CN111238502A

CN111238502A - Road map generation method, device and related system

Info

Publication number: CN111238502A
Application number: CN201811445885.0A
Authority: CN
Inventors: 赖克
Original assignee: Shenyang Mxnavi Co Ltd
Current assignee: Shenyang Mxnavi Co Ltd
Priority date: 2018-11-29
Filing date: 2018-11-29
Publication date: 2020-06-05
Anticipated expiration: 2038-11-29
Also published as: CN111238502B

Abstract

The invention discloses a road map generation method, a road map generation device and a related system. The method comprises the following steps: determining a road map area to be generated according to the current position information; acquiring all road segments of a road map area to be generated from map data; determining the position of each lane group unit of each road segment according to each road segment, and sequentially connecting the lanes of each lane group unit into a whole according to the traveling direction to obtain lane modeling data of the road segments; and obtaining map drawing data according to the lane modeling data, drawing, and generating a road map. When the road map is generated, the lanes of each lane group unit of the road segment of the road map area are connected into a whole, lane data of each lane group unit can be obtained, and the lane can be drawn when the map is drawn, so that the generated road map realizes lane-level map display, the map display fineness is improved, and lane information which is more in line with a real road is displayed.

Description

Road map generation method, device and related system

Technical Field

The invention relates to the technical field of navigation, in particular to a road map generation method, a road map generation device and a related system.

Background

When the map is displayed, the existing navigation map only displays basic single-line images of roads and navigation routes, but cannot display the lane condition of the roads, so that the display fineness of the roads is insufficient. With the rapid development of the automobile industry, automobile navigation systems become essential important links in the automobile driving assistance technology and the automatic driving technology. Since the navigation map does not realize accurate map display at the lane level of the road, when navigation is performed, which lane the vehicle is in at the current position and the route of which lane the vehicle should go cannot be obtained, and lane level navigation of the vehicle cannot be realized.

Disclosure of Invention

In view of the above, the present invention has been made to provide a road map generation method, apparatus and related system that overcome or at least partially address the above-mentioned problems.

In a first aspect, an embodiment of the present invention provides a road map generation method, including:

determining a road map area to be generated according to the current position information;

acquiring all road segments of a road map area to be generated from map data;

determining the position of each lane group unit of each road segment according to each road segment, and sequentially connecting the lanes of each lane group unit into a whole according to the traveling direction to obtain lane modeling data of the road segments;

and obtaining map drawing data according to the lane modeling data, drawing, and generating a road map.

In one embodiment, the map data may include geographical location information of individual lane group units of the road segment, from which the location of the individual lane group units is determined.

In one embodiment, the sequentially connecting the lanes of the lane group units into a whole according to the traveling direction may include:

and acquiring lane information of each lane group unit in the map data according to the traveling direction of each lane group unit of the road segment, sequentially matching lane lines of two adjacent lane group units, and connecting the matched lane lines.

In one embodiment, it may be that the lane information of the lane group unit includes start point information and end point information of a lane line;

the lane line to two adjacent lane group units matches in proper order, and the lane line that will match connects and includes: matching the end point information of each lane line of the previous lane group unit with the start point information of each lane line of the next lane group unit:

if the end point information of one lane line is only matched with the start point information of one lane line, the two lane lines are matched lane lines, and the matched lane lines are connected;

if the end point information of one lane line is matched with the start point information of at least two lane lines, increasing lanes of a next lane group unit, wherein the lane line of the previous lane group unit is a boundary lane line, at least two lane lines of the next lane group unit comprise a boundary lane line, the two boundary lane lines are matched lane lines, and connecting the two matched boundary lane lines;

if the end point information of at least two lane lines is matched with the start point information of one lane line, the lanes of the next lane group unit are reduced, the at least two lane lines of the previous lane group unit comprise a boundary lane line, the lane line of the next lane group unit is the boundary lane line, the two boundary lane lines are matched, and the matched two boundary lane lines are connected.

In one embodiment, the obtaining and drawing map drawing data from lane modeling data may include:

generating a starting edge line and a terminating edge line of a road line segment according to the lane modeling data;

according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the road line segment in the lane modeling data, a bottom surface graph of the road line segment is obtained through enclosing construction, bottom surface drawing data of the road line segment is generated, and the bottom surface of the road line segment is generated through drawing;

and acquiring shape points of each lane line of the road line segment in the lane modeling data, performing surfacing to generate lane line drawing data of the road line segment, and drawing the bottom surface of the road line segment to generate the lane line of the road line segment.

In an embodiment, the generating a start edge line and an end edge line of a road segment according to the lane modeling data may specifically include:

acquiring starting points of all lane lines of a starting lane group unit of a road segment in the lane modeling data and sequentially connecting the starting points to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the ending lane group unit of the road line segment in the lane modeling data, and sequentially connecting to obtain the ending edge line of the road line segment.

In one embodiment, the road map generation method may further include: when all road segments of a road map area to be generated are obtained from map data, judging whether the road segments are deviated road segments or not according to the attribute information of each lane group unit of each road segment; the lane group units are lane group units with attribute information of the lane group units containing multidirectional escaping information; if so,

determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; obtaining map drawing data of each lane of the deviated lane group unit and drawing the map, and generating a deviated lane group unit map;

determining the positions of all lane group units except the deviated lane group unit in the deviated road segment, and generating lane modeling data of all lane group units; and obtaining and drawing map drawing data of each lane group unit to generate a map of each lane group unit.

In one embodiment, the road map generation method may further include: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,

and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.

In one embodiment, the road map generation method may further include: acquiring lane guide information in attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring the shape point of the lane guide line in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.

In a second aspect, an embodiment of the present invention provides a road map generating apparatus, including:

the map area determining module is used for determining a road map area to be generated according to the current position information;

the acquisition module is used for acquiring all road segments of a road map area to be generated and each lane group unit of the road segments from the map data;

the modeling module is used for determining the positions of all lane group units of each road segment according to each road segment, and sequentially connecting the lanes of all the lane group units into a whole according to the traveling direction to obtain lane modeling data of the road segments;

and the map drawing module is used for obtaining map drawing data according to the lane modeling data and drawing to generate a road map.

In an embodiment, the modeling module is specifically configured to determine the location of each lane group unit according to the geographic location information of each lane group unit of the road segment in the map data.

In an embodiment, the modeling module is specifically configured to obtain lane information of each lane group unit in the map data according to a traveling direction of each lane group unit of the road segment, sequentially match lanes of each lane group unit, and connect lane lines of the matched lanes in each lane group unit.

the modeling module is specifically used for sequentially matching lane lines of two adjacent lane group units by adopting the following modes to connect the matched lane lines:

matching the end point information of each lane line of the previous lane group unit with the start point information of each lane line of the next lane group unit:

In one embodiment, the map drawing module is specifically configured to generate a start edge line and an end edge line of a road segment according to the lane modeling data;

In an embodiment, the map drawing module is specifically configured to obtain starting points of lane lines of a starting lane group unit of a road segment in the lane modeling data and sequentially connect the starting points to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the ending lane group unit of the road line segment in the lane modeling data, and sequentially connecting to obtain the ending edge line of the road line segment.

In one embodiment, the road map generation apparatus may further include: the first judgment module is used for judging whether the road segments are deviated road segments according to the attribute information of each lane group unit of each road segment when all the road segments of the road map area to be generated are obtained from the map data; the lane group units are lane group units with attribute information of the lane group units containing multidirectional escaping information; if so,

the modeling module is also used for determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; determining the positions of all lane group units except the deviated lane group unit in the deviated road segment, and generating lane modeling data of all lane group units;

the map drawing module is also used for obtaining and drawing map drawing data of each lane of the deviated lane group unit to generate a deviated lane group unit map; and obtaining and drawing map drawing data of all lane group units except the deviated lane group unit in the deviated road segment to generate a map of all lane group units.

In one embodiment, the road map generation apparatus may further include: the second judging module is used for judging whether each lane group unit is an intersection lane group unit or not according to the attribute information of each lane group unit of each road line segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,

the modeling module is also used for determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;

the map drawing module is also used for obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing the map drawing data to generate the intersection of the road map.

In one embodiment, the modeling module is further configured to obtain lane guide information in the attribute information of each lane group unit of each road segment, determine a position of a lane guide line on the lane group unit, and obtain a shape point of the lane guide line in the lane modeling data of the road segment;

the map drawing module is also used for obtaining the map drawing data of the lane guide line according to the shape point of the lane guide line and drawing the map drawing data to generate the lane guide line of the road map.

In a third aspect, an embodiment of the present invention provides a road map generation system, including:

the map storage server is used for storing map data;

the terminal equipment comprises any one of the road map generation devices and is used for generating and displaying a road map.

In a fourth aspect, an embodiment of the present invention provides a road map generation system, including:

a map generation server including any one of the above-described road map generation apparatuses, for storing map data and generating a road map;

and the terminal equipment is used for displaying the road map.

In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program for executing, by a processor, a road map generation method as described in any one of the above.

In a sixth aspect, an embodiment of the present invention provides a computer device, which includes a memory, a processor and a computer program stored in the memory and running on the processor, and when the processor executes the program, the processor implements the road map generation method as described in any one of the above.

The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:

according to the road map generation method provided by the embodiment of the invention, when the road map is generated, the lanes of each lane group unit of the road segment of the road map area are connected into a whole, so that the lane line data of each lane group unit can be obtained, and the lane line can be drawn when the map is drawn, so that the generated road map realizes lane-level map display, the map display fineness is improved, and the lane information which is more in line with the real road is displayed.

According to the road map generation method provided by the embodiment of the invention, when the road map is generated, the lanes of each lane group unit of the road segment in the road map area are connected into a whole, and then the map is drawn, and in the map drawing process, the map drawing data of the connected lane lines in the road segment and the road bottom surface of the road segment can be drawn at one time, so that the map drawing times are reduced, the map drawing is simple and convenient, and the map drawing efficiency is improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a flowchart of a road map generation method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the connection of lane group units of a lane segment according to an embodiment of the present invention;

FIG. 3 is a schematic view of a bottom pattern of the lane segment shown in FIG. 2;

FIG. 4 is a flowchart of another road map generation method according to an embodiment of the present invention;

fig. 5 is a flowchart of a third road map generation method according to an embodiment of the present invention;

fig. 6 is a flowchart of a fourth road map generation method according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a road map generation apparatus according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of another road map generation apparatus according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a road map generation system according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of another road map generation system according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In order to solve the problem of insufficient map display fineness in the prior art, the embodiment of the invention provides a road map generation method, a road map generation device and a related system.

Example one

An embodiment of the present invention provides a road map generation method, a flow of which is shown in fig. 1, and includes:

s101: determining a road map area to be generated according to the current position information;

s102: acquiring all road segments of a road map area to be generated from map data;

s103: determining the position of each lane group unit of each road segment according to each road segment, and sequentially connecting the lanes of each lane group unit into a whole according to the traveling direction to obtain lane modeling data of the road segments;

s104: and obtaining map drawing data according to the lane modeling data, drawing, and generating a road map.

The map data in the embodiment of the present invention may be collected in a standard data format, for example, nds (navigation data standard) format data, according to the collected original map data of the real road and Lane line, and the structure cache data (Lane Building Block) is obtained by data compiling. Specifically, in the data compiling process, the original map data may be divided into different road map areas according to blocks (Tile), each block includes a plurality of road segments (link), and each road segment is divided into at least two Lane Group units (Lane Group) according to the traveling Direction (Travel Direction). After the collected lane vector data and attribute information of the road are subjected to data compiling in the form of lane group units, the lane vector data and attribute information of each lane group unit of the road segment are stored in the structure cache data through data analysis. Each lane group unit has unique identification information, and the lane group units can be distinguished and searched according to the identification information of the lane group units. In a specific embodiment, the lane vector data may include Shape point data (Shape List) of lane lines and Shape point data of lane guide lines of each lane of the lane group unit, and the attribute information of the lane group unit may include geographical position information, lane information, Shape point attribute information (Boundary Element) of the lane lines, and lane center line Shape point information of the lane group unit.

In the embodiment of the present invention, the attribute information of a road segment includes Validity Range attribute information (Validity Range) of each lane group unit, the Validity Range attribute information of the lane group unit includes Start Position information (Start Position) and End Position information (End Position) of the lane group unit, and the Start point information and the End point information of the road segment described in the above embodiment are respectively Start Position information of the Start lane group unit and End Position information of the End lane group unit. The first lane group unit arranged in the road line segment according to the walking direction is a starting lane group unit, and the last lane group unit arranged in the road line segment according to the walking direction is a stopping lane group unit.

In some optional embodiments, the lane group unit attribute information includes geographic position information, and the position of each lane group unit is determined according to the geographic position information by acquiring the geographic position information of each lane group unit in the map data. The geographical location information may be coordinate information obtained through geodetic surveying and mapping, or positioning information obtained through positioning by a satellite positioning system such as a GPS positioning system, a beidou satellite navigation system, or a GLONASS system. The determination of the geographical location information of the lane group unit is not limited to the above method, and is not limited in the embodiment of the present invention.

In some optional embodiments, the sequentially connecting the lanes of the lane group units into a whole according to the traveling direction includes:

according to the traveling direction of each lane group unit on the road segment, acquiring lane information of each lane group unit in the map data, sequentially matching lane lines of two adjacent lane group units, and connecting the matched lane lines to enable the lanes of each lane group unit of the road segment to be connected into a whole according to the traveling direction.

Specifically, it may be that the lane information of the lane group unit includes start point information (SourceConnector ID) and end point information (Destination Connector ID) of the lane line; when data processing is carried out on each road segment to generate lane modeling data, attribute information of each lane group unit of the road segment is sequentially acquired according to the traveling direction to obtain starting point information and end point information of a lane line of each lane group unit, and the end point information of each lane line of the previous lane group unit is matched with the starting point information of each lane line of the next lane group unit:

Referring to fig. 2, three

lane group units

1, 2 and 3 are provided on a road segment, the lane group unit 1 has 5 lanes, the lane group unit 2 has 4 lanes, the lane group unit 3 has 5 lanes, the lane group units 1 to 3 are connected in a traveling direction, when the lane group unit 1 is connected to the

lane group unit

2, 1 lane is reduced on the left side of the road segment, and when the lane group unit 2 is connected to the

lane group unit

3, 1 lane is increased on the right side of the road segment. When the road segment is subjected to data processing to generate lane modeling data, sequentially acquiring attribute information of lane group units 1-3, positioning the positions of the lane group units 1-3 according to the geographical position information of the lane group units, and determining the boundaries of the road segment represented by each lane group unit; acquiring lane information of each lane of the lane group units 1-3, judging the number of lanes of a road section represented by each lane group unit and determining lane lines of each lane, and matching the lane lines of adjacent lane group units according to the starting point information and the ending point information of each lane line of each lane group unit in the lane information.

Since each lane of the road segment has a left lane line and a right lane line, when two or more lanes are included in the road segment, the lane lines between the adjacent two lanes are shared lane lines. In the embodiment of the present invention, a lane line located at a boundary of a lane line segment among lane lines is referred to as a boundary lane line, and a lane line located between two adjacent lanes is referred to as a shared lane line.

Specifically, referring to fig. 2, a lane line 1-1 and a lane line 1-6 of the lane group unit 1 are left and right boundary lane lines, respectively, and lane lines 1-2 to 1-5 are shared lane lines; the lane line 2-1 and the lane line 2-5 of the lane group unit 2 are respectively a left boundary lane line and a right boundary lane line, and the lane lines 2-2 to 2-4 are shared lane lines; the lane line 3-1 and the lane line 3-6 of the lane group unit 3 are the left boundary lane line and the right boundary lane line respectively, and the lane lines 3-2 to 3-5 are the shared lane lines. The end point information of the lane line 1-1 and the lane line 1-2 is matched with the start point information of the lane line 2-1, namely the end points of the lane line 1-1 and the lane line 1-2 correspond to the start point of the lane line 2-1, the lanes of the road line segment are reduced, at the moment, the lane line 1-1 of the lane group unit 1 and the lane line 2-1 of the lane group unit 2 are matched lane lines, the lane line 1-1 is connected with the lane line 2-1, and the lane line of the lane line 1-2 is not continued downwards any more. The end point information from the lane line 1-3 to the lane line 1-6 of the lane group unit 1 is respectively matched with the start point information from the lane line 2-2 to the lane line 2-5 of the lane group unit 2, namely the end point from the lane line 1-3 to the lane line 1-6 is respectively corresponding to the start point from the lane line 2-2 to the lane line 2-5, the lane line 1-3 to the lane line 1-6 is respectively matched with the lane line 2-2 to the lane line 2-5, and the lane line 1-3 to the lane line 1-6 is respectively connected with the lane line 2-2 to the lane line 2-5. The end point information of the lane line 2-5 of the lane group unit 2 is respectively matched with the start point information of the lane line 3-5 and the lane line 3-6 of the lane group unit 3, namely the end point of the lane line 2-5 is respectively corresponding to the end point of the lane line 3-5 and the end point of the lane line 3-6, the number of lanes of the lane line segment is increased, at the moment, the lane line 2-5 and the lane line 3-6 are matched lane lines, the lane line 2-5 is connected with the lane line 3-6, and the lane line 3-5 is not connected with any lane line of the lane group unit. The end point information of the lane line 2-1 to the lane line 2-4 of the lane group unit 2 is respectively matched with the start point information of the lane line 3-1 to the lane line 3-4 of the lane group unit 3, namely the end point of the lane line 2-1 to the lane line 2-4 is respectively corresponding to the start point of the lane line 3-1 to the lane line 3-4, the lane line 2-1 to the lane line 2-4 are respectively matched with the lane line 3-1 to the lane line 3-4, and the lane line 2-1 to the lane line 2-4 are respectively connected with the lane line 3-1 to the lane line 3-4. While each lane line of a road segment is connected, shape point attribute information corresponding to the lane line is collected and stored in lane modeling data. In the embodiment of the present invention, the shape point attribute information (Boundary Element) of the lane line may be shape point attribute information of the lane line being a white solid line, a long broken line, a short broken line, a double yellow line, or a tidal lane.

In some optional embodiments, after obtaining the lane modeling data, obtaining and drawing map drawing data according to the lane modeling data includes:

In a specific embodiment, the generating a start edge line and an end edge line of a road line segment according to the lane modeling data specifically includes:

In a specific embodiment, the generating bottom surface drawing data of the road segment includes:

triangulating the bottom surface graph of the road line segment to obtain vertexes of a plurality of triangles, and obtaining bottom surface drawing data of the road line segment consisting of the vertexes of the triangles;

and (4) aiming at each triangle in the bottom surface drawing data of the road line segment, obtaining the vertex of the triangle and drawing to obtain the bottom surface of the road line segment.

In a specific embodiment, the acquiring and surfacing shape points of each lane line of a road segment in the lane modeling data, and generating lane line drawing data of the road segment includes:

and acquiring shape points of each lane line of the lane segments in the lane modeling data, surfacing the shape point data of the lane lines according to the line width information of each lane line, generating a wide line graph of the lane lines, and obtaining the lane line drawing data of the lane segments.

Acquiring and sequentially connecting a lane line 1-1 of a starting lane group unit 1 of the road segment to a starting point of a lane line 1-6 in the lane modeling data of the road segment shown in fig. 2 to obtain a starting edge line of the road segment; the end points of the lane lines 3-1 to 3-6 of the ending lane group unit 3 of the road segment in the lane modeling data of the road segment shown in fig. 2 are obtained and connected in sequence to obtain the ending edge line of the road segment.

Boundary lane line information in the lane modeling data of the road segment shown in fig. 2, namely a left boundary lane line formed by connecting the lane line 1-1, the lane line 2-1 and the lane line 3-1, and a right boundary lane line formed by connecting the lane line 1-6, the lane line 2-5 and the lane line 3-6, is obtained, bottom surface surrounding of the road segment is performed, and a bottom surface graph of the road segment shown in fig. 3 is obtained, wherein the bottom surface graph is surrounded by the start edge line and the end edge line of the road segment and the left boundary lane line and the right boundary lane line of the road segment.

The bottom surface graph of the road line segment shown in fig. 3 is triangulated to obtain a plurality of vertices of triangles, and bottom surface rendering data of the road line segment composed of the vertices of the triangles is obtained. Specifically, the bottom surface graph of the road line segment may be subdivided by using a polygon triangulation algorithm in the prior art, vertices of a plurality of triangles of the subdivided bottom surface graph may be obtained, and bottom surface map drawing data of the road line segment including a plurality of pieces of information such as vertex positions, reference points, vectors, and color information may be acquired. And (4) aiming at each triangle in the bottom surface drawing data of the road line segment, obtaining the vertex of the triangle and drawing to obtain the bottom surface of the road line segment. The specific implementation of triangulation processing on the bottom surface graph of the road line segment may refer to the method in the prior art, and the embodiment of the present invention is not limited thereto.

The method includes the steps of acquiring shape points of each lane line of a road segment in lane modeling data while or after generating bottom surface map drawing data of the road segment, and generating wide line graphics of the lane line, namely lane line map drawing data, by surfacing the shape point data of the lane line according to line width information of each lane line. In the embodiment of the present invention, a concrete implementation manner of generating wide-line graphic data capable of covering a texture picture by performing surfacing processing on a lane line through a line surfacing algorithm may refer to a method in the prior art, which is not limited herein.

In the process of drawing the map, map drawing data of the bottom surface of the road line segment can be obtained firstly to generate the bottom surface of the road line segment; and then acquiring the lane line map drawing data, and generating the lane line of the road line segment on the bottom surface of the generated road line segment.

In the embodiment of the present invention, when a map is drawn, an OpenGL drawing technique or other map drawing techniques in the prior art may be used, which is not limited herein.

In some optional embodiments, referring to fig. 4, the road map generation method further includes:

s105: when all road segments of a road map area to be generated are obtained from map data, judging whether the road segments are deviated road segments or not according to the attribute information of each lane group unit of each road segment; the lane group units are lane group units with attribute information of the lane group units containing multidirectional escaping information; if so,

s106: determining the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; obtaining map drawing data of each lane of the deviated lane group unit and drawing the map, and generating a deviated lane group unit map;

Because the real road in reality does not continue downwards along the traveling direction all the time, other roads, such as ramps of an expressway, can extend from a specific position of one road, or one road continues downwards along the traveling direction and is combined with other roads into one road at the specific position. In the embodiment of the invention, the condition that one road extends out of other roads is called divergence (split), the condition that one road and the other roads are combined into one road is called merge (merge), and the information of divergence or combination of the collected roads is called multi-directional emergence information when the map data is collected. When the road map is generated, the lane group unit containing the multi-directional departure information in the attribute information of the lane group unit of the road segment is called a departing lane group unit, and the road segment containing the departing lane group unit is called a departing road segment. When a map is drawn, each lane group unit of a deviated road segment needs to be drawn independently, and the deviated lane group unit is drawn according to lanes.

When all road segments of a road map area to be generated are obtained from map data, after the attribute information of each lane group unit of a road segment is obtained, whether the attribute information of each lane group unit of the road segment contains multi-directional drop-out information or not can be judged, and if the attribute information of each lane group unit of one road segment does not contain multi-directional drop-out information, the road map is generated by adopting the method described in the embodiment. If the attribute information of a certain lane group unit of a road segment contains multi-direction departure information, the lane group unit is a departing lane group unit, the road segment is a departing road segment, lane group units of the departing road segment need to be drawn independently, lane modeling data are generated for the departing lane group unit according to lanes, map drawing data of the departing lane group unit are obtained and drawn, lane modeling data are generated for other lane group units except the departing lane group unit according to the lane group unit, map drawing data of the lane group unit are obtained and drawn, the map drawing data of the departing lane group unit of the road segment and the map drawing data of other lane group units are drawn, and a map of the departing road segment is obtained.

Specifically, in the embodiment of the present invention, referring to fig. 4, after step S102 of the above embodiment is executed, step S105 may be executed first, and if there is no lane group unit that is out of lane group units of a certain road segment, step S103 may be executed; if the lane group unit of a certain route segment includes a deviated lane group unit, step S106 is executed. Specifically, the position of the deviated lane group unit is determined, and lane modeling data of the deviated lane group unit is generated according to the lane vector data and the attribute information of the deviated lane group unit; acquiring lane lines of all lanes in lane modeling data of a separated lane group unit, performing bottom surface surrounding of all lanes to obtain bottom surface graphs of all lanes, and performing triangulation to obtain bottom surface map drawing data of all lanes; performing surface processing on the shape points of the lane lines of each lane of the deviated lane group unit to obtain lane line map drawing data of each lane of the deviated lane group unit; drawing bottom map drawing data of each lane of the deviated lane group unit to generate the bottom of the deviated lane group unit; and drawing the lane lines of the deviated lane group unit on the bottom surface of the deviated lane group unit, generating the lane lines of each lane of the deviated lane group unit, and obtaining a deviated lane group unit map.

Determining the positions of all lane group units except the deviated lane group unit in the deviated road segment, and acquiring the lane vector data and the attribute information of all the lane group units in the map data according to the traveling direction of all the lane group units of the deviated road segment to obtain the lane modeling data of the lane group units. Acquiring a starting point and a terminal point of each lane line in lane modeling data of a lane group unit, and sequentially connecting the starting points of the lane lines of the lane group unit to obtain a starting edge line of the lane group unit; sequentially connecting the end points of all lane lines of the lane group unit to obtain a termination edge line of the lane group unit; according to the starting edge line, the ending edge line and the left boundary lane line and the right boundary lane line of the lane group unit in the lane modeling data, a bottom surface graph of the lane group unit is obtained through enclosing construction, triangulation is carried out on the bottom surface graph of the lane group unit to obtain vertexes of a plurality of triangles, and bottom surface drawing data of the lane group unit consisting of the vertexes of the triangles is obtained; drawing each triangle in the data aiming at the bottom surface of the lane group unit, obtaining the vertex of the triangle and drawing to obtain the bottom surface of the lane group unit; and acquiring shape points of each lane line of the lane group unit in the lane modeling data, surfacing the shape point data of the lane line according to the line width information of each lane line to generate a wide line graph of the lane line, and drawing the lane line drawing data of the lane group unit on the bottom surface of the lane group unit to generate the lane line of the lane group unit.

In some optional embodiments, referring to fig. 5, the road map generation method further includes:

s107: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,

s108: and determining the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit, and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing to generate the intersection of the road map.

Because the lane of the real road Has a certain width in reality, when map data is collected, the center line of the lane is used as a virtual line to collect the shape point information of the lane center line, and the shape point information of the lane center line is called as the shape point information (Has Geometry) of the lane center line. When different roads are intersected, intersections of different forms such as crossroads, Y-shaped intersections or T-shaped intersections can occur, when map data are collected, because no Lane center line exists in the intersections, the shape point information of the Lane center line can not be collected, when structure cache data are generated, the intersections of the roads are used as independent Lane Group units called intersection Lane Group units (intersection Lane Group), and in the data compiling process, the shape information of the intersection Lane Group units can be stored in advance. In the road map generation process, when a map is drawn, intersection lane group units are required to draw independently.

When all road segments of a road map area to be generated are obtained from map data, after the attribute information of each lane group unit of a road segment is obtained, whether each lane group unit attribute information in the road segment contains lane center line shape point information or not can be judged, and if the attribute information of each lane group unit of one road segment contains lane center line shape point information, the road map is generated by adopting the method described in the embodiment. If the attribute information of a certain lane group unit of a road segment does not contain the information of the shape point of the lane line, the lane group unit is an intersection lane group unit, and the intersection lane group unit needs to be drawn independently. Specifically, in the embodiment of the present invention, referring to fig. 5, after step S102 of the above embodiment is executed, step S107 may be executed first, and if there is no intersection lane group unit in the lane group unit of a certain road segment, step S103 may be executed; if the lane group unit of a certain route segment comprises an intersection lane group unit, step S108 is executed, the position of the intersection lane group unit is determined, modeling data of the intersection lane group unit is obtained, and map drawing data of the intersection is obtained and drawn according to the modeling data of the intersection lane group unit. And when the modeling data of the intersection lane group unit is obtained, the shape information of the intersection lane group unit is obtained, the bottom graph of the intersection lane group unit is obtained according to the shape information of the intersection, and the data processing is carried out on the bottom graph to obtain the map drawing data of the intersection. The data processing process of the bottom surface graph of the intersection lane group unit may refer to the method in the foregoing embodiment, and details are not described herein.

In some optional embodiments, when acquiring all road segments of a road map area to be generated from map data, after acquiring attribute information of each lane group unit of a road segment, and when judging that the road segments contain intersection lane group units, in the road map generation process, map drawing data can be obtained and drawn according to lane modeling data of the road segments obtained by other lane group units except the intersection lane group units; and obtaining map drawing data of the intersection according to the modeling data of the intersection lane group unit and drawing. When the map is drawn on the intersection lane group unit, the road surface is pressed at the joint of the intersection lane group unit and the adjacent lane group unit, specifically, when the surface drawing processing is performed on the edge line of the intersection according to the shape information of the intersection lane group unit, the shape surface of the edge line of the intersection is drawn into an arc line.

In some alternative embodiments, there may be lanes with lane guide lines, such as turning arrows, stop lines, pedestrian crossing lines, etc., that identify road traffic indicating information, due to the real road in reality. At the time of map data collection, the information of the lane guide line of the collected road is referred to as lane guide information. When generating a road map, it is necessary to draw a lane guide line on a lane.

In some optional embodiments, referring to fig. 6, the road map generation method further includes:

s109: acquiring lane guide information in the attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring a lane guide line shape point in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.

In the embodiment of the present invention, when all road segments of a road map area to be generated are acquired from map data, after attribute information of each lane group unit of a road segment is acquired, it can be determined whether the attribute information of each lane group unit of a road segment includes lane guide information of a car marking guide line, and if the attribute information of a certain lane group unit of a road segment includes lane guide information, the lane guide line is drawn. Specifically, the position of the lane guide line in the lane group unit of the road segment may be determined, the shape point of the lane guide line may be acquired, the shape point data of the lane guide line may be drawn according to the line width information of the lane guide line, a wide line pattern of the lane guide line may be generated, map drawing data of the lane guide line may be obtained, the drawing data of the lane guide line may be drawn, and the lane guide line of the road map may be generated.

Example two

Based on the same inventive concept, an embodiment of the present invention further provides a road map generating device, which may be disposed in a navigation server or a navigation terminal, and the structure of the device is as shown in fig. 7, including:

the map area determining module 101 is configured to determine a road map area to be generated according to the current position information;

the acquisition module 102 is configured to acquire all road segments of a road map area to be generated and each lane group unit of the road segments from map data;

the modeling module 103 is used for determining the positions of the lane group units of each road segment according to each road segment, and sequentially connecting the lanes of the lane group units into a whole according to the traveling direction to obtain lane modeling data of the road segment;

and the map drawing module 104 is used for obtaining map drawing data according to the lane modeling data and drawing the map drawing data to generate a road map.

The implementation of the road map generation apparatus provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the detailed implementation may refer to the description of the road map generation method in the above embodiment, and therefore, the detailed description is omitted here.

The road map generation device provided by the embodiment of the invention can acquire the lane line data of each lane group unit by connecting the lanes of each lane group unit of the road segment of the road map area into a whole when generating the road map, and can draw the lane line when drawing the map, so that the generated road map realizes the map display at the lane level, the map display fineness is improved, and the lane information more conforming to the real road is displayed.

The road map generation device provided by the embodiment of the invention is used for drawing a map by connecting the lanes of each lane group unit of the road segment of the road map area into a whole when generating the road map, and can draw the map drawing data of the connected lane lines of the road segment and the road segment at one time in the map drawing process, thereby reducing the map drawing times, being simple and convenient in map drawing and improving the map drawing efficiency.

In some optional embodiments, the modeling module 103 is specifically configured to determine the location of each lane group unit according to the geographic location information of each lane group unit of the road segment in the map data.

In some optional embodiments, the modeling module 103 is specifically configured to obtain lane information of each lane group unit in the map data according to a traveling direction of each lane group unit of the road segment, sequentially match lanes of each lane group unit, and connect lane lines of the matched lanes in each lane group unit.

In some optional embodiments, the lane information of the lane group unit includes start point information and end point information of a lane line;

the modeling module 103 is specifically configured to match lane lines of two adjacent lane group units in sequence by using the following method, and connect the matched lane lines:

In some optional embodiments, the map drawing module 104 is specifically configured to generate a start edge line and an end edge line of a road segment according to the lane modeling data;

In some optional embodiments, the map drawing module 104 is specifically configured to obtain starting points of lane lines of a starting lane group unit of a road segment in the lane modeling data and sequentially connect the starting points to obtain a starting edge line of the road segment; and acquiring the end points of all lane lines of the ending lane group unit of the road line segment in the lane modeling data, and sequentially connecting to obtain the ending edge line of the road line segment.

In some optional embodiments, referring to fig. 8, the road map generating apparatus further includes a first determining module 105, configured to determine whether a road segment is a broken-out road segment according to attribute information of each lane group unit of each road segment when all road segments of a road map area to be generated are acquired from map data; the lane group units are lane group units with attribute information of the lane group units containing multidirectional escaping information; if so,

the modeling module 103 is further configured to determine the position of the deviated lane group unit to obtain lane modeling data of the deviated lane group unit; determining the positions of all lane group units except the deviated lane group unit in the deviated road segment, and generating lane modeling data of all lane group units;

the map drawing module 104 is further configured to obtain and draw map drawing data of each lane of the deviated lane group unit to generate a deviated lane group unit map; and obtaining and drawing map drawing data of all lane group units except the deviated lane group unit in the deviated road segment to generate a map of all lane group units.

In some optional embodiments, referring to fig. 8, the road map generating apparatus further includes a second determining module 106, configured to determine whether each lane group unit is an intersection lane group unit according to attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,

the modeling module 103 is further configured to determine the position of the intersection lane group unit to obtain modeling data of the intersection lane group unit;

the map drawing module 104 is further configured to obtain map drawing data of the intersection according to the modeling data of the intersection lane group unit, and draw the map drawing data to generate the intersection of the road map.

In some optional embodiments, the modeling module 103 is further configured to obtain lane guide information in the attribute information of each lane group unit of each road segment, determine a position of a lane guide line on the lane group unit, and obtain a shape point of the lane guide line in the lane modeling data of the road segment;

the map drawing module 104 is further configured to obtain and draw map drawing data of the lane guide line according to the shape point of the lane guide line, and generate the lane guide line of the road map.

EXAMPLE III

Based on the same inventive concept, an embodiment of the present invention further provides a road map generation system, which is shown in fig. 9 and includes:

a map storage server 1 for storing map data;

the terminal device 2 includes the road map generating apparatus 10 described in any of the above embodiments, and is configured to generate and display a road map.

The implementation of the road map generation system provided in the embodiment of the present invention is similar to the technical problem solved by the road map generation method described in the first embodiment, and the specific implementation may refer to the description of the road map generation method in the above embodiment, and therefore, the description thereof is omitted here.

Example four

Based on the same inventive concept, an embodiment of the present invention further provides a road map generation system, which is shown in fig. 10 and includes:

a map generation server 3 including the road map generation apparatus 10 described in any one of the above embodiments, for storing map data and generating a road map;

and the terminal equipment 4 is used for displaying the road map.

EXAMPLE five

Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the road map generation method as described in any of the above embodiments.

EXAMPLE six

Based on the same inventive concept, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and running on the processor, and when the processor executes the computer program, the road map generation method described in any of the above embodiments is implemented.

Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.

For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

Claims

1. A road map generation method, comprising:

acquiring all road segments of a road map area to be generated from map data;

2. The road map generation method of claim 1, wherein the map data includes geographical position information of each lane group unit of the road segment, and the position of each lane group unit is determined based on the geographical position information.

3. The road map generation method of claim 1, wherein the sequentially connecting the lanes of the respective lane group units into a whole according to the traveling direction comprises:

4. The road map generation method according to claim 3, wherein the lane information of the lane group unit includes start point information and end point information of a lane line; the lane line to two adjacent lane group units matches in proper order, and the lane line that will match connects and includes: matching the end point information of each lane line of the previous lane group unit with the start point information of each lane line of the next lane group unit:

5. The road map generation method of claim 4, wherein said deriving and drawing map drawing data from lane modeling data comprises:

6. The road map generation method of claim 5, wherein the generating of the start edge line and the end edge line of the road segment from the lane modeling data specifically comprises:

7. The road map generation method of any one of claims 1-6, further comprising: when all road segments of a road map area to be generated are obtained from map data, judging whether the road segments are deviated road segments or not according to the attribute information of each lane group unit of each road segment; the lane group units are lane group units with attribute information of the lane group units containing multidirectional escaping information; if so,

8. The road map generation method of any one of claims 1-6, further comprising: when all road segments of a road map area to be generated are obtained from map data, whether each lane group unit is an intersection lane group unit or not is judged according to the attribute information of each lane group unit of each road segment; the intersection lane group unit is a lane group unit of which the attribute information of the lane group unit does not contain lane center line shape point information; if so,

9. The road map generation method of any one of claims 1-6, further comprising: acquiring lane guide information in attribute information of each lane group unit of each road segment, determining the position of a lane guide line on the lane group unit, acquiring the shape point of the lane guide line in lane modeling data of the road segment, acquiring map drawing data of the lane guide line and drawing, and generating the lane guide line of the road map.

10. A road map generation device, characterized by comprising: