CN113744413B - Elevation matching method and system for vehicle on three-dimensional high-precision map road - Google Patents
Elevation matching method and system for vehicle on three-dimensional high-precision map road Download PDFInfo
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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Abstract
A method and a system for matching the elevation of a vehicle on a three-dimensional high-precision map road, wherein the method comprises the following steps: step 1, formulating corresponding electronic fence rules based on road types, and marking various road types on a three-dimensional high-precision map based on the electronic fence rules; and 2, acquiring the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle. The invention provides a vehicle elevation matching method and system on a three-dimensional high-precision map road, by calibrating an elevated electronic fence area and matching a hierarchy, and matching the elevation information of each overhead road section at the current longitude and latitude of the vehicle according to the rule, so as to achieve the matching of the elevation information of the correct road section, and restoring the three-dimensional position attribute of the vehicle in real time.
Description
Technical Field
The invention relates to a network communication technology and a webpage three-dimensional visualization technology, in particular to an elevation matching method and system for a vehicle on a three-dimensional high-precision map road.
Background
The webpage three-dimensional visualization technology is a three-dimensional visualization system constructed based on an open source three-dimensional framework Cesium. Js, and three-dimensional high-precision map data can be loaded on a webpage by using the framework to perform visualized three-dimensional map data watching. The three-dimensional high-precision map data uses a format of 3Dtiles, and the data format is used for calling and rendering map tiles based on an LOD pyramid form, so that only map tile data which accords with the current view angle range can be loaded and rendered when a webpage is browsed. When the vehicle performs simulated motion on the three-dimensional high-precision map, the near point elevation matching processing is performed, and the real-time position information of the vehicle in the three-dimensional scene is truly restored under the condition that the real-time longitude and latitude of the vehicle are only provided. However, when the vehicle moves to the overhead road section, a plurality of elevation information can appear, and at this time, the elevation information of the road section cannot be matched only according to the longitude and latitude, and the correct position of the vehicle simulation cannot be restored.
Disclosure of Invention
In view of the technical defects and technical drawbacks existing in the prior art, the embodiment of the invention provides a method and a system for matching the elevation of a vehicle on a three-dimensional high-precision map road, which overcome or at least partially solve the problems, and specifically adopts the following scheme:
as a first aspect of the present invention, there is provided a method for matching a vehicle elevation on a three-dimensional high-precision map road, the method comprising the steps of:
Step 1, formulating corresponding electronic fence rules based on road types, and marking various road types on a three-dimensional high-precision map based on the electronic fence rules;
And 2, acquiring the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
Further, the step 1 specifically includes:
For roads of the ground type, defining a class 1 electronic fence area, and marking a corresponding road mark as1 on a three-dimensional high-precision map;
For the road of the overhead type, defining a class 2 electronic fence area, and marking the corresponding road as 2 on a three-dimensional high-precision map;
For ramp or tunnel type roads, defining a class 3 electronic fence area, and marking the corresponding road as 3 on a three-dimensional high-precision map;
And defining a class 4 electronic fence area for the road at the up ramp or the tunnel entrance, and marking the corresponding road as 4 on a three-dimensional high-precision map.
Further, the ground-type roads include ordinary ground roads, overhead under roads, and ordinary roads on the ground, and the overhead-type roads include overhead road segments and overhead-type highways.
Further, step2 specifically includes:
Step 2.1, when the vehicle runs on a common road or an overhead lower road, giving a state mark of the vehicle as false by default, matching a class 4 electronic fence area in a preset range based on the longitude and latitude uploaded by the vehicle, and judging as follows:
A, a nearby class 4 electronic fence area is not available, or a current coordinate point does not enter the matched class 4 fence area, so that the situation that a vehicle does not enter a ramp or passes through a tunnel is represented, and the elevation of the vehicle is matched with nearby points according to the elevation of the type of the ground road;
B, the vehicle enters a4 th type electronic fence area, represents a necessary road section of a ramp or a underpass tunnel, and the vehicle elevation matches elevation information of a nearby interpolation point of an associated 3 rd type fence according to the nearby point at the moment, and changes a vehicle state mark into true;
Step 2.2, when the vehicle runs at a ramp or a underpass tunnel, matching elevation information of an electronic fence area corresponding to a current road, and when the vehicle runs out of the current electronic fence area, matching nearby type 2 or type 3 fence information according to a current near point, wherein the steps are as follows:
A, a vehicle enters a class 2 electronic fence area, namely, the vehicle enters an overhead main road from a ramp, and the vehicle elevation is matched with the elevation of a nearby interpolation point according to the electronic fence area corresponding to the current overhead main road;
B, when the vehicle enters a class 3 fence area, representing a ramp, and performing elevation matching of near interpolation points according to the current matched ramp in the electronic fence area corresponding to the ramp;
And 2.3, matching the class 3 electronic fence areas according to the current nearby points when the vehicle runs out of the current ramp from the overhead, and performing nearby interpolation point elevation matching according to the corresponding electronic fence areas.
Further, if the 3 rd type electronic fence area does not exist in the preset range, the situation that the vehicle is switched from the current ramp to other common roads or the vehicle passes through the underpass and enters the ground common road is represented, the vehicle elevation is subjected to nearby point matching according to the ground road type elevation, and the vehicle state mark is changed into false at the moment.
As a second aspect of the present invention, there is provided an elevation matching system of a vehicle on a three-dimensional high-precision map road, the system including a road type marking module and an elevation calculating module;
The road type marking module is used for making a corresponding electronic fence rule based on the road types and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
the elevation calculation module is used for obtaining the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
Further, the road type marking module is specifically configured to:
For roads of the ground type, defining a class 1 electronic fence area, and marking a corresponding road mark as1 on a three-dimensional high-precision map;
For the road of the overhead type, defining a class 2 electronic fence area, and marking the corresponding road as 2 on a three-dimensional high-precision map;
For ramp or tunnel type roads, defining a class 3 electronic fence area, and marking the corresponding road as 3 on a three-dimensional high-precision map;
And defining a class 4 electronic fence area for the road at the up ramp or the tunnel entrance, and marking the corresponding road as 4 on a three-dimensional high-precision map.
Further, the ground-type roads include ordinary ground roads, overhead under roads, and ordinary roads on the ground, and the overhead-type roads include overhead road segments and overhead-type highways.
Further, the elevation calculation module is specifically configured to:
When the vehicle runs on a common road or an overhead lower road, giving a state mark of the vehicle as false by default, matching a class 4 electronic fence area in a preset range based on the longitude and latitude uploaded by the vehicle, and judging as follows:
A, a nearby class 4 electronic fence area is not available, or a current coordinate point does not enter the matched class 4 fence area, so that the situation that a vehicle does not enter a ramp or passes through a tunnel is represented, and the elevation of the vehicle is matched with nearby points according to the elevation of the type of the ground road;
B, the vehicle enters a4 th type electronic fence area, represents a necessary road section of a ramp or a underpass tunnel, and the vehicle elevation matches elevation information of a nearby interpolation point of an associated 3 rd type fence according to the nearby point at the moment, and changes a vehicle state mark into true;
When a vehicle runs at a ramp or a down-going tunnel, the elevation information of an electronic fence area corresponding to a current road is matched, and when the vehicle runs out of the current electronic fence area, the 2 nd or 3 rd fence information nearby is matched according to the current near point, specifically as follows:
A, a vehicle enters a class 2 electronic fence area, namely, the vehicle enters an overhead main road from a ramp, and the vehicle elevation is matched with the elevation of a nearby interpolation point according to the electronic fence area corresponding to the current overhead main road;
B, when the vehicle enters a class 3 fence area, representing a ramp, and performing elevation matching of near interpolation points according to the current matched ramp in the electronic fence area corresponding to the ramp;
When the vehicle runs out of the current ramp from the overhead, matching the class 3 electronic fence areas according to the current nearby points, and performing nearby interpolation point elevation matching in the corresponding electronic fence areas; if the 3 rd type electronic fence area does not exist in the preset range, the situation that the vehicle is switched from the current ramp to other common roads or the vehicle passes through the underpass and enters the ground common road is represented, the vehicle elevation is subjected to nearby point matching according to the ground road type elevation, and the vehicle state mark is changed into false at the moment.
The invention has the following beneficial effects:
Under the precondition that only longitude and latitude are provided, the invention provides a vehicle elevation matching method and system on a three-dimensional high-precision map road, by calibrating an elevated electronic fence area, and under the method of matching the hierarchy, the elevation information of each overhead road section at the current longitude and latitude of the vehicle is matched according to rules, so that the elevation information of the correct road section is matched, and the three-dimensional position attribute of the vehicle is restored in real time.
Drawings
FIG. 1 is a schematic flow chart of a method for matching elevation of a vehicle on a three-dimensional high-precision map road according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a three-dimensional high-precision map marker according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, as a first embodiment of the present invention, there is provided an elevation matching method of a vehicle on a three-dimensional high-precision map road, the method including the steps of:
Step 1, formulating corresponding electronic fence rules based on road types, and marking various road types on a three-dimensional high-precision map based on the electronic fence rules;
And 2, acquiring the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
Preferably, the step1 specifically includes:
For roads of the ground type, defining a class 1 electronic fence area, and marking corresponding road marks as 1 on a three-dimensional high-precision map, wherein the roads of the ground type comprise ordinary ground roads, overhead roads and ordinary roads positioned on the ground;
For an overhead type road, defining a class 2 electronic fence area, and marking a corresponding road as 2 on a three-dimensional high-precision map, wherein the overhead type road comprises an overhead road section and an overhead type expressway;
For ramp or tunnel type roads, defining a class 3 electronic fence area, and marking the corresponding road as 3 on a three-dimensional high-precision map;
And defining a class 4 electronic fence area for the road at the up ramp or the tunnel entrance, and marking the corresponding road as 4 on a three-dimensional high-precision map.
In the above embodiment, the present invention uses polygons to cover road surfaces, which is called an electronic fence area, and fence types are classified into 4 types according to road types, wherein the 1 st type does not need to be provided with the electronic fence area.
It should be noted that, in the above embodiment, a front rule, that is, a rule of vehicle line-up, is required, and it is specified that the vehicle can only be line-up from a ground road, but cannot be directly line-up from an overhead road or a tunnel.
Preferably, step 2 specifically includes:
Step 2.1, when the vehicle runs on a common road or an overhead lower road, giving a state mark of the vehicle as false by default, matching a class 4 electronic fence area within a preset range (for example, within 30 m) based on the longitude and latitude uploaded by the vehicle, and performing the following judgment:
A, a nearby class 4 electronic fence area is not available, or a current coordinate point does not enter the matched class 4 fence area, so that the situation that a vehicle does not enter a ramp or passes through a tunnel is represented, and the elevation of the vehicle is matched with nearby points according to the elevation of the type of the ground road;
B, the vehicle enters a4 th type electronic fence area, represents a necessary road section of a ramp or a underpass tunnel, and the vehicle elevation matches elevation information of a nearby interpolation point of an associated 3 rd type fence according to the nearby point at the moment, and changes a vehicle state mark into true;
Step 2.2, when the vehicle runs at a ramp or a underpass tunnel, matching elevation information of an electronic fence area corresponding to a current road, and when the vehicle runs out of the current electronic fence area, matching nearby type 2 or type 3 fence information according to a current near point, wherein the steps are as follows:
A, a vehicle enters a class 2 electronic fence area, namely, the vehicle enters an overhead main road from a ramp, and the vehicle elevation is matched with the elevation of a nearby interpolation point according to the electronic fence area corresponding to the current overhead main road;
B, when the vehicle enters a class 3 fence area, representing a ramp, and performing elevation matching of near interpolation points according to the current matched ramp in the electronic fence area corresponding to the ramp;
Step 2.3, matching the class 3 electronic fence areas according to the current nearby points when the vehicle runs out of the current ramp from the overhead, and carrying out nearby interpolation point elevation matching according to the corresponding electronic fence areas; if the 3 rd type electronic fence area does not exist in the preset range, the situation that the vehicle is switched from the current ramp to other common roads or the vehicle passes through the underpass and enters the ground common road is represented, the vehicle elevation is subjected to nearby point matching according to the ground road type elevation, and the vehicle state mark is changed into false at the moment.
In addition, when the vehicle runs out of the current overhead on the overhead main road, the area of the third type fence nearby is matched, the lower overhead ramp judgment processing is carried out, at the moment, special conditions need to be marked particularly, the overhead main road is likely to be directly connected to the ground expressway without the ramp, at the moment, a part of the running road needs to be planned into the 3rd type fence, and meanwhile, the corresponding 4 th type fence is added in the running entering direction under the conditions and is used as the judgment processing condition of the upper overhead.
The principle of the invention will be further described with reference to a map of the intersection of a high speed and overhead, as shown in fig. 2, wherein the numerical references represent the respective types of roads, as follows;
When a vehicle runs from a ground road section (namely a class 1 fence) to a toll station to enter a class 4 fence, the vehicle continuously runs to a ramp junction after entering an elevated ramp and then enters a black display ramp, the vehicle is matched with the class 3 fence elevation, and when the vehicle runs from the ramp to an elevated main road, the vehicle is matched with the class 2 electronic fence elevation corresponding to the current elevated main road. There is also a ground road below the class 3 ramp of black color, but because the class 3 fence has no four ramps associated, the class 3 ramp down ground road elevation will not match to the overhead.
As a second embodiment of the present invention, there is provided an elevation matching system of a vehicle on a three-dimensional high-precision map road, the system including a road type marking module and an elevation calculating module;
The road type marking module is used for making a corresponding electronic fence rule based on the road types and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
the elevation calculation module is used for obtaining the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A method for matching elevations of vehicles on three-dimensional high-precision map roads, the method comprising the steps of:
Step 1, formulating corresponding electronic fence rules based on road types, and marking various road types on a three-dimensional high-precision map based on the electronic fence rules;
Step 2, acquiring the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle;
the step 1 specifically includes:
For roads of the ground type, defining a class 1 electronic fence area, and marking a corresponding road mark as1 on a three-dimensional high-precision map;
For the road of the overhead type, defining a class 2 electronic fence area, and marking the corresponding road as 2 on a three-dimensional high-precision map;
For ramp or tunnel type roads, defining a class 3 electronic fence area, and marking the corresponding road as 3 on a three-dimensional high-precision map;
For roads at the upper ramp or the tunnel entrance, defining a class 4 electronic fence area, and marking the corresponding road as 4 on a three-dimensional high-precision map;
the step 2 specifically includes:
Step 2.1, when the vehicle runs on a common road or an overhead lower road, giving a state mark of the vehicle as false by default, matching a class 4 electronic fence area in a preset range based on the longitude and latitude uploaded by the vehicle, and judging as follows:
A, a nearby class 4 electronic fence area is not available, or a current coordinate point does not enter the matched class 4 fence area, so that the situation that a vehicle does not enter a ramp or passes through a tunnel is represented, and the elevation of the vehicle is matched with nearby points according to the elevation of the type of the ground road;
B, the vehicle enters a4 th type electronic fence area, represents a necessary road section of a ramp or a underpass tunnel, and the vehicle elevation matches elevation information of a nearby interpolation point of an associated 3 rd type fence according to the nearby point at the moment, and changes a vehicle state mark into true;
Step 2.2, when the vehicle runs at a ramp or a underpass tunnel, matching elevation information of an electronic fence area corresponding to a current road, and when the vehicle runs out of the current electronic fence area, matching nearby type 2 or type 3 fence information according to a current near point, wherein the steps are as follows:
A, a vehicle enters a class 2 electronic fence area, namely, the vehicle enters an overhead main road from a ramp, and the vehicle elevation is matched with the elevation of a nearby interpolation point according to the electronic fence area corresponding to the current overhead main road;
B, when the vehicle enters a class 3 fence area, representing a ramp, and performing elevation matching of near interpolation points according to the current matched ramp in the electronic fence area corresponding to the ramp;
Step 2.3, matching the class 3 electronic fence areas according to the current nearby points when the vehicle runs out of the current ramp from the overhead, and carrying out nearby interpolation point elevation matching according to the corresponding electronic fence areas; if the 3 rd type electronic fence area does not exist in the preset range, the situation that the vehicle is switched from the current ramp to other common roads or the vehicle passes through the underpass and enters the ground common road is represented, the vehicle elevation is subjected to nearby point matching according to the ground road type elevation, and the vehicle state mark is changed into false at the moment.
2. The elevation matching method of a vehicle on a three-dimensional high-precision map road according to claim 1, wherein the ground-type road includes a general ground road, an overhead-type road including an overhead road section and an overhead-type expressway, and a general road located on the ground.
3. An elevation matching system of a vehicle on a three-dimensional high-precision map road is characterized by comprising a road type marking module and an elevation calculating module;
The road type marking module is used for making a corresponding electronic fence rule based on the road types and marking various road types on a three-dimensional high-precision map based on the electronic fence rule;
The elevation calculation module is used for obtaining the longitude and latitude uploaded by the vehicle, matching the type of the current electronic fence of the vehicle based on the longitude and latitude and the electronic fence rule, and determining the current elevation of the vehicle based on the type of the current electronic fence of the vehicle;
the road type marking module is specifically configured to:
For roads of the ground type, defining a class 1 electronic fence area, and marking a corresponding road mark as1 on a three-dimensional high-precision map;
For the road of the overhead type, defining a class 2 electronic fence area, and marking the corresponding road as 2 on a three-dimensional high-precision map;
For ramp or tunnel type roads, defining a class 3 electronic fence area, and marking the corresponding road as 3 on a three-dimensional high-precision map;
For roads at the upper ramp or the tunnel entrance, defining a class 4 electronic fence area, and marking the corresponding road as 4 on a three-dimensional high-precision map;
the road type marking module is specifically configured to:
For roads of the ground type, defining a class 1 electronic fence area, and marking a corresponding road mark as1 on a three-dimensional high-precision map;
For the road of the overhead type, defining a class 2 electronic fence area, and marking the corresponding road as 2 on a three-dimensional high-precision map;
For ramp or tunnel type roads, defining a class 3 electronic fence area, and marking the corresponding road as 3 on a three-dimensional high-precision map;
For roads at the upper ramp or the tunnel entrance, defining a class 4 electronic fence area, and marking the corresponding road as 4 on a three-dimensional high-precision map;
The elevation calculation module is specifically used for:
When the vehicle runs on a common road or an overhead lower road, giving a state mark of the vehicle as false by default, matching a class 4 electronic fence area in a preset range based on the longitude and latitude uploaded by the vehicle, and judging as follows:
A, a nearby class 4 electronic fence area is not available, or a current coordinate point does not enter the matched class 4 fence area, so that the situation that a vehicle does not enter a ramp or passes through a tunnel is represented, and the elevation of the vehicle is matched with nearby points according to the elevation of the type of the ground road;
B, the vehicle enters a4 th type electronic fence area, represents a necessary road section of a ramp or a underpass tunnel, and the vehicle elevation matches elevation information of a nearby interpolation point of an associated 3 rd type fence according to the nearby point at the moment, and changes a vehicle state mark into true;
When a vehicle runs at a ramp or a down-going tunnel, the elevation information of an electronic fence area corresponding to a current road is matched, and when the vehicle runs out of the current electronic fence area, the 2 nd or 3 rd fence information nearby is matched according to the current near point, specifically as follows:
A, a vehicle enters a class 2 electronic fence area, namely, the vehicle enters an overhead main road from a ramp, and the vehicle elevation is matched with the elevation of a nearby interpolation point according to the electronic fence area corresponding to the current overhead main road;
B, when the vehicle enters a class 3 fence area, representing a ramp, and performing elevation matching of near interpolation points according to the current matched ramp in the electronic fence area corresponding to the ramp;
When the vehicle runs out of the current ramp from the overhead, matching the class 3 electronic fence area according to the current nearby point, and performing nearby interpolation point elevation matching in the corresponding electronic fence area; if the 3 rd type electronic fence area does not exist in the preset range, the situation that the vehicle is switched from the current ramp to other common roads or the vehicle passes through the underpass and enters the ground common road is represented, the vehicle elevation is subjected to nearby point matching according to the ground road type elevation, and the vehicle state mark is changed into false at the moment.
4. The elevation matching system of vehicles on three-dimensional high-precision map roads according to claim 3, wherein the ground-type roads include general ground roads, overhead-type roads including overhead road segments and overhead-type highways, and general roads on the ground.
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