CN113091765A - Road characterization method, method for presenting road information and electronic equipment - Google Patents
Road characterization method, method for presenting road information and electronic equipment Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The invention relates to the technical field of unmanned driving, and provides a road characterization method, a method for presenting road information and electronic equipment. The road characterization method comprises the following steps: obtaining at least one target path, wherein the target path comprises a plurality of path points; acquiring road attribute information corresponding to the path point; determining connection information of path points of each target path; and representing the road according to the connecting line information and the road attribute information. The invention represents the road information through the route points in the target route and the connecting lines between the route points, displays the target route in the application, reduces the complexity of road representation, and is more suitable for being used by unmanned vehicles.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a road characterization method, a method for presenting road information and electronic equipment.
Background
Route planning is an important part of unmanned driving, and its task is to find a travelable and safe route from a starting point to an end point. When the path planning is performed, the road information of the current environment needs to be represented in advance, so that the path planning program of the vehicle knows how to walk in the current environment. The currently common road representation methods include an optional map and a Lanelet map, wherein the optional map uses an analytic expression to represent the shape of a lane, and the Lanelet represents the shape of the lane by using polygons formed by lane boundary points. These maps all have a function of describing lanes, boundary lines of lanes, various traffic facilities and crosswalks on roads, and can express all the characteristics that affect the traffic driving behavior that can be seen by all people.
Generally, the unmanned vehicle does not need to use so much environment information when performing tasks, and only needs to know how to walk specifically in the current environment, such as passing a certain road at a certain range of speed, turning left at a certain intersection, and the like. For unmanned vehicles such as road sweeper and logistics vehicle, a lot of information describing environment states contained in the map is useless, such as image information of buildings beside roads, the map definition of the information is complex and occupies a large amount of memory, the complex information is not used when the unmanned vehicle actually runs, and the utilization rate of the map information is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a road characterization method, a method for presenting road information and electronic equipment, and mainly solves the problem that the map definition in the existing road characterization method is too complex and is not suitable for being used by unmanned vehicles.
To achieve the above object, according to one aspect of the present invention, there is provided a road characterization method including:
obtaining at least one target path, wherein the target path comprises a plurality of path points;
acquiring road attribute information corresponding to the path point;
determining connection information of path points of each target path;
and representing the road according to the connecting line information and the road attribute information.
Optionally, the road attribute information specifically includes:
position information, which is the position of the path point;
speed information, which is the speed of the vehicle passing through the path point;
direction information which is the direction of the vehicle when passing through the path point;
the vehicle running action information is a running action requirement when the vehicle passes through the path point;
and the vehicle driving road condition information is the road condition near the path point.
Optionally, the determining the connection information of the path point of each target path includes:
acquiring the position information of the path point in the target path;
and determining connection information of the path points according to the position information, wherein the connection information is used for representing the path direction of the adjacent path points.
Optionally, path points with the same position information in the at least two target paths are mutually overlapped path points, and the overlapped path points are used for representing the position relationship of the at least two target paths.
Optionally, the position relationship between the at least two target paths includes any one of:
if the end point of the first target path and the start point of the second target path are mutually overlapped path points, the first target path can be used for allowing a vehicle to drive into the second target path;
if the end point of the first target path and the end point of the second target path and the start point of the third target path are overlapped path points, the vehicles can drive into the third target path through both the first target path and the second target path;
if the starting point of the first target path and the starting point of the second target path are mutually overlapped path points with the end point of the third target path, the third target path can be used for the vehicle to drive into the first target path or the second target path.
Optionally, the vehicle driving action information includes:
vehicle obstacle avoidance mode information, warehousing path confirmation information, check point confirmation information, turn light selection information and whistle selection information;
the vehicle driving road condition information comprises:
signal light indication information, parking area confirmation information, intersection confirmation information, lane information, and special section confirmation information.
According to another aspect of the present invention, there is provided a road characterization device, comprising:
the target path acquisition module is used for acquiring at least one target path, and the target path comprises a plurality of path points;
the road attribute information acquisition module is used for acquiring road attribute information corresponding to the path point;
a link information acquisition module, configured to determine link information of a path point of each target path;
and the representation module is used for representing the road according to the connecting line information and the road attribute information.
Optionally, the connection information acquiring module includes:
a path point position obtaining unit, configured to obtain position information of the path point in the target path;
and the connecting line information determining unit is used for determining the connecting line information of the path points according to the position information, and the connecting line information is used for representing the path direction of the adjacent path points.
According to another aspect of the present invention, there is provided a road characterization apparatus comprising:
at least one processor;
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described road characterization method.
According to still another aspect of the present invention, there is provided a method of presenting road information, displaying a target path in an application, the target path including a plurality of waypoints and a connecting line connecting the plurality of waypoints, each of the waypoints being accompanied by road attribute information, the road attribute information including: position information of the waypoints, speed information when the vehicle passes the waypoints, and direction information when the vehicle passes the waypoints; the connecting line is used for presenting the connection relation of the path points.
Optionally, the road attribute information further includes: the vehicle driving action information and the vehicle driving road condition information comprise:
vehicle obstacle avoidance mode information, warehousing path confirmation information, check point confirmation information, turn light selection information and whistle selection information;
the vehicle driving road condition information comprises:
signal light indication information, parking area confirmation information, intersection confirmation information, lane information, and special section confirmation information.
According to still another aspect of the present invention, there is provided an electronic device for presenting road information, including: at least one processor;
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of presenting road information described above.
Compared with the prior art, the road representation method, the method for presenting road information and the electronic device provided by the embodiment of the invention represent the road information through the path points in the target path and the connecting lines between the path points, display the target path in the application, reduce the complexity of road representation and are more suitable for being used by unmanned vehicles.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic flow chart of a road characterization method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of S13 in FIG. 1;
FIG. 3 is a schematic diagram of a road characterization device according to an embodiment of the present invention;
FIG. 4 is an exemplary diagram of a dotting map in an embodiment of the present invention;
FIG. 5 is a partial schematic view of the dotted map of FIG. 4;
FIG. 6 is a diagram illustrating an example of road attribute information of a waypoint in accordance with an embodiment of the present invention;
FIG. 7 is a diagram illustrating an example of a target path location relationship in an embodiment of the present invention;
FIG. 8 is a block diagram of a road characterization device according to an embodiment of the present invention;
fig. 9 is a block diagram of an electronic device for presenting road information according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts. The terms "first," "second," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
An embodiment of the present invention provides a road characterization method, please refer to fig. 1 to 2, including the following steps:
s11, obtaining at least one target path, wherein the target path comprises a plurality of path points. The target path corresponds to all roads in the target range, any road in the target range has a corresponding target path, each target path at least comprises two path points, each path point comprises road attribute information corresponding to the path point, and the road attribute information is used for describing the position, the direction, the road condition and other information of all roads in the target range.
And S12, acquiring the road attribute information corresponding to the path point. The road attribute information may be used to assist the vehicle in path planning. The road attribute information comprises position information, and the position information is used for representing the position of the path point.
And S13, determining the connection information of the path point of each target path.
As shown in fig. 2, the determining of the connection information of the path point of each target path in step S13 specifically includes the following steps:
s131, acquiring the position information of the path point in the target path.
Specifically, each of the waypoints has corresponding road attribute information, the road attribute information includes position information of the waypoint, and the position information includes position coordinates and a route direction of the waypoint.
S132, determining connection information of the path points according to the position information, wherein the connection information is used for representing the path direction of the adjacent path points. The path direction is used to describe the direction of the target path, and is usually equal to the direction information of the path points, that is, the path direction from one path point to the next adjacent path point in one target path is usually equal to the direction when the vehicle passes through the path point.
And S14, representing the road according to the link information and the road attribute information. Specifically, the road is represented by the target path including a plurality of the waypoints and a connecting line connecting the waypoints.
In some other embodiments, corresponding to the above road characterization method, there is further provided a method for presenting road information, where the target path is displayed in an application, the target path includes a plurality of waypoints and a connecting line connecting the waypoints, each waypoint is accompanied by road attribute information, and the road attribute information includes: position information of the waypoints, speed information when the vehicle passes the waypoints, and direction information when the vehicle passes the waypoints; the connecting line is used for presenting the connection relation of the path points.
For example, a dotting map is established according to the connection information and the road attribute information, and the target path is displayed in the dotting map, wherein the target path comprises a plurality of path points and a connection line connecting the path points, and each path point is attached with the road attribute information. Referring to fig. 4 and 5, the connection information may be represented by a direction arrow in the dotting map, fig. 5 is a schematic partial enlarged view at P in fig. 4, a path point is represented by a dot in the diagram, and a small arrow between two adjacent dots in the diagram is a direction arrow indicating a path direction. Referring to FIG. 5, the direction arrows show the direction of movement of the vehicle from one of the waypoints to the next adjacent waypoint. The target path in this embodiment includes a series of path points formed by the path points and directional arrows between adjacent path points, the target path, in combination with a map coordinate system, forms a dotting map for representing roads, and the position coordinates of each path point in the dotting map are fixed. For example, the position coordinates of the waypoints in the dotting map are (x, y, θ), and the waypoint sequence Q { [ Q | Q ∈ (xi, yi, θ i), i ═ 1,2, …, k } corresponding to one target route. The path point sequence Q includes a plurality of path points Q.
Specifically, a road is represented by the target path including the directional arrow and a plurality of the waypoints, the target path is combined with a coordinate system of a dotting map to form the dotting map for representing the road, the directional arrow in the dotting map includes link information of the waypoints, and the waypoints in the dotting map include road attribute information of the waypoints corresponding to the waypoints.
The road attribute information comprises position information and direction information, wherein the position information is the position of the path point; the direction information is a direction when the vehicle passes through the waypoint, and is usually a route direction, the position information and the direction information are specifically represented in the dotting map as position coordinates (x, y, θ) of the waypoint, specifically refer to an example diagram of road attribute information corresponding to a certain waypoint shown in fig. 6, and the position coordinates (x, y, θ) are represented in fig. 6 as x, y, yaw and values thereof, wherein x is used for describing an abscissa corresponding to the waypoint in a coordinate system of the dotting map, a value range is (-inf, inf), and inf represents infinity; y is used for describing the corresponding vertical coordinate of the path point in the coordinate system of the dotting map, and the value range is (-inf, inf); theta, yaw and its value in fig. 6, are used to describe the direction information of the waypoint, specifically, the included angle between the direction of the vehicle passing through the waypoint and the x-axis of the coordinate system of the dotting map, and the value range is (-180, 180%).
The road attribute information includes speed information, which is the speed of the vehicle passing through the waypoint and is represented as speed min limit, speed max limit, direction and their values in fig. 6, in addition to the position information and the direction information. Wherein the speed min limit is the minimum speed of the vehicle passing through the path point, and the value range is [0, inf); speed max limit is the maximum speed of the vehicle passing through the path point, and the value range is [0, inf); the direction is the speed direction of the vehicle passing through the waypoint, and is taken as 0 or 1, specifically, 0 represents that the vehicle needs to run forwards when passing through the waypoint, and 1 represents that the vehicle needs to run in a reverse mode when passing through the waypoint. For example, the speed min limit value, the speed max limit value and the direction value of the route point illustrated in fig. 6 are 0, 36 and 0, respectively, where the speed unit set here is km/h, and indicates that the road corresponding to the route point has a minimum speed of 0 and a maximum speed of 36km/h, and needs to be driven in the forward direction, the vehicle can pass through the road at any speed between 0 and 36km/h when performing a driving task, and the speed may be 0, that is, the vehicle is allowed to stop at the road, but does not need to be driven in the reverse direction.
Optionally, the road attribute information further includes vehicle driving action information and vehicle driving road condition information. Specifically, the vehicle driving action information is a driving action requirement when the vehicle passes through the route point, and the vehicle driving action information may include vehicle obstacle avoidance mode information, warehousing route confirmation information, check point confirmation information, turn signal selection information, whistle selection information, and the like.
The vehicle obstacle avoidance mode information is an obstacle avoidance mode when the vehicle passes through the waypoint and an obstacle avoidance behavior when the vehicle passes through the waypoint, such as an avoid mode and a near in fig. 6 and values thereof. The avoid mode and the value thereof are an obstacle avoidance mode when the vehicle passes through the path point, the value range is an integer in [0,3], specifically, 0 represents that the vehicle is allowed to avoid the obstacle and can retreat when passing through the path point, 1 represents that the vehicle is allowed to avoid the obstacle but cannot retreat when passing through the path point, for example, the vehicle can detour to avoid the obstacle, 2 represents that the vehicle is not allowed to avoid the obstacle but can retreat when passing through the path point, for example, the vehicle slightly retreats to keep a safe distance, and 3 represents that the vehicle is not allowed to avoid the obstacle and cannot retreat when passing through the path point; the near and the value thereof are obstacle avoidance behaviors that the vehicle can take when passing through the waypoint, and the value is 0 or 1 or 2, specifically, 0 represents that the vehicle can normally avoid obstacles to the left or to the right when passing through the waypoint, 1 represents that the vehicle tends to avoid obstacles to the right when passing through the waypoint, and 2 represents that the vehicle tends to avoid obstacles to the left when passing through the waypoint, for example, the avoid mode value at the road corresponding to the waypoint in the example in fig. 6 is 0, and the near value is 2, which represents that the vehicle can have obstacle avoidance behaviors and can retreat when driving to the place, and tends to avoid obstacles to the left when encountering obstacles. The warehousing path confirmation information may help the vehicle to determine whether the path point belongs to a warehousing path, where the warehousing path indicates a path where the vehicle returns to a parking position, for example, an is parking node and a value thereof in fig. 6, where a value is 0 or 1, specifically, 0 indicates that the path point does not belong to a warehousing path, and 0 indicates that the path point belongs to a warehousing path. The check point confirmation information may help the vehicle to determine whether the path point is a check point, which is represented as is check point and a value thereof in fig. 6, where the check point indicates that the vehicle needs to travel to the check point in the process of executing the travel task, and the value is 0 or 1, specifically, 0 indicates that the path point is not a check point, and 1 indicates that the path point is a check point. The turn signal selection information indicates whether and how the turn signal should be turned on when the vehicle passes through the waypoint, for example, turning and its value in fig. 6 are 0 or 1 or 2, specifically, 0 indicates that the turn signal should not be turned on when the vehicle travels to the waypoint, 1 indicates that the left turn signal should be turned on when the vehicle travels to the waypoint, and 2 indicates that the right turn signal should be turned on when the vehicle travels to the waypoint. The whistle selection information is a whistle requirement when the vehicle passes through the route point, for example, horn and its value in fig. 6, and the value is 0 or 1, specifically, 0 indicates that the vehicle does not whistle when running to the route point, and 1 indicates that the vehicle needs to whistle when running to the route point.
Specifically, the vehicle driving road condition information is a road condition near the path point, and the vehicle driving road condition information may include signal lamp indication information, parking area confirmation information, intersection confirmation information, lane information, special section confirmation information, and the like.
The signal light indication information indicates whether the path point has a traffic signal light, and how the vehicle travels according to the indication information of the traffic signal light when passing through the path point, for example, traffic light stop point and its value in fig. 6, where the value range is an integer in [0,3], specifically, 0 indicates that the path point has no traffic signal light, 1 indicates that the path point has a traffic signal light, and the vehicle travels according to the indication of the left turn light when passing through the path point, 2 indicates that the path point has a traffic signal light, and the vehicle travels according to the indication of the straight light when passing through the path point, and 3 indicates that the path point has a traffic signal light, and the vehicle travels according to the indication of the right turn light when passing through the path point. The parking area confirmation information describes whether the path point belongs to a parking rod area, and the parking rod area represents an entrance and an exit of a parking area such as a garage or a temporary parking lot, and vehicles often come in and go out. In fig. 6, the parking area confirmation information is represented as is parking rod and a value thereof, where the value is 0 or 1, specifically, 0 represents that the waypoint does not belong to the parking rod area, and 1 represents that the waypoint is the parking rod area, and when the vehicle travels to this place, there may be a special travel request, for example, to prevent traffic jam, the vehicle cannot stop at this place, and the like. The intersection confirmation information indicates a link type of the waypoint, for example, a road type and a value thereof in fig. 6, and the value is 0 or 1 or 2, specifically, 0 indicates that the waypoint is an ordinary straight link, 1 indicates that the waypoint is an intersection, and 2 indicates that the waypoint is a T-shaped intersection. The lane information indicates the number of lanes of the waypoint, for example, the left lanes number and the value thereof in fig. 6, indicates the number of lanes on the left of the waypoint, and the value range is an integer in [0,5 ]; the right lanes number and its value represent the number of lanes on the right of the waypoint, and the value range is an integer in [0,5 ]. The left lanes number and the right lanes number at the waypoint illustrated in fig. 6 both have a value of 0, which indicates that the waypoint is a one-way road and a one-way road segment, and the vehicle can only travel in the lane. The special link confirmation information describes whether the road corresponding to the waypoint is a special link, for example, the road crossswap and the value of the road crossswap in fig. 6 indicate whether the waypoint belongs to a zebra crossing region, the value is 0 or 1, specifically, 0 indicates that the waypoint is not the zebra crossing region, and 1 indicates that the waypoint is the zebra crossing region; the road attribute and the value thereof in fig. 6 indicate whether the waypoint is a special road segment, and the value is 0 or 1, specifically, 0 indicates that the waypoint does not belong to the special road segment, 1 indicates that the waypoint belongs to the special road segment, specifically, what special road segment is set according to the actual situation, for example, there is a school near the road, and then, setting 1 indicates that the waypoint belongs to the school road segment.
In some other embodiments, the vehicle driving road condition information may further include task type information, where the task type information indicates task attributes corresponding to different types of work tasks, and due to different task properties performed by different vehicles, most vehicles need to perform point-to-point movement when performing tasks, for example, a logistics vehicle moves from a starting point to an end point; while other specialized vehicles do not necessarily have to be point-to-point while performing tasks, such as sweepers moving along roadsides and sweeping the road while performing work tasks. Taking a sweeper as an example, the sweeper needs to move along the side when executing a task, the value of task type and the value thereof in fig. 6 is 0 or 1, specifically, 0 represents a waypoint corresponding to a point-to-point movement task to which the waypoint belongs, and 1 represents a waypoint corresponding to a sweeper continuation sweeping task to which the waypoint belongs. It should be noted that the task type information includes, but is not limited to, a point-to-point movement task and a edgewise movement task, and may also be a special travel task corresponding to another unmanned vehicle.
In some other embodiments, the vehicle driving road condition information may further include re-planning information, where the re-planning information may help the vehicle to determine whether the path point allows re-planning of the path when performing path planning, for example, it is shown as is can replace and its value in fig. 6, where the value is 0 or 1, specifically, 0 indicates that the path point allows re-planning when planning the path, and 1 indicates that the path point does not allow re-planning when planning the path.
The vehicle described in this embodiment includes a sweeper, a logistics vehicle, a docking vehicle, or any other unmanned vehicle.
Optionally, referring to fig. 7, path points with the same position information in the at least two target paths are overlapping path points, and the overlapping path points may represent a position relationship between the at least two target paths. Referring to fig. 7, the path B1D includes overlapping path points C and C2, and the path point C or C2 is not the start point or the end point of the path B1D, so the path B1D is not a target path, and the path B1D includes a target path B1C and a target path C2D. The position information of the route points which are mutually overlapped route points is the same but the direction information is not necessarily the same, and belong to different target routes, usually representing the starting point or the end point of the road, for example, in the target route AB and the target route B1C, the route point B and the route point B1 are mutually overlapped route points; for another example, among the target route B1C, the target route C1E, and the target route C2D, the route point C1, and the route point C2 are mutually overlapping route points.
Optionally, the position relationship between the at least two target paths includes, but is not limited to, any of the following:
and if the end point of the first target path and the start point of the second target path are mutually overlapped path points, the first target path can be used for allowing the vehicle to drive into the second target path. Referring to fig. 7, for example, if route point B is the end point of target route AB, route point B1 is the start point of target route B1C, and route point B1 are overlapped route points, the unmanned vehicle can drive from road AB to road B1C when driving.
If the end point of the first target path and the end point of the second target path and the start point of the third target path are overlapped path points, the vehicles can drive into the third target path through both the first target path and the second target path. Referring to fig. 7, for example, if a route point B2 is an end point of the target route FB2, a route point B is an end point of the target route AB, a route point B1 is a start point of the target route B1C, and a route point B2, a route point B, and a route point B1 are mutually overlapped route points, the unmanned vehicle can drive into the road B1C from the road FB2 or the road AB when driving.
If the starting point of the first target path and the starting point of the second target path are mutually overlapped path points with the end point of the third target path, the third target path can be used for the vehicle to drive into the first target path or the second target path. Referring to fig. 7, for example, if a route point C is an end point of the target route B1C, a route point C1 is a start point of the target route C1E, a route point C2 is a start point of the target route C2D, and the route point C, the route point C1, and the route point C2 are overlapped with each other, the unmanned vehicle can enter the road C1E or the road C2D from the road B1C when traveling.
The positional relationship between two target paths having overlapped path points and the positional relationship between three target paths having overlapped path points are exemplified above, and the positional relationship between other plural target paths in the actual environment is not necessarily exemplified here.
As another aspect of the embodiments of the present application, there is provided a road characterization device 10, please refer to fig. 3, where the road characterization device 10 includes:
a target path obtaining module 11, where the target path obtaining module 11 is configured to obtain at least one target path, where the target path includes a plurality of path points. Each target path comprises a plurality of path points, and each path point comprises road attribute information of a road corresponding to the path point.
A road attribute information obtaining module 12, where the road attribute information obtaining module 12 is configured to obtain road attribute information corresponding to the route point. The road attribute information comprises position information, speed information and direction information, wherein the position information is the position of the path point; the speed information is the speed of the vehicle passing through the path point; the direction information is a direction of the vehicle when passing the waypoint.
In some other embodiments, the road attribute may further include vehicle driving action information and vehicle driving road condition information, where the vehicle driving action information is a driving action requirement when the vehicle passes through the waypoint; and the vehicle driving road condition information is the road condition near the path point. The information of the vehicle driving action and the information of the vehicle driving road condition are detailed in the above embodiment of the method, and will not be described herein.
A connection information obtaining module 13, where the connection information obtaining module 13 is configured to determine connection information of a path point of each target path.
Optionally, the connection information obtaining module 13 specifically includes: a path point position acquisition unit 131 and a link information determination unit 132.
Specifically, the path point position obtaining unit 131 is configured to obtain position information of the path point in the target path. Each of the waypoints is attached with road attribute information, the road attribute information includes position information of the waypoint, and the position information includes position coordinates and a route direction of the waypoint.
The link information determining unit 132 is configured to determine link information of the waypoints according to the position information, where the link information is used to characterize path directions of adjacent waypoints. The path direction is generally equivalent to the direction information of the path points, that is, the path direction from one path point to the next adjacent path point in a target path is generally equivalent to the direction of the vehicle passing through the path point.
A representation module 14, wherein the representation module 14 is configured to represent a road according to the link information and the road attribute information. Specifically, the representation module 14 represents a road through the target path including the directional arrow and a plurality of the waypoints, and displays the target path in an application, where each waypoint is accompanied by road attribute information. The target path establishes a dotting map based on a map coordinate system, the dotting map represents the path points through the dots, the path direction of the path points is represented through the small arrow between two adjacent dots, and the road information is simply and clearly displayed.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Referring to fig. 8, an embodiment of the present invention provides a road characterization apparatus 20, including: at least one processor 21, a memory 22 in communication with the at least one processor 21, and a communication module 23 for establishing a communication connection.
Wherein the memory 22 stores instructions executable by the at least one processor 21 to enable the at least one processor 21 to perform the road characterization method according to any one of the above method embodiments, e.g. to perform the above described method steps S11, S12, S13, S14, etc., to implement the functions of the modules 11, 12, 13, 14 in fig. 3.
The processor 21, the memory 22 and the communication module 23 establish a communication connection therebetween by means of a bus.
The processor 21 may be of any type, having one or more control chips for processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 22, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the road characterization method in the embodiment of the present invention (for example, the target route acquisition module 11, the road attribute information acquisition module 12, the link information acquisition module 13, the characterization module 14, and the like shown in fig. 3). The processor 21 implements the road characterization method in any of the above method embodiments by executing non-transitory software programs, instructions, and modules stored in the memory 22 to perform various functional applications and data processing of the road characterization device 10.
The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the road representation device 10, and the like. Further, the memory 22 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 22 may optionally include memory located remotely from processor 21, which may be connected to road characterization device 20 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication module 23 is a functional module for establishing a communication connection and providing a physical channel. The communication module 23 may be any type of wireless or wired communication module 23 including, but not limited to, a WiFi module or a bluetooth module, etc.
The road characterization device 20 can execute the road characterization method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the road characterization method. For the technical details that are not described in detail in this embodiment, reference may be made to the road characterization method provided by the embodiment of the present invention.
Referring to fig. 9, an embodiment of the invention provides an electronic device 30 for presenting road information, including: at least one processor 31, a memory 32 in communication with the at least one processor 31, and a communication module 33 for establishing a communication connection.
Wherein the memory 32 stores instructions executable by the at least one processor 31, the instructions being executable by the at least one processor 31 to enable the at least one processor to perform the method for presenting road information in the above method embodiment.
The processor 31, the memory 32 and the communication module 33 establish a communication connection therebetween in a bus manner.
The communication module 23 is a functional module for establishing a communication connection and providing a physical channel. The communication module 23 may be any type of wireless or wired communication module 23 including, but not limited to, a WiFi module or a bluetooth module, etc.
The electronic device 30 for presenting road information may execute the method for presenting road information provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. For details of the technology that are not described in detail in the embodiment, reference may be made to the method for presenting road information provided by the embodiment of the present invention.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A road characterization method, comprising:
obtaining at least one target path, wherein the target path comprises a plurality of path points;
acquiring road attribute information corresponding to the path point;
determining connection information of path points of each target path;
and representing the road according to the connecting line information and the road attribute information.
2. The road characterization method according to claim 1, wherein the road attribute information specifically includes:
position information, which is the position of the path point;
speed information, which is the speed of the vehicle passing through the path point;
direction information which is the direction of the vehicle when passing through the path point;
the vehicle running action information is a running action requirement when the vehicle passes through the path point;
and the vehicle driving road condition information is the road condition near the path point.
3. The method according to claim 2, wherein the determining the link information of the waypoint of each of the target paths comprises:
acquiring the position information of the path point in the target path;
and determining connection information of the path points according to the position information, wherein the connection information is used for representing the path direction of the adjacent path points.
4. The road characterization method according to claim 2 or 3, wherein path points with the same position information in at least two target paths are overlapping path points, and the overlapping path points are used for characterizing the position relationship of at least two target paths.
5. The road characterization method according to claim 4, wherein the positional relationship between the at least two target paths includes any one of:
if the end point of the first target path and the start point of the second target path are mutually overlapped path points, the first target path can be used for allowing a vehicle to drive into the second target path;
if the end point of the first target path and the end point of the second target path and the start point of the third target path are overlapped path points, the vehicles can drive into the third target path through both the first target path and the second target path;
if the starting point of the first target path and the starting point of the second target path are mutually overlapped path points with the end point of the third target path, the third target path can be used for the vehicle to drive into the first target path or the second target path.
6. The road characterization method of claim 2,
the vehicle travel action information includes:
vehicle obstacle avoidance mode information, warehousing path confirmation information, check point confirmation information, turn light selection information and whistle selection information;
the vehicle driving road condition information comprises:
signal light indication information, parking area confirmation information, intersection confirmation information, lane information, and special section confirmation information.
7. A road characterization device, the road characterization device comprising:
the target path acquisition module is used for acquiring at least one target path, and the target path comprises a plurality of path points;
the road attribute information acquisition module is used for acquiring road attribute information corresponding to the path point;
a link information acquisition module, configured to determine link information of a path point of each target path;
and the representation module is used for representing the road according to the connecting line information and the road attribute information.
8. The road characterization device according to claim 7, wherein the link information acquisition module comprises:
a path point position obtaining unit, configured to obtain position information of the path point in the target path;
and the connecting line information determining unit is used for determining the connecting line information of the path points according to the position information, and the connecting line information is used for representing the path direction of the adjacent path points.
9. A road characterization device, comprising:
at least one processor;
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.
10. A method for presenting road information, wherein the target route is displayed in an application, the target route includes a plurality of waypoints and a connecting line connecting the waypoints, each waypoint is accompanied by road attribute information, and the road attribute information includes: position information of the waypoints, speed information when the vehicle passes the waypoints, and direction information when the vehicle passes the waypoints; the connecting line is used for presenting the connection relation of the path points.
11. The method of claim 10, wherein the road attribute information further comprises: the vehicle driving action information and the vehicle driving road condition information comprise:
vehicle obstacle avoidance mode information, warehousing path confirmation information, check point confirmation information, turn light selection information and whistle selection information;
the vehicle driving road condition information comprises:
signal light indication information, parking area confirmation information, intersection confirmation information, lane information, and special section confirmation information.
12. An electronic device for presenting road information, characterized by at least one processor;
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 10 and 11.
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