CN111881817B - Method and device for extracting specific area, storage medium and electronic equipment - Google Patents
Method and device for extracting specific area, storage medium and electronic equipment Download PDFInfo
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Abstract
The present specification discloses a method, apparatus, storage medium, and electronic device for extracting a specific area, which determine overlapping portions of road-marking lines according to the areas covered by the road-marking lines and a track traveled by a vehicle, and can determine each road-marking line in the same specific area according to the overlapping portions. In addition, in the embodiment of the present disclosure, the specific area is not extracted according to the intersection points of different vehicle running tracks, so that the problem of poor accuracy in extracting the specific area due to the fact that the intersection points often exist in the non-specific area of different vehicle running tracks can be avoided.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and apparatus for extracting a specific area, a storage medium, and an electronic device.
Background
Currently, for the industry of high-precision maps, in order to reduce the manufacturing cost of the high-precision maps and improve the drawing efficiency, a technology for automatically generating the high-precision maps has become a demand.
For the technology of automatically generating a high-precision map, automatically extracting a specific area in the map is one of the requirements of the technology of generating a high-precision map. These specific areas may be intersection areas, building areas, etc.
In the prior art, a method for automatically extracting a specific area mainly determines and extracts the specific area according to the intersection points of different vehicle driving tracks.
However, since in a practical application scenario, different vehicle driving trajectories may have intersection points in non-specific areas, the above-mentioned prior art may cause inaccuracy in the extracted specific areas.
Disclosure of Invention
The embodiment of the specification provides a method, a device, a storage medium and an electronic apparatus for extracting a specific area, which can partially solve the problems existing in the prior art.
The embodiment of the specification adopts the following technical scheme:
the method for extracting the characteristic region provided by the specification comprises the following steps:
collecting a vehicle running track;
extracting at least one road sign line from an image acquired for a road;
determining a coverage area of each extracted road marking line;
Acquiring an overlapping part of the vehicle running track and a coverage area of the road sign line;
determining each road marking line in the same specific area from the extracted road marking lines according to the overlapping part of the vehicle running track and the coverage area of each road marking line;
and determining the range of the specific area according to the coverage area of each road marking line in the same specific area and extracting.
Optionally, extracting at least one road sign line from the image collected for the road specifically includes:
And extracting at least one road sign line from the image by adopting a pre-trained recognition model according to the image acquired by the road.
Optionally, determining the coverage area of the road sign line specifically includes:
Taking the road sign line as a sign line to be combined, and determining the coordinates of the sign line to be combined and the coordinates of other road sign lines;
Judging whether specified road mark lines exist in other road mark lines according to the coordinates of the mark lines to be combined and the coordinates of the other road mark lines, wherein the specified road mark lines are the road mark lines which need to be combined with the mark lines to be combined;
if yes, combining the appointed road marking line with the marking line to be combined, and determining the coverage area of the combined road marking line;
otherwise, determining the coverage area of the mark lines to be combined.
Optionally, judging whether the specified road sign line exists in the other road sign lines specifically includes:
Expanding the coverage range of the mark lines to be combined by a specified range;
And taking other road sign lines which are at least partially overlapped with the coverage area of the sign lines to be combined after expanding as appointed sign lines.
Optionally, determining each road sign line in the same specific area specifically includes:
And aiming at any two different road mark lines, if the distance between the vehicle running track and the overlapping part of the coverage areas of the two different road mark lines is smaller than a first preset threshold value, determining the two different road mark lines as the road mark lines in the same specific area.
Optionally, determining each road sign line in the same specific area from the extracted road sign lines according to the overlapping part of the vehicle running track and the coverage area of each road sign line specifically includes:
for each road sign line, taking the overlapping part of the vehicle running track and the coverage area of the road sign line as a sub track corresponding to the road sign line;
determining the sequence of sub-tracks corresponding to each road mark line in the vehicle running track according to the vehicle running track;
and aiming at any two different road mark lines, if the sequence of the sub-tracks corresponding to the two different road mark lines in the vehicle running track is adjacent, determining that the two different road mark lines are the road mark lines in the same specific area.
Optionally, before determining that the two different road sign lines are the road sign lines in the same specific area, the method further includes:
determining, as an intermediate trajectory, a trajectory located between the vehicle trajectory and an overlapping region of the coverage areas of the two different road sign lines, among the vehicle travel trajectories;
and determining that the curvature of the intermediate track falls within a preset curvature range.
Optionally, determining the range of the specific area according to the coverage area of each road sign line in the same specific area specifically includes:
Determining the external polygon of the coverage area of each road marking line in the same specific area;
and determining the coverage area of the circumscribing polygon as the range of the specific area.
Optionally, the road sign line includes: a crosswalk line and/or a stop line;
The specific region includes: intersection area.
The device for extracting a specific area provided by the specification comprises:
the acquisition module is used for acquiring the running track of the vehicle;
The mark line extraction module is used for extracting at least one road mark line from the image acquired for the road;
the coverage area determining module is used for determining the coverage area of each extracted road marking line;
the acquisition module is used for acquiring the overlapping part of the vehicle running track and the coverage area of the road sign line;
The marking line determining module is used for determining each road marking line in the same specific area from the extracted road marking lines according to the overlapping part of the vehicle running track and the coverage area of each road marking line;
And the region extraction module is used for determining the range of the specific region according to the coverage region of each road sign line in the same specific region and extracting.
A computer readable storage medium is provided in the present specification, the storage medium storing a computer program which, when executed by a processor, implements the above-described method of extracting feature areas.
The electronic device provided by the specification comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for extracting the characteristic region when executing the program.
The above-mentioned at least one technical scheme that this description embodiment adopted can reach following beneficial effect:
In the embodiment of the present disclosure, the overlapping portions of the road-marking lines are determined according to the regions covered by the road-marking lines and the track on which the vehicle travels, and each road-marking line located in the same specific region can be determined according to the overlapping portions. In addition, in the embodiment of the present disclosure, the specific area is not extracted according to the intersection points of different vehicle running tracks, so that the problem of poor accuracy in extracting the specific area due to the fact that the intersection points often exist in the non-specific area of different vehicle running tracks can be avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:
fig. 1 is a schematic flow chart of extracting a specific area according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a coverage area of a road sign line according to an embodiment of the present disclosure;
Fig. 3a to 3c are schematic diagrams of determining a coverage area of a road sign line according to an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of an enlarged roadway marker line coverage area provided by an example of the present disclosure;
FIG. 5 is a schematic diagram of a road sign line determined to be in the same particular area provided by the present illustrative example;
FIG. 6 is a schematic illustration of determining a particular region provided by the present illustrative example;
Fig. 7 is a schematic structural diagram of a device for extracting a specific area according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The method for extracting the specific area aims at determining the overlapping part of different vehicle running tracks and the coverage area of each road marking line, judging whether each road marking line is in the same specific area according to the overlapping part, and determining and extracting the range of the specific area according to the coverage area of each road marking line.
For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of extracting a specific area according to an embodiment of the present disclosure, including:
S100: and collecting the running track of the vehicle.
In the embodiment of the present specification, any vehicle including a map-collecting vehicle may be used, and the travel track of the vehicle itself may be collected as the vehicle travel track. The track points of the vehicle at different moments (specifically, coordinates of the vehicle at different moments can be collected and used as track points) can be collected according to a set period, the vehicle running track of the vehicle can be determined according to the track points of the vehicle at different moments, and the collection moment of collecting each track point can be recorded simultaneously and used as the corresponding time stamp of the different track points in the vehicle running track.
Specifically, in the process of acquiring the vehicle travel track, the vehicle travel track of one or more vehicles may be acquired.
S102: at least one road sign line is extracted from an image acquired for a road.
In the embodiment of the present disclosure, before extracting the road sign line, an image of the road may be acquired for the road, and then at least one road sign line may be extracted from the acquired image using a pre-trained recognition model. In the embodiments of the present disclosure, the road sign line may include a crosswalk line and/or a stop line.
Specifically, when acquiring an image of a road, a laser radar may be used to scan the road, and a laser reflectivity base map may be generated according to the magnitude of the laser reflection intensity as the acquired image of the road. Of course, a camera or other image acquisition device may also be used to acquire an image of the road, which is not limited in this specification.
Further, when the recognition model is trained in advance, the recognition model can be trained by adopting a method of supervised training. Specifically, an image of a road acquired in advance can be used as a training sample, road mark lines in the image are marked, and the recognition model is trained according to the image serving as the training sample and the marks corresponding to the sample.
S104: for each extracted road sign line, a coverage area of the road sign line is determined.
In the embodiment of the present disclosure, after each road-marking is extracted in step S102, the coordinates of each extracted road-marking may be determined first, and the coverage area of each road-marking itself may be determined according to the coordinates. When determining the coverage area of one road marking line, the minimum external polygon of the road marking line can be determined according to the coordinates of the road marking line, and the external polygon is used as the coverage area of each road marking line. As shown in fig. 2.
In fig. 2, the road sign line is a crosswalk line, and through the above step S102, the crosswalk line is extracted, the coordinates of each point in the crosswalk line are determined, and then, the minimum bounding rectangle of the crosswalk line is determined according to the maximum and minimum abscissa and the maximum and minimum ordinate, and the minimum bounding rectangle is the coverage area of the crosswalk line itself. Of course, it is also possible to determine the four vertices of the crosswalk line on the basis of the maximum and minimum abscissas and the maximum and minimum ordinates, and to take the rectangle determined by these four vertices as the coverage area of the crosswalk line itself. The area indicated by the dotted line is the coverage area of the crosswalk line itself.
Specifically, in the actual application scenario, the road sign line may be worn or blocked, and thus, in step S102, the same road sign line may be identified as a plurality of different road sign lines. Therefore, before determining the coverage area of each road sign line, it may be determined whether the identified plurality of different road sign lines should be the same road sign line, if so, the different road sign lines are combined, and then the coverage area of the combined road sign line is determined.
Further, the method for determining the coverage area of the road sign line may include: and aiming at any road sign line, taking the road sign line as a sign line to be combined, and determining the coordinates of the sign line to be combined and the coordinates of other road sign lines. And judging whether specified road mark lines exist in other road mark lines according to the coordinates of the mark lines to be combined and the coordinates of other road mark lines, wherein the specified road mark lines are the road mark lines which need to be combined with the mark lines to be combined. If yes, combining the appointed road marking line with the marking line to be combined, and determining the coverage area of the combined road marking line; otherwise, determining the coverage area of the mark line to be combined.
The method for determining whether the specified road marking exists in the other road marking (i.e. the method for determining whether the other road marking which needs to be combined with the marking to be combined exists) may include: expanding the coverage range of the marking lines to be combined by a designated range, and taking other road marking lines which are at least partially overlapped with the coverage range of the marking lines to be combined as designated marking lines. That is, if the coverage of the sign line to be combined is enlarged by a specified range, another road sign line overlapping the enlarged range is required to be combined with the sign line to be combined. Or, the specified mark line and the mark line to be combined are originally the same road mark line. As shown in fig. 3 a-3 c.
In fig. 3a, three road sign lines, sign lines 1 to 3, are extracted in total in step S102. The coverage areas of the three road sign lines can be determined by the method, namely the areas A-C. The pattern shown by the thin broken line is a worn or blocked part of crosswalk line, and the area shown by the thick broken line is an area covered by the sign line.
In fig. 3b, the original coverage area of the marker line 1, i.e. the area a, is enlarged for the marker line 1. Since the enlarged region a overlaps with the region B but does not overlap with the region C, it can be determined that the marker line 2 is the designated marker line, and needs to be combined with the marker line 1, and the marker line 3 is not the designated marker line, and does not combine with the marker line 1.
In fig. 3c, the marker line 1 and the marker line 2 are treated as the same road marker line, the maximum and minimum abscissa and the maximum and minimum ordinate of the same road marker line are determined, and the coverage area of the road marker line after the marker line 1 and the marker line 2 are combined is determined accordingly, namely, the area a'.
In addition, the method for expanding the coverage area of one road sign line may include: for any road sign line, the short side and the long side of the minimum circumscribed polygon serving as the coverage area of the road sign line extend to two sides for a specified distance, and then the expanded coverage area of the road sign line is determined according to the maximum and minimum abscissa and the maximum and minimum ordinate after extension, as shown in fig. 4.
In fig. 4, the road sign line is a crosswalk line, and the minimum bounding rectangle of the crosswalk line 1, that is, the area B is determined by the method of determining the minimum bounding rectangle of the crosswalk line in fig. 2. Wherein the longest side of the circumscribed rectangle is a, and the shortest side is b. Edge a extends to both sides to point a 'and point a ", while edge b also extends to both sides to point b' and point b". From points a ', a ", b' and b", the enlarged coverage area of crosswalk 1, i.e. area C, is determined.
The specified distance is set according to actual requirements.
The execution sequence of steps S100 and S102 to S104 is not separately and successively executed.
S106: and acquiring the overlapping part of the vehicle running track and the coverage area of the road sign line.
In the embodiment of the present disclosure, after determining the coverage area of each road sign line after merging in the step S104, a portion of the vehicle running track that falls within the coverage area of the road sign line may be used as the overlapping portion of the vehicle running track and the coverage portion of the road sign line.
S108: and determining each road marking line in the same specific area from the extracted road marking lines according to the overlapping part of the vehicle running track and the coverage area of each road marking line.
In the embodiment of the present disclosure, when a vehicle passes through a specific area during running, the vehicle passes through different road sign lines in the specific area, and the distances between the different road sign lines in the specific area are not too far, so that the overlapping portions of the running track of the vehicle and the coverage areas of the different road sign lines can be obtained through the step S106, and whether the different road sign lines are in the same specific area can be determined according to the distances between the running track of the vehicle and the overlapping portions of the coverage areas of the different road sign lines and the passing sequence.
Specifically, the method for judging whether different road sign lines are in the same specific area according to the distances between overlapping parts of coverage areas of different road sign lines may include: for any selection of two different road sign lines, if the distance between the vehicle running track and the overlapping part of the coverage areas of the two different road sign lines is smaller than a first preset threshold value, determining that the two different road sign lines are the road sign lines in the same specific area.
Further, the method for determining the distance between overlapping portions of coverage areas of two different road sign lines may include: the two different overlapping portions are part of the vehicle running track, and thus, the midpoints of the two different part tracks can be selected, and then the length of the line segment connecting the two midpoints is taken as the distance between the two different overlapping portions. Of course, the closest or farthest point or any two points of two different part trajectories may be selected, and the length of a line segment connecting the two closest or farthest points or any two points may be used as the distance between the two different overlapping parts. As shown in fig. 5.
In fig. 5, the road sign line is a crosswalk line, the specific area is an intersection area, the vehicle travel track is assumed to be L1, the coverage area of the sign line 1 is D, and the coverage area of the sign line 2 is E. Wherein the track L1 passes through D and E, and the overlapping parts are L1 and L1', respectively. The midpoints of l1 and l1' are taken respectively, and the line segment connecting the two midpoints is d. The length of line segment d is the distance between overlapping portions l1 and l1'. If the line segment d is smaller than the threshold value, it can be determined that the sign line 1 and the sign line 2 are in the same intersection region.
In addition, according to the sequence that the vehicle running track passes through the coverage areas of different road sign lines, the method for judging whether the different road sign lines are in the same specific area can comprise the following steps: and aiming at any road sign line, taking the overlapping part of the vehicle running track and the coverage area of the road sign line as a sub-track corresponding to the road sign line. And determining the sequence of the sub-tracks corresponding to each road mark line in the vehicle running track according to the same vehicle running track. For any two different road sign lines, if the sub-tracks corresponding to the two different road sign lines are adjacent in sequence in the same vehicle running track, determining that the two different road sign lines are the road sign lines in the same specific area. As shown in fig. 5.
In fig. 5, the coverage area of the sign line 3 is F, the coverage area of the sign line 4 is G, and the vehicle travel locus is L2. Wherein the trace L2 passes through the region E, F, G, and the overlapping portions are L2, L2', and L2", respectively. For the marking line 1 and the marking line 3, judging whether the sequence of the l2 and the l2' is adjacent, if so, determining that the marking line 1 and the marking line 3 are positioned in the same intersection area. Similarly, for the sign line 3 and the sign line 4, it is determined whether the chronological order of l2' and l2″ is adjacent, and if not, it is indicated that the sign line 3 and the sign line 4 are not located in the same intersection region.
In the embodiment of the present disclosure, whether different road sign lines are in the same specific area may also be determined according to the distances between overlapping portions of the coverage areas of the different road sign lines and the sequence in which the vehicle running track passes through the coverage areas of the different road sign lines.
Specifically, for any two different road sign lines, if the distance between the overlapping parts of the two different road sign line coverage areas is smaller than a first preset threshold value, and the sub-tracks corresponding to the two different road sign lines are adjacent in sequence in the vehicle running track, determining that the two different road sign lines are the road sign lines in the same specific area.
In this embodiment of the present disclosure, in addition to the above-mentioned distance according to the overlapping portion of the coverage areas of different road sign lines and the sequence in which the vehicle running track passes through the coverage areas of different road sign lines, it may be further determined whether two different road sign lines are road sign lines in the same specific area according to the curvature of the vehicle running track. Specifically, whether the distance between the overlapping portions of the coverage areas of the different road sign lines is the same or the sequence of the vehicle running track passing through the coverage areas of the different road sign lines is the same, before determining that the two different road sign lines are the road sign lines in the same specific area, the track between the same vehicle track and the overlapping areas of the coverage areas of the two different road sign lines can be determined as an intermediate track in the vehicle running track. If the curvature of the middle track is determined to be within the preset curvature range, the two different road sign lines are determined to be the road sign lines in the same specific area, otherwise, the vehicle running track is determined to be an illegal track, and the vehicle running track can be ignored, namely whether the two different road sign lines are in the same specific area is not judged according to the vehicle running track. As shown in fig. 5.
In fig. 5, a track L1 "is between the track L1 and the track L1', and it is determined whether the curvature of the track L1" is in the preset curvature range, if yes, and the distance between the track L1 and the track L1' is smaller than the first preset threshold value, and/or the track L1 is adjacent to the track L1 through the sequence of the track L1 and the track L1', so that the marker line 1 and the marker line 2 are located in the same intersection region. If not, this trace L1 is directly discarded. Likewise, the same method may be used for the marker lines 1 and 3, and the marker lines 3 and 4, and will not be described again here.
S110: and determining the range of the specific area according to the coverage area of each road marking line in the same specific area and extracting.
In the embodiment of the present disclosure, the circumscribing polygon is determined according to the coverage area of each road sign line in the same specific area, and the coverage area of the circumscribing polygon is determined as the range of the specific area. As shown in fig. 6.
In fig. 6, the road sign lines are crosswalk lines, the specific area is an intersection area, and the sign lines at the same intersection determined in the step S108 are sign line 1, sign line 2, sign line 3, and sign line 4, respectively, and the corresponding areas are area a, area B, area C, and area D. And taking the four areas as a whole, determining an external polygon according to the maximum and minimum abscissas and the maximum and minimum ordinates, and determining the coverage area of the external polygon as an intersection area. The area indicated by the thin dotted line is the coverage area of the sign line, and the area indicated by the thick dotted line is the intersection area.
Specifically, the circumscribed polygon determined in step S110 may be a circumscribed rectangle.
As can be seen from the method shown in fig. 1, in the embodiment of the present disclosure, the overlapping portions of the road sign lines are determined according to the regions covered by the road sign lines and the track traveled by the vehicle, and each road sign line in the same specific region can be determined according to the overlapping portions. In addition, in the embodiment of the present disclosure, the specific area is not extracted according to the intersection points of different vehicle running tracks, so that the problem of poor accuracy in extracting the specific area due to the fact that the intersection points often exist in the non-specific area of different vehicle running tracks can be avoided.
The method for extracting the specific area provided by the embodiment of the present specification further provides a corresponding device, a storage medium and an electronic apparatus based on the same concept.
Fig. 7 is a schematic structural diagram of an apparatus for extracting a specific area according to an embodiment of the present disclosure, where the apparatus includes:
the acquisition module 401 is used for collecting vehicle running tracks;
A marker line extraction module 402 for extracting at least one road marker line from an image acquired for a road;
A coverage area determining module 403, configured to determine, for each extracted road sign line, a coverage area of the road sign line;
an acquisition module 404, configured to acquire an overlapping portion of the vehicle running track and a coverage area of the road sign line;
A sign line determining module 405, configured to determine, from the extracted road sign lines, each road sign line located in the same specific area according to an overlapping portion of the vehicle running track and a coverage area of each road sign line;
the area extraction module 406 is configured to determine a range of the specific area according to the coverage area of each road sign line in the same specific area and extract the coverage area.
Optionally, the marker line extraction module 402 is specifically configured to extract at least one road marker line from an image acquired by a road according to the image by using a pre-trained recognition model.
Optionally, the coverage area determining module 403 is specifically configured to determine coordinates of the to-be-combined marker line and coordinates of other road marker lines by using the road marker line as the to-be-combined marker line; judging whether specified road mark lines exist in other road mark lines according to the coordinates of the mark lines to be combined and the coordinates of the other road mark lines, wherein the specified road mark lines are the road mark lines which need to be combined with the mark lines to be combined; if yes, combining the appointed road marking line with the marking line to be combined, and determining the coverage area of the combined road marking line; otherwise, determining the coverage area of the mark lines to be combined.
Optionally, the coverage area determining module 403 is specifically configured to enlarge the coverage area of the to-be-combined sign line by a specified range; and taking other road sign lines which are at least partially overlapped with the coverage area of the sign lines to be combined after expanding as appointed sign lines.
Optionally, the sign line determining module 405 is specifically configured to determine, for any two different road sign lines, that the two different road sign lines are the road sign lines in the same specific area if the distance between the vehicle driving track and the overlapping portion of the coverage areas of the two different road sign lines is smaller than a first preset threshold.
Optionally, the sign line determining module 405 is specifically configured to determine, according to the vehicle running track, a sequence of sub-tracks corresponding to each road sign line in the vehicle running track; and aiming at any two different road mark lines, if the sequence of the sub-tracks corresponding to the two different road mark lines in the vehicle running track is adjacent, determining that the two different road mark lines are the road mark lines in the same specific area.
Optionally, the sign line determining module 405 is further configured to determine, as the intermediate track, a track between the overlapping area of the vehicle track and the coverage area of the two different road sign lines in the vehicle driving track before determining that the two different road sign lines are the road sign lines in the same specific area; and determining that the curvature of the intermediate track falls within a preset curvature range.
Optionally, the area extracting module 406 is specifically configured to determine an circumscribing polygon of the coverage area of each road sign line in the same specific area; and determining the coverage area of the circumscribing polygon as the range of the specific area.
Optionally, the road sign line includes: a crosswalk line and/or a stop line; the specific region includes: intersection area.
The present specification also provides a computer readable storage medium storing a computer program which when executed by a processor is operable to perform the method of extracting a specific area provided in fig. 1 described above.
Based on the prediction method of the motion trail shown in fig. 1, the embodiment of the present disclosure further provides a schematic structural diagram of the unmanned device shown in fig. 8. At the hardware level, as in fig. 8, the unmanned device includes a processor, an internal bus, a network interface, a memory, and a non-volatile storage, although it may include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to implement the method for extracting the specific area described above with reference to fig. 1.
Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present description, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable GATE ARRAY, FPGA)) is an integrated circuit whose logic functions are determined by user programming of the device. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented with "logic compiler (logic compiler)" software, which is similar to the software compiler used in program development and writing, and the original code before being compiled is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but HDL is not just one, but a plurality of kinds, such as ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language), and VHDL (Very-High-SPEED INTEGRATED Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application SPECIFIC INTEGRATED Circuits (ASICs), programmable logic controllers, and embedded microcontrollers, examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.
Claims (9)
1. A method of extracting a specific region, comprising:
collecting a vehicle running track;
extracting at least one road sign line from an image acquired for a road;
determining a coverage area of each extracted road marking line;
Acquiring an overlapping part of the vehicle running track and a coverage area of the road sign line;
determining each road marking line in the same specific area from the extracted road marking lines according to the overlapping part of the vehicle running track and the coverage area of each road marking line;
Determining the range of the specific area according to the coverage area of each road marking line in the same specific area and extracting;
Wherein, according to the overlapping part of the vehicle running track and the coverage area of each road marking, each road marking in the same specific area is determined from the extracted road marking, and the method specifically comprises the following steps:
for each road sign line, taking the overlapping part of the vehicle running track and the coverage area of the road sign line as a sub track corresponding to the road sign line;
determining the sequence of sub-tracks corresponding to each road mark line in the vehicle running track according to the vehicle running track;
For any two different road mark lines, if the sequence of sub-tracks corresponding to the two different road mark lines in the vehicle running track is adjacent, determining that the two different road mark lines are the road mark lines in the same specific area; wherein, the road sign line includes: a crosswalk line and/or a stop line;
The specific region includes: intersection area.
2. The method according to claim 1, wherein extracting at least one road sign line from the image acquired for the road, in particular comprises:
And extracting at least one road sign line from the image by adopting a pre-trained recognition model according to the image acquired by the road.
3. The method of claim 1, wherein determining the coverage area of the roadway marker line comprises:
Taking the road sign line as a sign line to be combined, and determining the coordinates of the sign line to be combined and the coordinates of other road sign lines;
Judging whether specified road mark lines exist in other road mark lines according to the coordinates of the mark lines to be combined and the coordinates of the other road mark lines, wherein the specified road mark lines are the road mark lines which need to be combined with the mark lines to be combined;
if yes, combining the appointed road marking line with the marking line to be combined, and determining the coverage area of the combined road marking line;
otherwise, determining the coverage area of the mark lines to be combined.
4. The method of claim 3, wherein determining whether a specified road-marking exists in the other road-markings comprises:
Expanding the coverage range of the mark lines to be combined by a specified range;
And taking other road sign lines which are at least partially overlapped with the coverage area of the sign lines to be combined after expanding as appointed sign lines.
5. The method of claim 1, wherein determining each road-marking in the same particular area comprises:
And aiming at any two different road mark lines, if the distance between the vehicle running track and the overlapping part of the coverage areas of the two different road mark lines is smaller than a first preset threshold value, determining the two different road mark lines as the road mark lines in the same specific area.
6. The method of claim 5, wherein determining that the two different road-marking lines are road-marking lines in the same particular region is preceded by:
Determining a track between the vehicle track and the overlapping area of the coverage areas of the two different road sign lines as an intermediate track in the vehicle running track;
and determining that the curvature of the intermediate track falls within a preset curvature range.
7. The method according to claim 1, wherein determining the range of the specific area according to the coverage area of each road sign line in the same specific area, specifically comprises:
Determining the external polygon of the coverage area of each road marking line in the same specific area;
and determining the coverage area of the circumscribing polygon as the range of the specific area.
8. A computer readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of the preceding claims 1-7 when executing the program.
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| CN111079611A (en) * | 2019-12-09 | 2020-04-28 | 成都奥伦达科技有限公司 | Automatic extraction method for road surface and marking line thereof |
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| CN104537834A (en) * | 2014-12-21 | 2015-04-22 | 北京工业大学 | Intersection identification and intersection trajectory planning method for intelligent vehicle in urban road running process |
| CN108319895B (en) * | 2017-12-29 | 2021-09-17 | 百度在线网络技术（北京）有限公司 | Method and device for identifying intersection in electronic map |
| CN109192054B (en) * | 2018-07-27 | 2020-04-28 | 阿里巴巴集团控股有限公司 | Data processing method and device for map region merging |
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| CN107782564A (en) * | 2017-10-30 | 2018-03-09 | 青岛慧拓智能机器有限公司 | A kind of automatic driving vehicle evaluation system and method |
| CN111079611A (en) * | 2019-12-09 | 2020-04-28 | 成都奥伦达科技有限公司 | Automatic extraction method for road surface and marking line thereof |
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