CN110008921B - Road boundary generation method and device, electronic equipment and storage medium - Google Patents
Road boundary generation method and device, electronic equipment and storage medium Download PDFInfo
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- CN110008921B CN110008921B CN201910293477.6A CN201910293477A CN110008921B CN 110008921 B CN110008921 B CN 110008921B CN 201910293477 A CN201910293477 A CN 201910293477A CN 110008921 B CN110008921 B CN 110008921B
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Abstract
The embodiment of the invention discloses a road boundary generation method and device, electronic equipment and a storage medium. The method comprises the following steps: extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road; and generating the leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road. The method can accurately and efficiently generate the road boundary, thereby improving the production efficiency of the high-precision map.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a road boundary generation method and device, electronic equipment and a storage medium.
Background
With the increasing demand of consumers for automobile intellectualization, the automatic driving system is receiving more and more attention from the whole automobile factories and technology companies as a highly intelligent product. The current automatic driving technology can be divided into: highways, urban roads and garden roads. The expressway is one of the scenes that the automatic driving technology lands on the ground most quickly due to the simple scene and the similar road characteristics.
The automatic driving on the highway is fast, and the safe driving of the self-vehicle can be ensured only by having enough far sensing capability. For automatic driving, a high-precision map is an essential module. There are numerous elements in high-precision maps, where road boundaries are both fundamental and critical, which can provide a better perception range for autonomous vehicles and aid in coping decisions in emergency situations. The millimeter wave radar has the advantages of high ranging and speed measuring precision, small weather interference, moderate cost and the like, and becomes a standard for highway automatic driving automobiles. The millimeter wave radar installed facing the forward direction of the vehicle can provide an accurate position and relative speed of a metal target such as an automobile, a motorcycle, a metal guardrail, a signboard, and the like in front of the vehicle. In the existing road boundary generation method, a road model or a lane model is constructed by using point cloud data acquired by a millimeter wave radar, and the road boundary and the road model or the lane model are arranged in the same structural body, so that the road boundary is synchronously generated while a road is manufactured. Because the structure body is a relatively complex data system, the synchronous generation of the road boundary is difficult when the road is manufactured, the requirement on the skill level of common production personnel is high, and meanwhile, a relatively large quality risk exists.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for generating a road boundary, an electronic device, and a storage medium, which are capable of accurately and efficiently generating a road boundary, so as to improve the production efficiency of a high-precision map.
In a first aspect, an embodiment of the present invention provides a method for generating a road boundary, where the method includes:
extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road;
and generating the leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road.
In the above embodiment, the extracting, from the point cloud data corresponding to the road, the leftmost lane line and the rightmost lane line corresponding to the road includes:
determining a road area corresponding to a road in point cloud data corresponding to the road;
dividing a road area corresponding to the road into at least one lane area according to a preset road width threshold;
and extracting the leftmost and rightmost lane lines corresponding to the road from the at least one lane area.
In the above embodiment, the generating the leftmost and rightmost road boundaries corresponding to the road according to the leftmost and rightmost lane lines corresponding to the road includes:
acquiring at least one left boundary object line in a first coverage range on the left side of the leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road;
extracting left and right boundary object points corresponding to the object lines on the boundary object lines acquired at the left and right sides at intervals of a preset distance;
and generating the leftmost and rightmost road boundaries according to the left and right boundary object points.
In the above embodiment, the generating the leftmost and rightmost road boundaries according to the left and right boundary object points includes:
calculating an included angle between a connecting line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road; and the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road;
acquiring the number and the corresponding proportion of each left side boundary object point with the left side included angle larger than a first preset angle, and the number and the corresponding proportion of each right side boundary object point with the right side included angle larger than the first preset angle; setting the corresponding object lines with the left and right corresponding ratios larger than the first preset ratio as left and right reference boundaries;
and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left boundary object line corresponding to the left reference boundary and a right boundary object line corresponding to the right reference boundary.
In the above embodiment, the determining, according to each left boundary object line corresponding to the left reference boundary and the right boundary object line corresponding to the right reference boundary, a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road includes:
calculating the average distance between each left boundary object line corresponding to the left reference boundary and the leftmost lane line corresponding to the road and the average distance between each right boundary object line corresponding to the right reference boundary and the rightmost lane line corresponding to the road;
determining a left side boundary object line with the minimum average distance of the leftmost lane line corresponding to the road as a leftmost road boundary corresponding to the road; and determining a right boundary object line with the minimum average distance of the rightmost lane line corresponding to the road as the rightmost road boundary corresponding to the road.
In a second aspect, an embodiment of the present invention provides an apparatus for generating a road boundary, where the apparatus includes: an extraction module and a generation module; wherein,
the extraction module is used for extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road;
and the generating module is used for respectively generating the leftmost road boundary and the rightmost road boundary of the road according to the leftmost lane line and the rightmost lane line corresponding to the road.
In the above embodiment, the extraction module includes: determining a submodule, dividing the submodule and extracting the submodule; wherein,
the determining submodule is used for determining a road area corresponding to a road in the point cloud data corresponding to the road;
the dividing submodule is used for dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold;
the extraction submodule is used for extracting the leftmost lane line and the rightmost lane line corresponding to the road in the at least one lane area.
In the above embodiment, the generating module includes: obtaining a submodule and a generating submodule; wherein,
the obtaining submodule is used for obtaining at least one left boundary object line in a first coverage range on the left side of the leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road;
the generation submodule is used for extracting left and right boundary object points corresponding to the object lines on the boundary object lines obtained at the left and right sides at intervals of preset distance; and generating the leftmost and rightmost road boundaries according to the left and right boundary object points.
In the above embodiment, the generating sub-module is specifically configured to calculate an included angle between a connection line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road; and the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road; acquiring the number and the corresponding proportion of each left side boundary object point with the left side included angle larger than a first preset angle, and the number and the corresponding proportion of each right side boundary object point with the right side included angle larger than the first preset angle; setting the corresponding object lines with the left and right corresponding ratios larger than the first preset ratio as left and right reference boundaries; and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left boundary object line corresponding to the left reference boundary and a right boundary object line corresponding to the right reference boundary.
In the above embodiment, the generating sub-module is specifically configured to calculate an average distance between each left boundary object line corresponding to the left reference boundary and a leftmost lane line corresponding to the road, and an average distance between each right boundary object line corresponding to the right reference boundary and a rightmost lane line corresponding to the road; determining a left side boundary object line with the minimum average distance of the leftmost lane line corresponding to the road as a leftmost road boundary corresponding to the road; and determining a right boundary object line with the minimum average distance of the rightmost lane line corresponding to the road as the rightmost road boundary corresponding to the road.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for generating a road boundary according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a storage medium, on which a computer program is stored, which when executed by a processor, implements a method for generating a road boundary according to any embodiment of the present invention.
The embodiment of the invention provides a method and a device for generating a road boundary, electronic equipment and a storage medium, wherein firstly, the leftmost and rightmost lane lines corresponding to a road are extracted from point cloud data corresponding to the road; and then generating the leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road. That is to say, in the technical solution of the present invention, the leftmost and rightmost road boundaries of the road may be generated according to the leftmost and rightmost lane lines corresponding to the road; rather than placing the road boundaries within the same structure as the road model or lane model. In the existing road boundary generation method, a road model or a lane model is constructed by using point cloud data acquired by a millimeter wave radar, and the road boundary and the road model or the lane model are arranged in the same structure body, so that the road boundary is synchronously generated while the road is manufactured. Therefore, compared with the prior art, the road boundary generation method, the road boundary generation device, the electronic equipment and the storage medium provided by the embodiment of the invention can accurately and efficiently generate the road boundary, so that the production efficiency of the high-precision map can be improved; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Drawings
Fig. 1 is a schematic flowchart of a method for generating a road boundary according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a road boundary generating method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lane area according to a second embodiment of the present invention;
fig. 4 is a schematic flowchart of a method for generating a road boundary according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first coverage area and a second coverage area provided by a third embodiment of the present invention;
fig. 6 is a first structural schematic diagram of a road boundary generating device according to a fourth embodiment of the present invention;
fig. 7 is a second schematic structural diagram of a road boundary generating device according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
Example one
Fig. 1 is a flowchart of a method for generating a road boundary according to an embodiment of the present invention, where the method may be executed by an apparatus or an electronic device for generating a road boundary, where the apparatus or the electronic device may be implemented by software and/or hardware, and the apparatus or the electronic device may be integrated in any intelligent device with a network communication function. As shown in fig. 1, the method for generating a road boundary may include the steps of:
s101, extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road.
In a specific embodiment of the invention, the electronic device can extract the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road; namely: the electronic equipment can extract the most done lane line corresponding to the apology and the most right lane line corresponding to the road from the point cloud data corresponding to the road. Specifically, the electronic device may first determine a road area corresponding to the road from the point cloud data corresponding to the road; then dividing a road area corresponding to the road into at least one lane area according to a preset road width threshold value; and extracting the leftmost and rightmost lane lines of the road in at least one lane area.
And S102, generating leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road.
In a specific embodiment of the present invention, the electronic device may generate leftmost and rightmost road boundaries of the road according to leftmost and rightmost lane lines corresponding to the road; namely: the electronic equipment can generate a leftmost road boundary of the road according to a leftmost lane line corresponding to the road; and generating a rightmost road boundary of the road according to the rightmost lane line corresponding to the road. Specifically, the electronic device may first obtain at least one left boundary object line within a first coverage area on the left side of a leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road; then extracting left and right boundary object points corresponding to the object lines on the boundary object lines acquired from the left and right sides at intervals of a preset distance; namely: extracting a left side boundary object point on each left side boundary object line in the first coverage range at preset intervals; extracting a right side boundary object point on each right side boundary object line in the second coverage range at preset intervals; and generating the leftmost and rightmost road boundaries according to the left and right boundary object points.
According to the method for generating the road boundary, firstly, the leftmost lane line and the rightmost lane line corresponding to the road are extracted from point cloud data corresponding to the road; and then generating the leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road. That is to say, in the technical solution of the present invention, the leftmost and rightmost road boundaries of the road may be generated according to the leftmost and rightmost lane lines corresponding to the road; rather than placing the road boundaries within the same structure as the road model or lane model. In the existing road boundary generation method, a road model or a lane model is constructed by using point cloud data acquired by a millimeter wave radar, and the road boundary and the road model or the lane model are arranged in the same structure body, so that the road boundary is synchronously generated while the road is manufactured. Therefore, compared with the prior art, the method for generating the road boundary provided by the embodiment of the invention can accurately and efficiently generate the road boundary, so that the production efficiency of the high-precision map can be improved; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Example two
Fig. 2 is a schematic flow chart of a road boundary generation method according to a second embodiment of the present invention. As shown in fig. 2, the method for generating a road boundary may include the steps of:
s201, determining a road area corresponding to the road in the point cloud data corresponding to the road.
In a specific embodiment of the present invention, the electronic device may determine a road area corresponding to the road from the point cloud data corresponding to the road. Specifically, the road region corresponding to the road may be a region of a regular shape; or may be an irregularly shaped region. In general, a road region corresponding to a road is a rectangular region.
S202, dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold value.
In an embodiment of the present invention, the electronic device may divide the road region corresponding to the road into at least one lane region according to a preset road width threshold. Specifically, the preset road width threshold may be 4 meters.
Fig. 3 is a schematic structural diagram of a lane area according to a second embodiment of the present invention. As shown in fig. 3, after determining the road area corresponding to the road, the electronic device may first calculate the road width of the road area corresponding to the road; then, at least one lane area can be divided from the road area corresponding to the road according to the preset road width threshold value. For example, assuming that the width of the road region corresponding to the road is 14 meters, and the preset road width threshold is 4 meters, in this step, the electronic device may extract a road width of 12 meters (4 meters × 3) from the road region corresponding to the road, and then divide the road width of 12 meters into 3 lane regions, which are: lane area 1, lane area 2, and lane area 3; wherein, the left lane line and the right lane line of the lane area 1 are respectively a lane line 1 and a lane line 2; the left lane line and the right lane line of the lane area 2 are respectively a lane line 2 and a lane line 3; the left lane line and the right lane line of the lane area 3 are a lane line 3 and a lane line 4, respectively.
And S203, extracting the leftmost lane line and the rightmost lane line corresponding to the road in at least one lane area.
In a specific embodiment of the present invention, the electronic device may extract the leftmost lane line and the rightmost lane line corresponding to the road in at least one lane area. Namely: the electronic device may extract a leftmost lane line corresponding to the road and a rightmost lane line corresponding to the road in the at least one lane area. Specifically, the electronic device may extract a left lane line in the leftmost lane area as a leftmost lane line corresponding to the road; the right lane line may also be extracted from the rightmost lane area as the rightmost lane line corresponding to the road. As shown in fig. 3, the electronic device may extract the lane line 1 in the lane area 1 as the leftmost lane line corresponding to the road; the lane line 4 may also be extracted in the lane area 3 as the rightmost lane line corresponding to the road.
And S204, generating leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road.
In a specific embodiment of the present invention, the electronic device may generate leftmost and rightmost road boundaries of the road according to leftmost and rightmost lane lines corresponding to the road; namely: the electronic equipment can generate a leftmost road boundary of the road according to a leftmost lane line corresponding to the road; the rightmost road boundary of the road may also be generated from a rightmost lane line corresponding to the road. Specifically, the electronic device may first obtain at least one left boundary object line within a first coverage area on the left side of a leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road; then extracting left and right boundary object points corresponding to the object lines on the boundary object lines acquired from the left and right sides at intervals of a preset distance; namely: extracting a left side boundary object point on each left side boundary object line in the first coverage range at preset intervals; extracting a right side boundary object point on each right side boundary object line in the second coverage range at preset intervals; and generating the leftmost and rightmost road boundaries according to the left and right boundary object points.
In a specific embodiment of the present invention, the electronic device may first calculate an included angle between a connection line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road; and the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road; then acquiring the number and the corresponding proportion of each left side boundary object point with the left side included angle larger than a first preset angle, and the number and the corresponding proportion of each right side boundary object point with the right side included angle larger than the first preset angle; setting the corresponding object lines with the left and right corresponding ratios larger than the first preset ratio as left and right reference boundaries; and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left side boundary object line corresponding to the left side reference boundary and a right side boundary object line corresponding to the right side reference boundary. That is, the electronic device may calculate an angle between a connection line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road and an angle between a connection line between every two right side boundary object points on each right side boundary object line and a rightmost lane line corresponding to the road according to the left side boundary object points on each left side boundary object line and the right side boundary object points on each right side boundary object line; then, counting the number of left side boundary object points of which the included angle between a connecting line between every two left side boundary object points on each left side boundary object line and the leftmost lane line corresponding to the road is larger than a first preset angle, and the number of right side boundary object points of which the included angle between a connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road is larger than the first preset angle; if the ratio of the number of left side boundary object points of which the included angle between the connecting line between every two left side boundary object points on each left side boundary object line and the leftmost lane line corresponding to the road is larger than a first preset angle to the number of all left side boundary object points on each left side boundary object line is larger than a first preset ratio, setting each left side boundary object line as a left side reference boundary; if the ratio of the number of left side boundary object points of which the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road is larger than a first preset angle to the number of all right side boundary object points on each right side boundary object line is larger than a first preset ratio, setting each right side boundary object line as a right side reference boundary; and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left side boundary object line corresponding to the left side reference boundary and a right side boundary object line corresponding to the right side reference boundary.
According to the method for generating the road boundary, firstly, the leftmost lane line and the rightmost lane line corresponding to the road are extracted from point cloud data corresponding to the road; and then generating the leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road. That is to say, in the technical solution of the present invention, the leftmost and rightmost road boundaries of the road may be generated according to the leftmost and rightmost lane lines corresponding to the road; rather than placing the road boundaries within the same structure as the road model or lane model. In the existing road boundary generation method, a road model or a lane model is constructed by using point cloud data acquired by a millimeter wave radar, and the road boundary and the road model or the lane model are arranged in the same structure body, so that the road boundary is synchronously generated while the road is manufactured. Therefore, compared with the prior art, the method for generating the road boundary provided by the embodiment of the invention can accurately and efficiently generate the road boundary, so that the production efficiency of the high-precision map can be improved; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
EXAMPLE III
Fig. 4 is a schematic flowchart of a road boundary generating method according to a third embodiment of the present invention. As shown in fig. 4, the method for generating a road boundary may include the steps of:
s401, determining a road area corresponding to the road in the point cloud data corresponding to the road.
In a specific embodiment of the present invention, the electronic device may determine a road area corresponding to the road from the point cloud data corresponding to the road. Specifically, the road region corresponding to the road may be a region of a regular shape; or may be an irregularly shaped region. In general, a road region corresponding to a road is a rectangular region.
S402, dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold value.
In an embodiment of the present invention, the electronic device may divide the road region corresponding to the road into at least one lane region according to a preset road width threshold. Specifically, the preset road width threshold may be 4 meters.
And S403, extracting the leftmost lane line and the rightmost lane line corresponding to the road in at least one lane area.
In a specific embodiment of the present invention, the electronic device may extract the leftmost lane line and the rightmost lane line corresponding to the road in at least one lane area. Specifically, the electronic device may extract a left lane line in the leftmost lane area as a leftmost lane line corresponding to the road; the right lane line may also be extracted from the rightmost lane area as the rightmost lane line corresponding to the road.
S404, acquiring at least one left boundary object line in a first coverage range on the left side of the leftmost lane line corresponding to the road; and acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road.
In a specific embodiment of the present invention, the electronic device obtains at least one left boundary object line within a first coverage area on the left side of a leftmost lane line corresponding to a road; at least one right boundary object line may also be acquired within a second coverage area on the right side of the rightmost lane line corresponding to the road.
Fig. 5 is a schematic structural diagram of the first coverage area and the second coverage area provided by the third embodiment of the present invention. As shown in fig. 5, the electronic device may determine, as the first coverage range, a coverage range of a preset width on the left side of the leftmost lane line corresponding to the road and from the leftmost lane line corresponding to the road; the coverage area of the preset width from the right side of the rightmost lane line corresponding to the road to the rightmost lane line corresponding to the road can be determined as the second coverage area. For example, the left boundary of the first coverage area may be 4 meters from the leftmost lane line corresponding to the road; the distance from the right boundary of the second coverage area to the rightmost lane line corresponding to the road may also be 4 meters. In this step, the electronic device may obtain, within a first coverage area on the left side of a leftmost lane line corresponding to the road, at least one left boundary object line within the first coverage area; at least one right boundary object line in a second coverage area on the right side of the rightmost lane line corresponding to the road can be acquired. For example, as shown in fig. 5, the electronic device may obtain, in a first coverage area on the left side of the leftmost lane line corresponding to the road, two left boundary object lines in the first coverage area, where the two left boundary object lines are: a left boundary object line 1 and a left boundary object line 2.
S405, extracting left and right boundary object points corresponding to the object lines at preset intervals on the boundary object lines acquired at the left and right sides.
In the specific embodiment of the present invention, the electronic device may extract left and right boundary object points corresponding to the object lines of the boundary object lines obtained on the left and right sides at intervals of a preset distance. Namely: the electronic equipment can extract a left side boundary object point on each left side boundary object line in the first coverage range at intervals of a preset distance; and extracting a right side boundary object point at preset intervals on each right side boundary object line in the second coverage range. For example, suppose that the electronic device acquires a left boundary object line 1 and a left boundary object line 2 within a first coverage range; the right boundary object line 1 and the right boundary object line 2 are acquired within the second coverage range. In this step, the electronic device may extract a left boundary object point at an interval of 0.5 meters on the left boundary object line 1 within the first coverage area; and extracting a left side boundary object point at an interval of 0.5 m on the left side boundary object line 2 in the first coverage range. In addition, the electronic equipment can also extract a right boundary object point on the right boundary object line 1 in the second coverage area at intervals of 0.5 m; and extracting a right boundary object point at intervals of 0.5 m on the right boundary object line 2 in the first coverage range.
And S406, generating the leftmost and rightmost road boundaries according to the left and right boundary object points.
In an embodiment of the present invention, the electronic device may generate the leftmost road boundary and the rightmost road boundary according to the left and right boundary object points. Namely: the electronic device may generate a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to the left boundary object point on each left boundary object line and the right boundary object point on each right boundary object line. Specifically, the electronic device may calculate, according to left side boundary object points on each left side boundary object line and right side boundary object points on each right side boundary object line, an included angle between a connection line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road and an included angle between a connection line between every two right side boundary object points on each right side boundary object line and a rightmost lane line corresponding to the road; then, counting the number of left side boundary object points of which the included angle between a connecting line between every two left side boundary object points on each left side boundary object line and the leftmost lane line corresponding to the road is larger than a first preset angle, and the number of right side boundary object points of which the included angle between a connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road is larger than the first preset angle; if the ratio of the number of left side boundary object points of which the included angle between the connecting line between every two left side boundary object points on each left side boundary object line and the leftmost lane line corresponding to the road is larger than a first preset angle to the number of all left side boundary object points on each left side boundary object line is larger than a first preset ratio, setting each left side boundary object line as a left side reference boundary; if the ratio of the number of left side boundary object points of which the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road is larger than a first preset angle to the number of all right side boundary object points on each right side boundary object line is larger than a first preset ratio, setting each right side boundary object line as a right side reference boundary; and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left side boundary object line corresponding to the left side reference boundary and a right side boundary object line corresponding to the right side reference boundary. Specifically, the electronic device may first calculate an average distance between each left boundary object line corresponding to the left reference boundary and a leftmost lane line corresponding to the road, and an average distance between each right boundary object line corresponding to the right reference boundary and a rightmost lane line corresponding to the road; then determining a left side boundary object line with the minimum average distance of the leftmost lane line corresponding to the road as a leftmost road boundary corresponding to the road; and determining the right boundary object line with the minimum average distance of the rightmost lane line corresponding to the road as the rightmost road boundary corresponding to the road.
According to the method for generating the road boundary, firstly, the leftmost lane line and the rightmost lane line corresponding to the road are extracted from point cloud data corresponding to the road; and then generating the leftmost and rightmost road boundaries of the road according to the leftmost and rightmost lane lines corresponding to the road. That is to say, in the technical solution of the present invention, the leftmost and rightmost road boundaries of the road may be generated according to the leftmost and rightmost lane lines corresponding to the road; rather than placing the road boundaries within the same structure as the road model or lane model. In the existing road boundary generation method, a road model or a lane model is constructed by using point cloud data acquired by a millimeter wave radar, and the road boundary and the road model or the lane model are arranged in the same structure body, so that the road boundary is synchronously generated while the road is manufactured. Therefore, compared with the prior art, the method for generating the road boundary provided by the embodiment of the invention can accurately and efficiently generate the road boundary, so that the production efficiency of the high-precision map can be improved; moreover, the technical scheme of the embodiment of the invention is simple and convenient to realize, convenient to popularize and wider in application range.
Example four
Fig. 6 is a first structural schematic diagram of a road boundary generating device according to a fourth embodiment of the present invention. As shown in fig. 6, the apparatus for generating a road boundary according to an embodiment of the present invention may include: an extraction module 601 and a generation module 602; wherein,
the extraction module 601 is configured to extract a leftmost lane line and a rightmost lane line corresponding to a road from point cloud data corresponding to the road;
the generating module 602 is configured to generate leftmost and rightmost road boundaries of the road according to leftmost and rightmost lane lines corresponding to the road, respectively.
Fig. 7 is a second schematic structural diagram of a road boundary generating device according to a fourth embodiment of the present invention. As shown in fig. 7, the extracting module 601 includes: determining submodule 6011, dividing submodule 6012 and extracting submodule 6013; wherein,
the determining submodule 6011 is configured to determine, in the point cloud data corresponding to a road, a road area corresponding to the road;
the dividing submodule 6012 is configured to divide a road region corresponding to the road into at least one lane region according to a preset road width threshold;
the extracting submodule 6013 is configured to extract a leftmost lane line and a rightmost lane line corresponding to the road in the at least one lane area.
Further, the generating module 602 includes: an acquisition sub-module 6021 and a generation sub-module 6022; wherein,
the obtaining submodule 6021 is configured to obtain at least one left boundary object line within a first coverage range on the left side of a leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road;
the generation submodule 6022 is configured to extract left and right boundary object points corresponding to the object lines at intervals of a preset distance on the boundary object lines acquired at the left and right sides; and generating the leftmost and rightmost road boundaries according to the left and right boundary object points.
Further, the generating submodule 6022 is specifically configured to calculate an included angle between a connection line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road; and the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road; acquiring the number and the corresponding proportion of each left side boundary object point with the left side included angle larger than a first preset angle, and the number and the corresponding proportion of each right side boundary object point with the right side included angle larger than the first preset angle; setting the corresponding object lines with the left and right corresponding ratios larger than the first preset ratio as left and right reference boundaries; and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left boundary object line corresponding to the left reference boundary and a right boundary object line corresponding to the right reference boundary.
Further, the generating sub-module 6022 is specifically configured to calculate an average distance between each left side boundary object line corresponding to the left side reference boundary and the leftmost lane line corresponding to the road, and an average distance between each right side boundary object line corresponding to the right side reference boundary and the rightmost lane line corresponding to the road; determining a left side boundary object line with the minimum average distance of the leftmost lane line corresponding to the road as a leftmost road boundary corresponding to the road; and determining a right boundary object line with the minimum average distance of the rightmost lane line corresponding to the road as the rightmost road boundary corresponding to the road.
The road boundary generating device can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the technology not described in detail in this embodiment, reference may be made to a method for generating a road boundary provided in any embodiment of the present invention.
EXAMPLE five
Fig. 8 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in FIG. 8, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement the road boundary generation method provided by the embodiment of the present invention.
EXAMPLE six
The sixth embodiment of the invention provides a computer storage medium.
The computer-readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A method of generating a road boundary, the method comprising:
extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road;
acquiring at least one left boundary object line in a first coverage range on the left side of the leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road; the first coverage range is a coverage range with a preset width from the leftmost lane line, and the second coverage range is a coverage range with a preset width from the rightmost lane line;
extracting left and right boundary object points corresponding to the object lines of the left and right boundary object lines at preset intervals on the acquired left and right boundary object lines;
calculating an included angle between a connecting line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road; and the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road;
acquiring the number and the corresponding proportion of each left side boundary object point with the left side included angle larger than a first preset angle, and the number and the corresponding proportion of each right side boundary object point with the right side included angle larger than the first preset angle; setting the corresponding object lines with the left and right corresponding ratios larger than the first preset ratio as left and right reference boundaries;
and determining the leftmost road boundary of the road and the rightmost road boundary of the road according to each left side boundary object line corresponding to the left side reference boundary and the right side boundary object line corresponding to the right side reference boundary.
2. The method of claim 1, wherein extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road comprises:
determining a road area corresponding to a road in point cloud data corresponding to the road;
dividing a road area corresponding to the road into at least one lane area according to a preset road width threshold;
and extracting the leftmost and rightmost lane lines corresponding to the road from the at least one lane area.
3. The method of claim 1, wherein determining the leftmost road boundary of the road and the rightmost road boundary of the road according to the left boundary object line corresponding to the left reference boundary and the right boundary object line corresponding to the right reference boundary comprises:
calculating the average distance between each left boundary object line corresponding to the left reference boundary and the leftmost lane line corresponding to the road and the average distance between each right boundary object line corresponding to the right reference boundary and the rightmost lane line corresponding to the road;
determining a left side boundary object line with the minimum average distance of the leftmost lane line corresponding to the road as a leftmost road boundary corresponding to the road; and determining a right boundary object line with the minimum average distance of the rightmost lane line corresponding to the road as the rightmost road boundary corresponding to the road.
4. An apparatus for generating a road boundary, the apparatus comprising: an extraction module and a generation module; wherein,
the extraction module is used for extracting the leftmost lane line and the rightmost lane line corresponding to the road from the point cloud data corresponding to the road;
the generation module comprises: obtaining a submodule and a generating submodule; wherein,
the obtaining submodule is used for obtaining at least one left boundary object line in a first coverage range on the left side of the leftmost lane line corresponding to the road; acquiring at least one right boundary object line in a second coverage range on the right side of the rightmost lane line corresponding to the road; the first coverage range is a coverage range with a preset width away from the leftmost lane line; the second coverage range is a coverage range with a preset width away from the rightmost lane line;
the generating submodule is used for extracting left and right boundary object points corresponding to the object lines of the left and right boundary object lines at intervals of preset distance on the acquired left and right boundary object lines; calculating an included angle between a connecting line between every two left side boundary object points on each left side boundary object line and a leftmost lane line corresponding to the road; and the included angle between the connecting line between every two right side boundary object points on each right side boundary object line and the rightmost lane line corresponding to the road; acquiring the number and the corresponding proportion of each left side boundary object point with the left side included angle larger than a first preset angle, and the number and the corresponding proportion of each right side boundary object point with the right side included angle larger than the first preset angle; setting the corresponding object lines with the left and right corresponding ratios larger than the first preset ratio as left and right reference boundaries; and determining a leftmost road boundary corresponding to the road and a rightmost road boundary corresponding to the road according to each left boundary object line corresponding to the left reference boundary and a right boundary object line corresponding to the right reference boundary.
5. The apparatus of claim 4, wherein the extraction module comprises: determining a submodule, dividing the submodule and extracting the submodule; wherein,
the determining submodule is used for determining a road area corresponding to a road in the point cloud data corresponding to the road;
the dividing submodule is used for dividing the road area corresponding to the road into at least one lane area according to a preset road width threshold;
the extraction submodule is used for extracting the leftmost lane line and the rightmost lane line corresponding to the road in the at least one lane area.
6. The apparatus of claim 4, wherein:
the generation submodule is specifically configured to calculate an average distance between each left boundary object line corresponding to the left reference boundary and a leftmost lane line corresponding to the road, and an average distance between each right boundary object line corresponding to the right reference boundary and a rightmost lane line corresponding to the road; determining a left side boundary object line with the minimum average distance of the leftmost lane line corresponding to the road as a leftmost road boundary corresponding to the road; and determining a right boundary object line with the minimum average distance of the rightmost lane line corresponding to the road as the rightmost road boundary corresponding to the road.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of generating a road boundary as claimed in any one of claims 1 to 3.
8. A storage medium on which a computer program is stored, which program, when being executed by a processor, is characterized by carrying out the method of generating a road boundary according to any one of claims 1 to 3.
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| CN110967024A (en) * | 2019-12-23 | 2020-04-07 | 苏州智加科技有限公司 | Method, device, equipment and storage medium for detecting travelable area |
| CN116030286B (en) * | 2023-03-29 | 2023-06-16 | 高德软件有限公司 | Boundary lane line matching method and device, electronic equipment and storage medium |
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