CN-121997573-A - High-precision pavement format conversion fitting method and system for Shp to OpenDRIVE

CN121997573ACN 121997573 ACN121997573 ACN 121997573ACN-121997573-A

Abstract

The invention discloses a high-precision pavement format conversion fitting method and system for Shp to OpenDRIVE. The method constructs a unified course angle based on road topology, adopts arc length parameterization and local orthometric basis, performs ParamPoly fitting on tangential, transverse and elevation components, and applies position and tangential boundary constraint at a start and stop end to ensure Continuously and strictly orthogonal to the transverse direction, in bifurcation/convergence topology, performing end point offset according to the accumulated lane width along the normal direction according to the main road end point heading, and performing smooth adjustment of end-to-end linear interpolation on the central line, and adopting single front/back matching with shared nodes on lane links to ensure physical consistency. And finally outputting the reference line, the lane and the link structure which accord with OpenDRIVE. Compared with the existing flow, the invention does not need a large amount of manual correction, can keep tangential continuity, transverse strict orthogonality and overall geometric smoothness at the joint, remarkably improves the conversion efficiency, precision and robustness, and is suitable for engineering production of complex lane networks.

Inventors

WANG XIAOLONG
WANG XIANG
CHENG QI
WU LEILEI
CHEN TAO

Assignees

武汉市测绘研究院

Dates

Publication Date: 20260508
Application Date: 20260108

Claims (10)

1. A high-precision pavement format conversion fitting method for Shp to OpenDRIVE, comprising the steps of: S1, constructing a unified course angle and topology connection system based on Shp road data; S2, under unified navigation, the arc length is parameterized and the local orthogonal basis is adopted for Direction execution ParamPoly fitting and application Adding weight to the endpoint; S3, performing endpoint normal offset and centerline smoothing at bifurcation/convergence positions according to topology, and generating OpenDRIVE parameterized geometry.
2. The high-precision pavement format conversion fitting method for Shp to OpenDRIVE according to claim 1 is characterized in that in step S1, a unified course angle system is constructed by vector averaging the start-stop course of roads entering and leaving the same node to reduce deviation caused by angle periodicity, if the node lacks a unified slope, the end course of the previous road and the start course of the next road are respectively used as the back-off constraint of the start end, and are cooperated with parameterized fitting and topology correction flow to realize a unified course angle and a topology connection system thereof.
3. A high accuracy pavement format conversion fitting method for Shp to OpenDRIVE according to claim 1, wherein in step S2, tangential direction is defined by parameterizing in uniform navigation direction and with local orthogonal basis and arc length Transverse direction And elevation of Performing ParamPoly fits separately, the normalized parameters of the weighted least squares satisfy And is also provided with The derivative conversion relation is And adopting reduced order or piecewise re-fitting when the error exceeds the limit.
4. A high precision pavement format conversion fitting method for Shp to OpenDRIVE according to claim 3, wherein the construction formula performs position and tangential boundary constraint assurance Continuous, as follows: in the formula, 、 Local coordinate components tangential and transverse along a reference line, respectively; 、 respectively relative to the arc length Tangential and transverse derivatives of (a); Representing the arc length parameter along the reference line, Representing the total arc length of the currently fitted segment, The reference line heading angles respectively representing the starting point and the ending point of the fitting segment, Representative of normalizing the angle difference to A wrapping function of the interval. In addition, position and tangential boundary constraint is applied in the fitting result, and the segmentation re-fitting is ensured when the error exceeds the limit Continuous.
5. A high accuracy pavement format conversion fitting method for Shp to OpenDRIVE according to claim 3, characterized in that the configurable formula performs orthogonal constraint of the lane transverse direction for constructing the lane transverse direction satisfying the orthogonal condition as follows: in the formula, Representing arc length along a reference line Lane transverse unit direction vector at the position; respectively representing tangential vector, main normal vector and auxiliary normal vector of the reference line at the point; is the rotation angle of the lane transverse direction with respect to the main normal vector.
6. A high accuracy pavement format conversion fitting method for Shp to OpenDRIVE according to claim 1, wherein in step S3, the endpoint shift logic of the bifurcation/junction topology is formulated to implement topology correction logic for topology correction of bifurcation/junction topology endpoint shift as follows: in the formula, Heading for main road end point Normal unit vector at; accumulating lane widths for the nodes; The marks are left and right sides; respectively the target starting points; respectively sub-roads is a correction start-stop point.
7. A high precision pavement format conversion fitting method for Shp to OpenDRIVE as defined in claim 6, wherein the centerline smoothing adjustment uses end-to-end linear interpolation with the displacement formula as follows: in the formula, Respectively end point displacement; Linear interpolation weight from start point to end point Is the total number of centerline points); and (3) with The centerline point positions before and after interpolation, respectively.
8. The high-precision pavement format conversion fitting system for the Shp to OpenDRIVE is characterized by comprising a core architecture module, a set simulation module, a topology optimization module and an output adaptation module: The core architecture module is used for realizing the core logic design of the unified course angle system construction and the parameterized fitting and topology correction in the step S1 of the claim 1; a geometric fitting module for performing the local orthogonal basis set-up, paramPoly fitting and weighted least squares solution of step S2 of claim 1; The topology optimization module is used for executing boundary constraint application, orthogonal direction construction, topology endpoint offset and central line smooth adjustment in the step S3 of the claim 1; And the output adaptation module is used for converting the optimized geometric data into OpenDRIVE standard parameterized formats and outputting the same to generate OpenDRIVE parameterized geometric data.
9. A computer program product, characterized in that the computer program product, when executed by a processor, implements the steps of the generating method according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the generating method of any of claims 1 to 7.

Description

High-precision pavement format conversion fitting method and system for Shp to OpenDRIVE Technical Field The invention relates to a high-precision map road geometry automatic generation technology, in particular to a high-precision pavement format conversion fitting method and system for Shp to OpenDRIVE. Background With the rapid development of intelligent transportation, digital twinning and driving simulation, standardized static road network data becomes a key infrastructure for supporting algorithm verification and virtual testing. ASAM OpenDRIVE is oriented to simulation and test scenes, provides unified description of road geometry, lane system and intersection topology, enables the road network to be exchangeable, computable and reusable under a unified coordinate frame, and simultaneously, a large amount of existing road data in industry is deposited by GIS vectors (such as Shapefile), so that the road data processing method has perfect element and attribute system and is convenient to produce and maintain. In order to multiplex existing data resources in a simulation link, a conversion bridge from GIS semantics to OpenDRIVE parameterized road networks needs to be established, accurate mapping of road reference lines, lanes and topological relations is achieved, and unified data requirements of different platforms and tool chains are met. With the increasing demand of simulation and automatic driving tests on standardized road network data, a core task is to accurately convert GIS vector data (such as Shapefile) commonly used in industry into ASAM OpenDRIVE (Xodr) standard. Shapefile organizes the road center line, boundary and semantics by element geometry and attribute table, openDRIVE expresses the road trend by a reference line s/t/h coordinate system, geometric fragment and parameter cubic polynomial (paramPoly 3), and organizes lanes and topology in lanes, elevationProfile, superelevation, link, junction and other structures. The two expression norms are different, the conversion emphasis is on semantic mapping and parameterization landing, namely, converting a central line element into a reference line, establishing an s-axis arc length, generating a transverse t position according to the width and the offset of a lane, constructing a front-back relationship and intersection connection by the mapping elevation and the superhigh-to-corresponding section, and ensuring the geometric sectionIs continuously orthogonal to the lane transverse direction to the reference line. Therefore, an engineering shp-OpenDRIVE automatic conversion flow is needed, namely, based on arc length parameterization and local orthogonal basis fitting reference lines, endpoint heading is unified, tangential direction is restrained, lanes and topology are generated according to a structure, and Xodr files meeting specifications and being applicable to simulation and test are finally output. Disclosure of Invention The invention aims to provide a high-precision pavement format conversion fitting method and system for Shp to OpenDRIVE, which are used for overcoming the defects of simulation precision and simulation type in the prior art. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: A high precision pavement format conversion fitting method for Shp to OpenDRIVE, comprising the steps of: S1, constructing a unified course angle and topology connection system based on Shp road data; S2, under unified navigation, performing ParamPoly fitting on the $u/v/z $direction and applying $C 0/C1 and endpoint weighting by using arc length parameterization and local orthogonal basis; S3, performing endpoint normal offset and centerline smoothing at bifurcation/convergence positions according to topology, and generating OpenDRIVE parameterized geometry. Preferably, a unified course angle system is adopted to reduce deviation caused by angle periodicity by carrying out vector average construction on the start-stop course of roads entering and leaving the same node, and if the node lacks a unified slope, the end course of the previous road and the start course of the next road are respectively used as the back constraint of the start-stop end. Preferably, the normalization parameter using weighted least squares satisfiesAnd is also provided withThe derivative conversion relation isAnd the boundary precision of the fitting result is improved through the weight increase of the end points. Preferably, the construction formula performs position and tangential boundary constraints as follows: in the formula, Local coordinate components tangential and transverse along a reference line, respectively; Tangential and lateral derivatives of $s with respect to arc length, respectively; Representing the arc length parameter along the reference line, Representing the total arc length of the currently fitted segment,The reference line heading angles respectively representing the starting point and the