CN111895972B - High-precision map tunnel portal shape generation method, device and medium - Google Patents

Abstract

The invention discloses a method, a device and a medium for generating a shape of a tunnel entrance in a high-precision map, belonging to the technical field of high-precision maps. The method includes: determining a point cloud of the tunnel entrance according to the area to which the bottom corner point of the tunnel entrance is preselected; The top shape point of the tunnel mouth is determined by multiple horizontal dividing points on the horizontal reference line segment and the point cloud of the tunnel mouth, and the horizontal reference line segment is determined according to the line segment between the bottom corner points of the tunnel mouth; according to the multiple longitudinal dividing points on the longitudinal reference line segment Determine the shape points on both sides of the tunnel entrance with the point cloud of the tunnel entrance. The longitudinal reference line segment is determined according to the line segment between the highest point of the tunnel entrance and the starting point. The starting point is the vertical projection of the horizontal reference line segment through the highest point of the tunnel entrance ; and the shape of the tunnel mouth is determined from the top shape point and the side shape points. The application of the invention reduces the difficulty of the process of determining the shape of the tunnel mouth, and improves the working speed of determining the shape of the tunnel mouth.

Description

High-precision map tunnel mouth shape generation method, device and medium

technical field

The present application relates to the technical field of high-precision maps, and in particular, to a method, device and medium for generating a shape of a tunnel entrance in a high-precision map.

Background technique

High-precision maps are electronic maps with higher precision and more data dimensions, which provide higher-precision geographic location information in aspects such as automatic driving and lane positioning. In the process of drawing a high-precision map, it is necessary to collect target information, obtain the point cloud information of the target, process the target point cloud, and finally determine the shape of the target.

The tunnel entrance includes the entrance and exit of the tunnel, the entrance and exit of the bridge hole and the entrance and exit of similar cave-like buildings. In the process of high-precision map production, due to the irregular shape of the tunnel mouth, manual drawing is required in the free view of the point cloud. In the manual drawing process, technicians draw shape points along the edge of the tunnel mouth, and finally form a string of curved points in the shape of the tunnel mouth. Using the manual drawing method, the technicians are easily disturbed by the error point cloud, the operation is difficult, the operation speed is slow, and the manually selected tunnel mouth shape points are unevenly distributed, and the final drawn tunnel mouth shape is different from the actual tunnel mouth shape. Larger and less accurate.

SUMMARY OF THE INVENTION

In view of the above technical problems existing in the prior art, the present application provides a method, device and medium for generating a shape of a tunnel mouth in a high-precision map.

In one technical solution of the present application, a method for generating a shape of a tunnel entrance on a high-precision map is provided, which includes: determining a tunnel entrance point cloud according to a preselected area to which the bottom corner point of the tunnel entrance belongs; The top shape point of the tunnel mouth is determined by the horizontal split points and the tunnel entrance point cloud, and the horizontal reference line segment is determined according to the line segment between the bottom corner points of the tunnel mouth; the tunnel is determined according to the multiple vertical split points on the vertical reference line segment and the tunnel mouth point cloud. The shape points on both sides of the mouth, the longitudinal reference line segment is determined according to the line segment between the highest point of the tunnel mouth and the starting point, and the starting point is the vertical projection point on the horizontal reference line segment through the highest point of the tunnel mouth; The shape point and the shape points on both sides determine the shape of the tunnel mouth.

In another technical solution of the present application, a device for generating a shape of a tunnel entrance on a high-precision map is provided, which includes: a module for determining a point cloud of the tunnel entrance according to the area to which the bottom corner point of the preselected tunnel entrance belongs; A module for determining the shape point at the top of the tunnel mouth according to multiple horizontal split points on the horizontal reference line segment and the point cloud of the tunnel mouth. The horizontal reference line segment is determined according to the line segment between the bottom corner points of the tunnel mouth; A module for determining the shape points on both sides of the tunnel entrance by multiple longitudinal split points and tunnel entrance point clouds. The longitudinal reference line segment is determined according to the line segment between the pre-selected tunnel entrance highest point and the starting point, and the starting point is the highest point passing through the tunnel entrance. Projection point for vertical projection onto a horizontal baseline segment; and a module for determining the shape of the tunnel mouth from the top shape point and the side shape points.

In another technical solution of the present application, a computer-readable storage medium is provided, which stores computer instructions, wherein the computer instructions are operated to execute the method for generating a tunnel entrance shape of a high-precision map in the first solution.

The beneficial effects that can be achieved by the technical solution of the present application are: when the technical solution of the present application is applied, the point cloud of the tunnel mouth is determined according to the area to which the bottom corner point of the pre-selected tunnel mouth belongs, which can eliminate the influence of the error point cloud and improve the tunnel mouth. The accuracy of shape generation; in addition, multiple tunnel mouth shape points are determined in the tunnel mouth point cloud, so that the shape of the tunnel mouth generated in the high-precision map can reflect the shape characteristics of the real tunnel mouth, reduce errors, and improve the shape of the tunnel mouth. Accuracy.

Description of drawings

1 is a schematic flowchart of a specific embodiment of a method for generating a high-precision map tunnel mouth shape of the present application;

2 is a schematic diagram of a specific embodiment of the area to which the bottom corner point of the tunnel mouth belongs in the present application;

Fig. 3 is a schematic diagram of a specific embodiment of key point positions in the present application;

4 is a schematic diagram of a specific embodiment of a key point determination process in the present application;

5 is a partial schematic diagram of a specific embodiment of the process of determining the top shape point in combination with the bisection method in the present application;

FIG. 6 is a schematic diagram of a specific embodiment of the device for generating a shape of a tunnel entrance for a high-precision map of the present application.

Detailed ways

The preferred embodiments of the present application are described in detail below with reference to the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the protection scope of the present application can be more clearly defined.

It should be noted that "first", "second", "third", etc. in the claims and description of the present application are only used to distinguish similar objects, and are not necessarily construed as describing a specific order or sequence.

FIG. 1 is a schematic flow chart showing a specific embodiment of the method for generating a shape of a tunnel entrance in a high-precision map of the present application.

In the specific implementation shown in FIG. 1 , the method for generating a shape of a tunnel entrance in a high-precision map of the present application includes a process S101 , a process S102 , a process S103 , and a process S104 .

S101 shown in FIG. 1 is the process of determining the point cloud of the tunnel entrance according to the area to which the bottom corner point of the preselected tunnel entrance belongs.

In a specific embodiment of the present application, the area to which the bottom corner point of the tunnel entrance belongs may be a three-dimensional cropping area including the preselected left bottom corner point of the tunnel entrance and the right bottom corner point of the tunnel entrance.

In this specific embodiment, preferably, the left bottom corner point and the right bottom corner point of the tunnel mouth can be determined in the free view of the point cloud by manual selection, and then according to the selected left bottom corner of the tunnel mouth point and the bottom right corner point to define the drape area. Among them, the three-dimensional cropping area includes the bottom corner point on the left and the bottom corner on the right side of the selected tunnel entrance, and can contain most of the point cloud points in the free view of the point cloud. Preferably, the three-dimensional cropping area can include the point cloud points near the tunnel entrance in the free view of the point cloud, so that in the process of generating the shape of the tunnel entrance, the influence of the error point cloud can be eliminated, and at the same time, the generated tunnel entrance shape can be guaranteed to be accurate. Accuracy. In the specific process of determining the 3D cropping area, the shape of the 3D cropping area can be determined according to the distribution of the point cloud in the actual point cloud free view. For example, the 3D cropping area can be determined as a cuboid or a cylinder.

In a specific embodiment of the present application, the process S101 may be to traverse the point cloud of the point cloud free view in the area to which the bottom corner point of the tunnel entrance belongs, and intercept the traversed point set as the tunnel entrance point cloud.

FIG. 2 shows a specific embodiment of the area to which the bottom corner point of the tunnel mouth of the present application belongs.

In order to facilitate the understanding of the technical solution of the present application, with reference to FIG. 2 , an embodiment in which the area to which the bottom corner point of the tunnel mouth belongs is a cuboid will be described.

In this embodiment, the point 201 and the point 202 are respectively the pre-selected left bottom corner point and right bottom corner point of the tunnel entrance. On the horizontal plane, the bottom corner point 201 on the left side of the tunnel entrance and the bottom corner point 202 on the right side of the tunnel entrance are respectively extended for a certain distance to the front and back sides to obtain points 203, 205, 204 and 206, respectively. In a specific embodiment of the present application, the distances extending from the front and rear sides may be equal or unequal.

In this embodiment, the point 203, the point 205, the point 204 and the point 206 are the four vertices of the rectangle, respectively. Extend point 203, point 205, point 204, and point 206 upward for a certain distance to obtain point 207, point 209, point 208, and point 210. Point 203, point 204, point 205, point 206, point 207, point 208, point 209 and point 210 are the three-dimensional clipping regions where the vertices obtain the cuboid.

In the specific embodiment of the present application, the shape of the region to which the bottom corner point of the tunnel mouth belongs includes, but is not limited to, a polyhedron, a cylinder, a semi-cylinder, and the like. According to the shape of the actual tunnel mouth, the size of the area to which the bottom corner of the tunnel mouth belongs can be set, so that the shape of the tunnel mouth calculated by the method for generating the tunnel mouth shape of the high-precision map in the specific embodiment of the present application can be more suitable for the actual tunnel mouth. shape.

In the embodiment shown in FIG. 2, an example of the process of traversing the point cloud in the free view of the point cloud is as follows:

,取长方体区域的指向长方体外部的六个表面的法向量，记为

，在长方体区域内的任意一点

满足向量计算公式：(

-

)

<0,

。First, pick any point on the six surfaces of the cuboid area, and record them as

, Take the normal vectors of the six surfaces of the cuboid region pointing to the outside of the cuboid, denoted as

, at any point within the cuboid region

Satisfy the vector calculation formula: (

-

)

<0,

.

Secondly, all the point cloud points in the free view of the point cloud are brought into the above formula by the computing device, and the point cloud set satisfying the above formula is obtained, that is, the point cloud of the tunnel entrance in the area to which the bottom corner of the tunnel entrance belongs is obtained.

In the specific embodiment of the present application, by selecting the area to which the bottom corner of the tunnel mouth belongs and traversing the point cloud of the free view of the point cloud in the area to which the bottom corner of the tunnel mouth belongs, it is possible to ensure that the free view of the point cloud is in the area. The point cloud near the tunnel entrance falls within the area of the bottom corner of the tunnel entrance, and some point cloud points with large deviations are excluded, so that the influence of interference points can be eliminated in the subsequent process of determining the shape of the tunnel entrance, and then Reduce the error when generating the tunnel mouth shape in the high-precision map, and improve the accuracy of the obtained tunnel mouth shape.

In a specific embodiment of the present application, S102 shown in FIG. 1 is the process of determining the shape point of the top of the tunnel mouth according to a plurality of horizontal division points on the horizontal reference line segment and the point cloud of the tunnel mouth, wherein the horizontal reference line segment is the tunnel mouth The line segment between the bottom corner point on the left and the bottom corner point on the right side of the tunnel entrance. Multiple horizontal split points can be split points of the horizontal reference line segment.

FIG. 3 is a schematic diagram of a specific embodiment of key point positions in the present application. FIG. 4 is a schematic diagram of a specific embodiment of a key point determination process in the present application. The "key points" and "key point positions" here refer to a plurality of comparative key points that need to be used in the process of determining the shape point of the tunnel mouth in some specific examples of the specific implementation manner of the present application. , and the location of the more critical point.

When describing in conjunction with FIG. 3 or the elements in FIG. 3 , the element shown in FIG. 3 is only a specific example of the related elements in the present application, and the related elements in the present application may not be limited to the form shown in FIG. 3 .

A specific embodiment of the key point determination process in this application is described below with reference to FIG. 3 and FIG. 4 .

In one embodiment of the key point determination process shown in FIG. 4 , the key point determination process includes a process S401 , a process S402 , and a process S403 .

S401 is a process of obtaining a first key point by shifting the starting point to the left by a predetermined distance on the horizontal reference line segment.

In this embodiment, the process S401 of shifting the starting point to the left by a predetermined distance on the horizontal reference line segment to obtain the first key point may further include the following processes:

Take the vertical projection point of the pre-selected tunnel entrance highest point on the horizontal reference line segment as the starting point, where the horizontal reference line segment is the line segment between the pre-selected left bottom corner point of the tunnel entrance and the right bottom corner point of the tunnel entrance ;as well as

The first key point is obtained by shifting the starting point to the left by a predetermined distance on the horizontal reference line segment.

In an example of the present application, the highest point of the tunnel entrance may be point 310 as shown in FIG. 3 , the starting point may be point 302 as shown in FIG. 3 , and the bottom corner point on the left side of the tunnel entrance may be as shown in FIG. 3 The point 201 on the right side of the tunnel entrance may be the point 202 shown in FIG. 3 , and the first key point may be the point 309 shown in FIG. 3 .

In the embodiment shown in FIG. 4 , the position of the first key point may be an optional point on the horizontal reference line segment. Preferably, the first key point 309 may be a sextile point that is closest to the bottom corner point 201 on the left side of the tunnel entrance among the plurality of sextile points on the horizontal reference line segment.

In the embodiment shown in FIG. 4 , S402 is a process of determining the second key point according to the first key point, the tunnel entrance point cloud and the longitudinal reference line segment. Wherein, the longitudinal reference line segment is determined according to the line segment between the preselected highest point of the tunnel mouth and the starting point. The first shape point is determined according to the determined first key point and the intercepted tunnel entrance point cloud, and the vertical projection point of the first shape point on the longitudinal reference line segment is determined as the second key point.

In a preferred example of the present application, when determining the longitudinal reference line segment, a point adjacent to the highest point is selected near the highest point of the pre-selected tunnel entrance, and the line segment between the adjacent point of the highest point and the starting point is the longitudinal reference line segment .

In an example of the present application, the adjacent point of the highest point may be the point 307 shown in FIG. 3 , the first shape point may be the point 308 shown in FIG. 3 , the second key point may be the point 306 shown in FIG. 3 , The vertical reference line segment may be a line segment between the starting point 302 and the adjacent point 307 of the highest point as shown in FIG. 3 .

In an example of the present application, the process S402 of determining the second key point according to the first key point, the tunnel entrance point cloud and the longitudinal reference line segment can be implemented through the following specific process:

First, in this example, the highest point adjacent point 307 is obtained by hitting the tunnel entrance point cloud upward from the starting point 302 . Preferably, the process of striking the point cloud of the tunnel entrance from the starting point 302 upward to obtain the highest point adjacent point 307 includes:

First, a sheet-like bottom surface is constructed around the starting point 302 , wherein the shape of the bottom surface includes but is not limited to circle, square, triangle, etc., and the sheet-like bottom surface is located in the horizontal plane where the starting point is located. Second, according to the constructed sheet-like bottom surface, an extension body is obtained by extending upward along the vertical direction, wherein the extension body extends beyond the area to which the bottom corner of the selected tunnel mouth belongs, so as to ensure that the extension body contains the intercepted tunnel. Point cloud points in the mouth point cloud. Third, after the extension body is successfully constructed, because the extension body vertically exceeds the area to which the bottom corner point of the selected tunnel mouth belongs, there will be multiple point cloud points in the tunnel mouth point cloud in the extension body. Select one of them. The point cloud points are used as the highest adjacent points. For example, the point cloud point 307 closest to the starting point 302 may be selected as the highest point adjacent point.

Secondly, in this example, after confirming the adjacent point of the highest point, the line segment between the adjacent point 307 of the highest point and the starting point 302 is used as the vertical reference line segment.

Again, in this instance, the process of determining the first shape point 308 may be similar to the process of determining the adjacent points of the highest point above, but the difference is that a sheet-like bottom surface is constructed around the first key point 309, and the sheet-like bottom surface is upward according to the constructed sheet-like bottom surface. Build an extension body, in which the extension body should extend beyond the area to which the bottom corner point of the selected tunnel entrance belongs, ensure that the extension body contains multiple point cloud points in the point cloud of the tunnel entrance, and select one of the point cloud points as the first shape point . For example, the point cloud point 308 closest to the first key point 309 may be selected as the first shape point.

Again, in this example, the projected point 306 obtained by vertically projecting the first shape point 308 to the longitudinal reference line segment is used as the second key point.

In the embodiment shown in FIG. 4 , S403 is a process of determining the third key point according to the second key point, the tunnel entrance point cloud and the horizontal reference line segment. Preferably, the second shape point is determined according to the second key point and the tunnel entrance point cloud, and the vertical projection point of the second shape point on the horizontal reference line segment is determined as the third key point.

In an example of the present application, the process S403 of determining the third key point according to the second key point, the tunnel entrance point cloud and the horizontal reference line segment can be implemented through the following specific process:

First, the second shape point is determined, and the process is similar to the process of determining the adjacent points of the highest point, the difference is that a sheet-shaped bottom surface is constructed around the second key point 306, and an extension body is constructed to the right according to the constructed sheet-shaped bottom surface, wherein The extension body should extend beyond the area to which the bottom corner point of the selected tunnel entrance belongs. Make sure that the extension body contains multiple point cloud points in the point cloud of the tunnel entrance, and select one point cloud point among the multiple point cloud points as the first shape. point. For example, the point cloud point 305 closest to the second key point 306 may be selected as the second shape point.

Next, the projected point 304 obtained by vertically projecting the second shape point to the horizontal reference line segment is determined as the third key point.

In the embodiment shown in FIG. 4 , S404 is a process of determining the division points of the line segment between the first key point and the third key point as a plurality of horizontal division points.

In the embodiment shown in FIG. 4 , S405 is a process of determining the division points of the line segment between the starting point and the second key point as a plurality of longitudinal division points.

In the specific embodiment of the present application, by determining the first key point, the second key point and the third key point, a range is defined for the position of the subsequent impact line, so that when the shape point of the tunnel mouth is determined by the impact line, it is possible to It is carried out quickly and effectively, without redundant calculation process, and at the same time, it ensures that the tunnel entrance point cloud corresponding to the impact line segment is not omitted, so as to ensure that the tunnel entrance shape point obtained through the impact line segment can fully express the actual tunnel entrance shape, thereby improving the performance of the tunnel entrance. Accuracy of generating tunnel mouth shapes in high-resolution maps.

In a specific embodiment of the present application, the multiple horizontal division points may be division points on a line segment between the first key point and the third key point. In an example of this specific implementation manner, the plurality of horizontal division points may include n equal division points of the line segment between the first key point and the third key point, where n is a natural number not less than 2.

Preferably, the value of n can be selected according to specific requirements on the shape accuracy of the tunnel mouth. Among them, the larger the value of n is, the more upward impact line segments will be, the more corresponding top shape points will be obtained, and the final shape of the tunnel mouth will be more accurate. At the same time, by taking a plurality of horizontal division points as equal division points including the line segment between the first key point and the third key point, the multiple upward impact line segments can be evenly distributed, so that the obtained top shape points are evenly distributed, and then The obtained tunnel mouth shape is more accurate and closer to the real tunnel mouth shape.

A specific embodiment of the high-precision map tunnel mouth shape generation method of the present application includes extending a certain distance from the starting point 302 to the front and rear sides of the horizontal reference line segment to points 301 and 303, respectively, to obtain the first impact line segment.

Taking the starting point as the midpoint, it can conform to the basic tunnel mouth structure. By setting the position and angle of the first impact line segment, it is ensured that in the process of determining the tunnel mouth shape point according to the impact line segment, the obtained tunnel mouth shape point conforms to the The actual shape of the tunnel mouth will not have a large deviation, and at the same time, the working speed of the process of confirming the shape of the tunnel mouth will be improved.

In a specific embodiment of the present application, the process S102 of determining the shape point of the top of the tunnel entrance according to a plurality of horizontal division points on the horizontal reference line segment and the point cloud of the tunnel entrance can be specifically implemented as follows: Translate the first impact line segment to the horizontal reference line segment At the multiple horizontal split points on the upper part of the tunnel, the corresponding multiple upward impact line segments are obtained; the corresponding top shape points are determined according to the multiple upward impact line segments and the tunnel entrance point cloud.

In the actual scene, the shape of the tunnel entrance is mostly a left-right symmetrical structure, and the point cloud of the tunnel entrance is mostly distributed on the front and rear sides of the starting point. Therefore, in the specific embodiment of the present application, by setting the first impact line segment to expand from the starting point to the front and rear sides of the horizontal reference line segment, it can be ensured that in the process of determining the top shape point according to the multiple upward impact line segments, the The shape point of the tunnel mouth conforms to the actual shape of the tunnel mouth, and there will be no large deviation, and at the same time, the working speed of the confirmation process of the shape point of the tunnel mouth is improved.

In this specific implementation manner, the more the number of horizontal dividing points, the more upward impact line segments will be, the more corresponding top shape points will be obtained, and the final shape of the tunnel mouth will be more accurate.

Preferably, the first impact line segment and the horizontal reference line segment are located in the same horizontal plane and are perpendicular to the horizontal reference line segment, and the first impact line segment takes the starting point as the midpoint. By setting the position and angle of the first impact line segment, it can be ensured that in the process of determining the shape point of the tunnel mouth according to the multiple upward impact line segments, the obtained top shape point is more in line with the actual shape of the tunnel mouth, ensuring that the deviation is smaller. , while further improving the working speed of the process of confirming the shape point of the tunnel mouth.

In a specific embodiment of the present application, the process S102 of determining the shape point of the top of the tunnel entrance according to a plurality of horizontal division points on the horizontal reference line segment and the point cloud of the tunnel entrance can be implemented in combination with the dichotomy method.

FIG. 5 is a partial schematic diagram of a specific embodiment of the process of determining the top shape point in combination with the bisection method in the present application.

In an example of this specific embodiment, the line segment between point 301 and point 303 represents the first impact line segment, and the starting point 302 is the midpoint of the first impact line segment. In this example, a sheet-like bottom surface is constructed around the midpoint 302 of the first impact line segment, and the sheet-like bottom surface is extended along the upward impact direction of the first impact line segment beyond the region to which the bottom corner point of the selected tunnel mouth belongs. An extension body, if the number of points in the extension body of the tunnel entrance point cloud is greater than the set threshold, the collision point cloud succeeds, otherwise the collision point cloud fails.

In an example of this specific embodiment, a square bottom surface is constructed around the midpoint 302 of the first impact line segment, and according to the upward impact direction of the first impact line segment, combined with the cuboid region shown in FIG. 2 , extending the square region obtains a cuboid shape , wherein the front view of the cuboid-shaped extension is projected as a rectangle formed by points 501 , 502 , 503 and 504 , as shown in FIG. 5 . At this time, it is determined that the number of points of the tunnel entrance point cloud contained in the cuboid-shaped extension body is greater than the set threshold, and the point cloud is successfully hit at the bisection point of the first impact line segment. The set threshold for judging the number of point clouds can be set according to the precision requirements for generating the shape of the tunnel mouth in the specific high-precision map. For example, the set threshold can be set to a value of 3.

If the collision point cloud is successful at the bisection point, calculate whether the length of the first collision line satisfies the dichotomy tolerance condition; The nearest point of the bisection point is the corresponding shape point of the tunnel mouth corresponding to the first impact line; if the bisection tolerance condition is not met, or the impact fails, the next bisection point of the first impact line is calculated by the bisection method, and repeat the above The processing of the binary point.

In an example of this specific implementation, as shown in FIG. 5 , in the process of calculating the next bisection point by the bisection method, the midpoint of the first impact line segment is set as an end point of the new impact line segment, and the new impact line segment is recalculated. The midpoint of the impact line serves as the next equinox. For example, if the collision is successful but the tolerance condition is not met, the midpoint 302 of the first collision line segment is set as the right end point, then the line segment between points 301 and 302 is a new collision line segment, and the distance between point 301 and point 302 is taken as the new collision line segment. The midpoint of the line segment is recorded as the next bisection point; if the impact fails, set the midpoint 302 of the first impact line segment as the left endpoint, then the line segment between point 302 and point 303 is the new first impact line segment, take the point The midpoint of the line segment between 302 and point 303 is marked as the next equinox.

Determine the top shape point of the tunnel mouth according to the multiple upward impact line segments and the intercepted point cloud of the tunnel mouth, so that each upward impact line segment corresponds to a top shape point of the tunnel mouth, and finally all the top shape points of the tunnel mouth are determined.

In this specific embodiment, by combining the bisection method in the high-precision map tunnel opening shape generation method of the present application, after multiple collisions on each upward collision line segment among the plurality of upward collision line segments obtained according to the first collision line segment The process of the tunnel entrance point cloud can make the final top shape point closer to the actual tunnel entrance shape, and improve the accuracy of the high-precision map to generate the tunnel entrance shape.

S103 shown in FIG. 1 is the process of determining the shape points on both sides of the tunnel mouth according to a plurality of longitudinal dividing points on the longitudinal reference line segment and the point cloud of the tunnel mouth, wherein the longitudinal reference line segment is based on the pre-selected highest point and starting point of the tunnel mouth The starting point is the vertical projection point on the horizontal reference line segment through the highest point of the tunnel entrance, and the multiple longitudinal dividing points can be the dividing points of the longitudinal reference line segment.

In a preferred embodiment of the present application, the longitudinal reference line segment may be a line segment between a pre-selected line segment near the highest point near the highest point of the tunnel entrance and the starting point.

In a specific embodiment of the present application, the plurality of longitudinal division points may be division points on a line segment between the starting point and the second key point. In an example of this specific implementation manner, the plurality of longitudinal dividing points may include m equal dividing points of the line segment between the starting point and the second key point, where m is a natural number not less than 2.

Preferably, the value of m can be selected according to specific requirements on the shape accuracy of the tunnel mouth. Among them, the larger the value of m is, the more left and right impact line segments will be, the more corresponding shape points on both sides will be obtained, and the final shape of the tunnel mouth will be more accurate. At the same time, by taking a plurality of longitudinal dividing points as equal dividing points including the line segment between the starting point and the second key point, the plurality of left and right impact line segments can be evenly distributed, so that the obtained shape points on both sides are evenly distributed, and then The obtained tunnel mouth shape is more accurate and closer to the real tunnel mouth shape.

In a specific embodiment of the present application, the process S103 of determining the shape points on both sides of the tunnel entrance according to a plurality of longitudinal dividing points on the longitudinal reference line segment and the point cloud of the tunnel entrance can be specifically implemented as follows: Translate the first impact line segment to the longitudinal reference At multiple longitudinal division points on the line segment, corresponding multiple left and right impact line segments are obtained; according to the multiple left and right impact line segments and the tunnel entrance point cloud, the corresponding shape points on both sides are determined.

In the actual scene, the shape of the tunnel entrance is mostly a left-right symmetrical structure, and the point cloud of the tunnel entrance is mostly distributed on the front and rear sides of the starting point. Therefore, in the specific embodiment of the present application, by setting the first impact line segment to expand from the starting point to the front and rear sides of the horizontal reference line segment, it can be ensured that in the process of determining the shape points on both sides according to a plurality of left and right impact line segments, The obtained shape point of the tunnel mouth conforms to the actual shape of the tunnel mouth, and there will be no large deviation, and at the same time, the working speed of the confirmation process of the shape point of the tunnel mouth is improved.

In this specific embodiment, the greater the number of longitudinal division points, the more left and right impact line segments will be, the more corresponding shape points on both sides will be obtained, and the final shape of the tunnel mouth will be more accurate.

Preferably, the first impact line segment and the horizontal reference line segment are located in the same horizontal plane and are perpendicular to the horizontal reference line segment, and the first impact line segment takes the starting point as the midpoint. By setting the position and angle of the first impact line segment, it can be ensured that in the process of determining the shape points of the tunnel mouth according to multiple left and right impact line segments, the obtained shape points on both sides are more in line with the actual shape of the tunnel mouth, ensuring that the deviations that occur are more accurate. At the same time, the working speed of the process of confirming the shape point of the tunnel mouth is further improved.

In a specific embodiment of the present application, the process S103 of determining the shape points on both sides of the tunnel entrance according to a plurality of longitudinal division points on the longitudinal reference line segment and the tunnel entrance point cloud can be implemented in combination with the dichotomy method. The specific implementation process is similar to the above-mentioned specific embodiment of determining the top shape point in combination with the dichotomy method, and will not be repeated here.

In this specific embodiment, by combining the bisection method in the high-precision map tunnel opening shape generation method of the present application, after multiple impacts on each left and right impact line segment among the plurality of left and right impact line segments obtained according to the first impact line segment The process of tunnel entrance point cloud can make the final determined shape points on both sides closer to the actual tunnel entrance shape, and improve the accuracy of the high-precision map to generate the tunnel entrance shape.

S104 shown in FIG. 1 is a process of determining the shape of the tunnel mouth according to the top shape point and the two side shape points.

Preferably, in the process S104 of determining the shape of the tunnel mouth, the shape of the tunnel mouth may be obtained by fitting with the top shape point and the shape points on both sides.

In an example of the present application, according to the abscissa axis component or ordinate axis component of the shape point at the top of the tunnel mouth and the shape points on both sides of the tunnel mouth, the shape points of the tunnel mouth are sorted according to size, and then the shape point string of the tunnel mouth is obtained. Fit the shape point string to get the shape of the tunnel entrance on the high-precision map.

In the specific embodiment of the present application, by using the high-precision map tunnel entrance generation method of the present application, in the process of generating the high-precision map tunnel entrance shape, the selected tunnel entrance bottom is used for the point cloud in the point cloud free view. The area to which the corner points belong can be cropped, which can eliminate the interfering point cloud points in the free view of the point cloud, thereby ensuring the final formation of a high-quality high-precision map tunnel mouth shape.

In the specific embodiment of the present application, by determining the positions of multiple key points, multiple upward impact line segments, and multiple left and right impact line segments, the finally obtained tunnel mouth shape point can accurately reflect the real tunnel mouth shape.

In the specific embodiment of the present application, a plurality of upward impact line segments and a plurality of left and right impact line segments are evenly distributed, so that the obtained tunnel mouth shape points are also uniformly distributed, so that the obtained tunnel mouth shape is more accurate.

In the specific embodiment of the present application, the method for generating the shape of a tunnel mouth in a high-precision map of the present application can customize the number of the top shape points and the two side shape points of the tunnel mouth according to the specific accuracy requirements of the tunnel mouth. Improve the application's extensiveness in application scenarios, on the other hand, it can also avoid the problem of large differences in mapping quality caused by different operators due to different personal habits, so that the final high-precision map tunnel mouth shape is close to the real tunnel mouth shape.

FIG. 6 shows a specific embodiment of the device for generating the shape of a tunnel mouth in a high-precision map of the present application.

In this specific embodiment, the high-precision map tunnel mouth shape generating apparatus may include: a module 601 , a module 602 , a module 603 and a module 604 .

In this specific embodiment, the module 601 is a module for determining the point cloud of the tunnel entrance according to the area to which the bottom corner point of the preselected tunnel entrance belongs.

In a specific embodiment of the present application, the area to which the bottom corner point of the tunnel entrance belongs may be a three-dimensional cropping area including the preselected left bottom corner point of the tunnel entrance and the right bottom corner point of the tunnel entrance.

In an example of this specific embodiment, the shape of the region to which the bottom corner point of the tunnel mouth belongs includes, but is not limited to, a polyhedron, a cylinder, a semi-cylinder, and the like. The size of the three-dimensional cutting area can be set according to the shape of the actual tunnel mouth, so that the shape of the tunnel mouth calculated by the high-precision map tunnel mouth shape generation method in the specific embodiment of the present application can better fit the actual shape of the tunnel mouth.

By selecting the area to which the bottom corner of the tunnel mouth belongs and traversing the point cloud of the free view of the point cloud in the area to which the bottom corner of the tunnel mouth belongs, it can be ensured that the point cloud near the tunnel mouth in the free view of the point cloud falls within the area where the bottom corner of the tunnel mouth belongs. In the area where the bottom corner of the tunnel mouth belongs, some point cloud points with large deviations are excluded, so that the influence of interference points can be eliminated in the subsequent process of determining the shape of the tunnel mouth, thereby reducing the generation of tunnel mouths in high-precision maps. Errors in shape, improve the accuracy of the obtained tunnel mouth shape.

In this specific embodiment, the module 602 is a module for determining the shape point of the top of the tunnel mouth according to a plurality of horizontal division points on the horizontal reference line segment and the point cloud of the tunnel mouth, and the horizontal reference line segment is the bottom corner point on the left side of the tunnel mouth and the tunnel mouth. The line segment between the bottom corner points on the right side of the mouth. Multiple horizontal dividing points can be the dividing points of the horizontal reference line segment.

In an example of this specific implementation manner, the more the number of horizontal division points, the more upward impact line segments will be, the more corresponding top shape points will be obtained, and the final shape of the tunnel mouth will be more accurate. .

In this specific embodiment, the module 603 is a module for determining the shape points on both sides of the tunnel mouth according to a plurality of longitudinal division points on the longitudinal reference line segment and the point cloud of the tunnel mouth, and the longitudinal reference line segment is the pre-selected highest point of the tunnel mouth The line segment between the adjacent highest point and the starting point, the starting point is the projection point of the vertical projection to the horizontal reference line segment through the highest point of the tunnel entrance, and the multiple longitudinal dividing points can be the dividing points of the longitudinal reference line segment.

In an example of this specific implementation manner, the more the number of longitudinal division points, the more left and right impact line segments will be, the more corresponding shape points on both sides will be obtained, and the final shape of the tunnel opening will be more accurate.

In this specific embodiment, the module 604 is a module for determining the shape of the tunnel mouth according to the top shape point and the side shape points.

Preferably, the module 604 can use the top shape point and the two side shape points to obtain the shape of the tunnel mouth by fitting.

In a specific embodiment of the present application, the module 601, the module 602, the module 603, and the module 604 in the high-precision tunnel mouth shape generating apparatus of the present application can be directly in hardware or in a software module executed by a processor. or in a combination of the two.

A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.

The processor may be a central processing unit (English: Central Processing Unit, referred to as: CPU), or other general-purpose processors, digital signal processors (English: Digital Signal Processor, referred to as: DSP), application-specific integrated circuits (English: Application Specific Integrated Circuit, referred to as ASIC), Field Programmable Gate Array (English: Field Programmable Gate Array, referred to as: FPGA) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components or any combination thereof. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral with the processor. The processor and storage medium may reside in the ASIC. The ASIC may reside in the user terminal. In the alternative, the processor and storage medium may reside in the user terminal as discrete components.

In a specific embodiment of the present application, a computer-readable storage medium stores computer instructions, and the computer instructions are operated to execute the method for generating a tunnel entrance for a high-precision map described in any one of the embodiments.

In a specific embodiment of the present application, a computer device includes a processor and a memory, and the memory stores computer instructions, wherein: the processor operates the computer instructions to perform the high-precision map tunnel entrance shape generation described in any embodiment. method.

In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

The above descriptions are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structural transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied in other related technical fields, are the same as It is included within the scope of patent protection of this application.

Claims (10)

1. a high-precision map tunnel mouth shape generation method, is characterized in that, comprises: Determine the point cloud of the tunnel entrance according to the area to which the bottom corner point of the pre-selected tunnel entrance belongs; Determine the tunnel according to the multiple horizontal split points between the first key point and the third key point on the horizontal reference line segment, the first impact line segment extended from the starting point to both sides of the horizontal reference line segment, and the tunnel entrance point cloud The shape point of the top of the mouth, the horizontal reference line segment is determined according to the line segment between the bottom corner points of the tunnel mouth; The shape points on both sides of the tunnel mouth are determined according to a plurality of longitudinal dividing points between the starting point and the second key point on the longitudinal reference line segment, the first impact line segment and the tunnel mouth point cloud, and the longitudinal reference line segment is based on Determined by a line segment between the preselected highest point of the tunnel entrance and the starting point, the starting point being a projection point vertically projected onto the horizontal reference line segment through the highest point of the tunnel entrance; and The shape of the tunnel mouth is determined according to the top shape point and the side shape points. 2. The high-precision map tunnel mouth shape generation method as claimed in claim 1, characterized in that, further comprising: Translating the starting point to the left by a predetermined distance on the horizontal reference line segment to obtain the first key point; Determine the second key point according to the first key point, the tunnel entrance point cloud and the longitudinal reference line segment; Determine the third key point according to the second key point, the tunnel entrance point cloud and the horizontal reference line segment; determining the dividing point of the line segment between the first key point and the third key point as the plurality of horizontal dividing points; and A dividing point of the line segment between the starting point and the second key point is determined as the plurality of longitudinal dividing points. 3. The method for generating a shape of a tunnel entrance in a high-precision map according to claim 1, wherein, according to a plurality of horizontal division points between the first key point and the third key point on the horizontal reference line segment, from the starting point The process of determining the shape point of the top of the tunnel entrance from the first impact line segment obtained by extending to both sides of the horizontal reference line segment and the tunnel entrance point cloud further includes: Translating the first impact line segment to each of the plurality of horizontal division points to obtain a plurality of corresponding upward impact line segments; and The corresponding top shape point is determined according to the plurality of upward impact line segments and the tunnel entrance point cloud. 4. The method for generating a shape of a tunnel entrance in a high-precision map according to claim 1, wherein the method is based on a plurality of longitudinal dividing points between the starting point and the second key point on the longitudinal reference line segment, the first The process of determining the shape points on both sides of the tunnel entrance by an impact line segment and the tunnel entrance point cloud, further comprising: Translating the first impact line segment to each of the plurality of longitudinal division points to obtain a plurality of corresponding left and right impact line segments; and The corresponding shape points on both sides are determined according to the plurality of left and right impact line segments and the tunnel entrance point cloud. 5. The method for generating a shape of a tunnel entrance in a high-precision map according to claim 2, wherein the determining of the second key point is based on the first key point, the tunnel entrance point cloud and the longitudinal reference line segment. process, which further includes: determining a first shape point from the first key point and the tunnel entrance point cloud; and A vertical projection point of the first shape point on the longitudinal reference line segment is determined as the second key point. 6. The method for generating a shape of a tunnel entrance in a high-precision map according to claim 2, wherein said determining the shape of said third key point according to said second key point, said tunnel entrance point cloud and said horizontal reference line segment. process, which further includes: determining a second shape point from the second key point and the tunnel entrance point cloud; and A vertical projection point of the second shape point on the horizontal reference line segment is determined as the third key point. 7. The method for generating a shape of a tunnel entrance in a high-precision map according to claim 2, wherein the plurality of horizontal division points comprise n equal division points of a line segment between the first key point and the third key point, The n is a natural number not less than 2. 8 . The method for generating a shape of a tunnel entrance in a high-precision map according to claim 2 , wherein the plurality of longitudinal dividing points comprise m-bisected points of the line segment between the starting point and the second key point, and the m is a natural number not less than 2. 9. A high-precision map tunnel mouth shape generating device is characterized in that, comprising: A module for determining the point cloud of the tunnel entrance according to the area to which the bottom corner point of the preselected tunnel entrance belongs; It is used to obtain the first impact line segment and the tunnel entrance point cloud obtained by extending from the starting point to the two sides of the horizontal reference line segment according to a plurality of horizontal dividing points between the first key point and the third key point on the horizontal reference line segment a module for determining the top shape point of the tunnel mouth, and the horizontal reference line segment is determined according to the line segment between the bottom corner points of the tunnel mouth; A module for determining shape points on both sides of the tunnel entrance according to a plurality of longitudinal dividing points between the starting point and the second key point on the longitudinal reference line segment, the first impact line segment and the tunnel entrance point cloud, the The longitudinal reference line segment is determined according to the line segment between the preselected highest point of the tunnel entrance and the starting point, and the starting point is a projection point that is vertically projected onto the horizontal reference line segment through the highest point of the tunnel entrance; and A module for determining the shape of the tunnel mouth according to the top shape point and the side shape points. 10. A computer-readable storage medium storing computer instructions, wherein the computer instructions are operable to perform the high-precision map tunnel entrance shape generation method of any one of claims 1-8.

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