platform will Display complete lateral deceleration markings and pedestrian crossings, in line with the actual road conditions, and solve the problem of incomplete lateral deceleration markings and pedestrian crossings when the car-end platform displays road information in the process of intelligent navigation and assisted driving. This method can optimize and restore the complete shape of the horizontal deceleration markings and pedestrian crossings, improving the visual experience of the picture.

It should be noted that, in the foregoing embodiments, descriptions of each embodiment have their own emphases, and for parts that are not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce a machine for A device for realizing the functions specified in one or more procedures of a flowchart and/or one or more blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is understood. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.

Claims (10)

1. A lateral deceleration marking and pedestrian crossing data processing method, characterized in that it comprises: Select the data of lateral deceleration markings and pedestrian crossings that need to be repaired from high-precision data; Reconstruct the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired; Based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data, the lateral deceleration markings and pedestrian crossings are cut out. 2. The processing method according to claim 1, wherein the lateral deceleration marking data and crosswalk data that need to be repaired are screened out from the high-precision data, including: Collect high-precision data of national roads through map data collection vehicles; Screen out the data of lateral deceleration markings and pedestrian crossings from the high-precision data; Based on the number of vertices of the lateral deceleration markings or pedestrian crossing data, it is judged whether the lateral deceleration markings or pedestrian crossing data need to be repaired. 3. The processing method according to claim 2, wherein, based on the number of vertices of the lateral deceleration markings or pedestrian crossing data, judging whether the lateral deceleration markings and pedestrian crossing data need to be repaired comprises: If the number of vertices of the lateral deceleration markings or pedestrian crossing data is greater than four, the lateral deceleration markings or pedestrian crossing data need to be repaired. 4. The processing method according to claim 1, characterized in that, based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data to be repaired, the complete rectangular shape corresponding to the lateral deceleration marking data or pedestrian crossing data is reconstructed, include: Obtain the longest side and the second longest side of the polygonal shape of the lateral deceleration marking data or pedestrian crossing data, and make a vertical line between the two sides; Based on the polygonal shape and the vertical line, a complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data is reconstructed. 5. The processing method according to claim 1 or 4, characterized in that, cutting out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data includes: The short side of the rectangular shape is cut with a first set step and width to obtain a lateral deceleration marking, and the long side of the rectangular shape is cut with a second set step and width to obtain a pedestrian crossing. 6. A lateral deceleration marking and pedestrian crossing data processing system, characterized in that it comprises: The screening module is used to screen out the data of lateral deceleration markings and pedestrian crossings that need to be repaired from high-precision data; A building block for reconstructing a complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or pedestrian crossing data that needs to be repaired; The cutting module is configured to cut out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the pedestrian crossing data. 7. The processing system according to claim 6, wherein the construction module is configured to rebuild the corresponding horizontal deceleration marking data or pedestrian crossing data based on the polygonal shape of the lateral deceleration marking data or crosswalk data that needs to be repaired. The full rectangular shape of , including: Obtain the longest side and the second longest side of the polygonal shape of the lateral deceleration marking data or pedestrian crossing data, and make a vertical line between the two sides; Based on the polygonal shape and the vertical line, a complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data is reconstructed. 8. The processing system according to claim 6 or 7, wherein the cutting module is configured to cut out the lateral deceleration markings and pedestrian crossings based on the complete rectangular shape corresponding to the lateral deceleration marking data or the crosswalk data, including : The short side of the rectangular shape is cut with a first set step and width to obtain a lateral deceleration marking, and the long side of the rectangular shape is cut with a second set step and width to obtain a pedestrian crossing. 9. An electronic device, characterized in that it includes a memory and a processor, and the processor is used to implement the lateral deceleration markings and The steps of the pedestrian crossing data processing method. 10. A computer-readable storage medium, characterized in that a computer management program is stored thereon, and when the computer management program is executed by a processor, the lateral deceleration mark according to any one of claims 1-5 is realized. Steps for Line and Crosswalk approach.

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