Map rendering method, device, equipment and medium

Abstract

The present application discloses a map rendering method, device, equipment and medium. The method, the map rendering method proposed in the embodiment of the present application, obtains lane contour lines for constructing diversion areas from map data, determines the regional scope of the diversion area, and determines the spatial area where diversion area lines need to be rendered. Then, the regional scope of the diversion area is image-rendered, so that the final displayed map data has diversion area lines that are consistent with the actual road, thereby effectively improving the authenticity of map data and improving the user experience without increasing the amount and difficulty of map collection data. The application fields of this solution include but are not limited to maps, navigation, smart transportation, smart travel, autonomous driving and other fields.

Description

Technical Field

[0001] The present disclosure generally relates to the field of data processing technology, specifically to the field of map data technology, and in particular to a map rendering method, device, equipment and medium. Background Art

[0002] In order to clearly express the detailed geometric data of each diversion line in the diversion area in the map, the production of high-precision maps requires a lot of manpower and material resources for collection and maintenance. In particular, when collecting data, there are relatively high requirements for the quality of the collected data. If the data error does not meet the requirements, there will be a gap between the internal diversion area line and the diversion area edge line, affecting the product experience. Summary of the invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a map rendering method, apparatus, device and medium, which can automatically generate guide lines according to the edges of the guide areas, ensure the accuracy of the guide lines, and effectively reduce the cost of map updating.

[0004] In a first aspect, an embodiment of the present application provides a map rendering method, comprising:

[0005] Acquire a lane contour line for constructing a diversion area from the map data, wherein the lane contour line includes two adjacent side lines on two adjacent non-parallel lanes;

[0006] Determine the area range of the diversion area according to the two side lines;

[0007] Image rendering is performed within the area of ​​the diversion area to obtain map data containing the diversion area line.

[0008] In a second aspect, an embodiment of the present application provides a map rendering device, the device comprising:

[0009] An acquisition module, used for acquiring a lane contour line for constructing a diversion area from map data, wherein the lane contour line includes two adjacent side lines on two adjacent non-parallel lanes;

[0010] A determination module, used for determining the area range of the diversion area according to the two edge lines;

[0011] The rendering module is used to perform image rendering within the area of ​​the diversion area to obtain map data containing the diversion area line.

[0012] In some embodiments, the two edges include a first edge and a second edge, and the determining module is used to:

[0013] Obtaining the first point and the last point of the original first sideline and the original second sideline;

[0014] According to the first point and the last point of the original first sideline and the original second sideline, the original first sideline and the original second sideline are aligned in length to obtain a first sideline and a second sideline;

[0015] The area enclosed by the first sideline and the second sideline is used as the area range of the guide area.

[0016] In some embodiments, the determination module is configured to:

[0017] For each original edge line, use the first point and the last point to perform vertical projection on another edge line to obtain a first projection point corresponding to the first point and a second projection point corresponding to the last point;

[0018] Line segments intercepted by two groups of the first projection points and the second projection points are used as the first sideline and the second sideline respectively.

[0019] In some embodiments, the area range of the diversion area is composed of a first sideline and a second sideline, and the rendering module is used to:

[0020] Constructing a dividing line for the diversion area, wherein the dividing line is used to determine a turning position of the diversion area line;

[0021] Determine a plurality of positioning points of diversion area lines on the segmentation line;

[0022] constructing the guide area line in the guide area according to the positioning point;

[0023] The width of the diversion area line is rendered to obtain the rendered map data.

[0024] In some embodiments, the two edges include a first edge and a second edge, and the rendering module is configured to:

[0025] Constructing a center line of an angle between the first sideline and the second sideline;

[0026] Obtain a connecting line between the end point of the first sideline and the end point of the second sideline, and use the center line of the angle truncated by the connecting line as an initial center line;

[0027] The initial center line is corrected to obtain the dividing line of the guide area.

[0028] In some embodiments, the rendering module is used to:

[0029] Selecting a plurality of second sampling points on the initial midline;

[0030] For each of the second sampling points, vertically project onto the first sideline and the second sideline respectively to obtain the third projection point on the first sideline and the fourth projection point on the second sideline;

[0031] The midpoints of the lines connecting the third projection point and the fourth projection point corresponding to the plurality of second sampling points are connected to obtain a dividing line of the flow guide area.

[0032] In some embodiments, the rendering module is used to:

[0033] According to a preset rule, a plurality of first sampling points are determined on the segmentation line, and each of the first sampling points is used as a positioning point of the guide area line.

[0034] In some embodiments, the positioning point is the first sampling point on the segmentation line, and the rendering module is used to:

[0035] For each of the first sampling points, construct a first normal vector and a second normal vector of the first sampling point, wherein the first normal vector and the first sideline are located on one side of the target centerline, and the second normal vector and the second sideline are located on the other side of the target centerline;

[0036] Get the preset rotation angle;

[0037] Control the first normal vector to rotate by the rotation angle toward the first point of the first sideline to obtain a first intersection point of the first normal vector and the first sideline, and control the second normal vector to rotate by the rotation angle toward the first point of the second sideline to obtain a second intersection point of the second normal vector and the second sideline;

[0038] The first intersection point and the second intersection point are respectively connected using the first sampling point to obtain the guide area line.

[0039] In some embodiments, the preset angle is an angle formed by the first sideline and the second sideline, and the rendering module is used to:

[0040] Obtaining an angle formed by the first sideline and the second sideline;

[0041] Control the first normal vector to rotate by the included angle toward the first point of the first sideline to obtain a first intersection point of the first normal vector and the first sideline, and control the second normal vector to rotate by the included angle toward the first point of the second sideline to obtain a second intersection point of the second normal vector and the second sideline;

[0042] The first intersection point and the second intersection point are respectively connected using the first sampling point to obtain the guide area line.

[0043] In some embodiments, the intersection points of the guide area line and the two edge lines are respectively a first intersection point and a second intersection point, and the rendering module is used to:

[0044] Obtaining a preset width corresponding to the guide area line;

[0045] Determine the width of the guide area line with the first sampling point, the first intersection point and the second intersection point as the center respectively;

[0046] The width area is divided into regions, and the divided regions are filled and rendered to obtain rendered guide area lines.

[0047] In some embodiments, the width of the guide area line is rendered using a triangle rendering method, and the rendering module is used to:

[0048] dividing the width region into at least one set of triangular regions;

[0049] Three-dimensional rendering is performed on each triangular area to obtain a rendered diversion area line.

[0050] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the embodiment of the present application when executing the program.

[0051] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the embodiment of the present application.

[0052] The map rendering method proposed in the embodiment of the present application obtains the lane contour lines used to construct the diversion area from the map data, determines the area range of the diversion area, and determines the spatial area where the diversion area line rendering is required, and then performs image rendering on the area range of the diversion area, so that the map data finally displayed has the diversion area lines consistent with the actual road, thereby effectively improving the authenticity of the map data and improving the user experience without increasing the amount and difficulty of map collection data.

[0053] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0055] Figure 1 It is a schematic diagram of the effect of a traditional map in the prior art;

[0056] Figure 2 A schematic diagram of an application scenario of the map rendering method proposed in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of the effect of the diversion area obtained by using the map rendering method proposed in the embodiment of the present application;

[0058] Figure 4 A flowchart of a map rendering method proposed in one embodiment of the present application;

[0059] Figure 5 A flowchart of a map rendering method proposed in another embodiment of the present application;

[0060] Figure 6 This is a schematic diagram of the edge data of a diversion area in an embodiment of the present application;

[0061] Figure 7 A schematic diagram of a first sideline and a second sideline in a specific embodiment of the present application;

[0062] Figure 8 A flowchart of a map rendering method proposed in another embodiment of the present application;

[0063] Fig. 9 A schematic diagram of an initial centerline of an embodiment of the present application;

[0064] Fig.10 A flowchart of a map rendering method proposed in yet another embodiment of the present application;

[0065] Fig.11 A schematic diagram of the initial centerline correction principle of an embodiment of the present application;

[0066] Fig.12 A flowchart of a map rendering method proposed in yet another embodiment of the present application;

[0067] Fig.13 This is a schematic diagram of the principle of controlling the rotation of the normal vector in one embodiment of the present application;

[0068] Fig.14 A flowchart of a map rendering method proposed in yet another embodiment of the present application;

[0069] Fig.15 This is a schematic diagram of the effect of determining the width area in one embodiment of the present application;

[0070] Fig.16 A schematic diagram of the effect of triangular division in one embodiment of the present application;

[0071] Fig.17A flowchart of a map rendering method proposed in yet another embodiment of the present application;

[0072] Fig.18 A schematic diagram of the principles of a map rendering method proposed in yet another embodiment of the present application;

[0073] Fig.19 A block diagram of a map rendering device proposed in yet another embodiment of the present application;

[0074] Fig. 20 A schematic diagram of the structure of a computer system of an electronic device or server suitable for implementing an embodiment of the present application is shown. DETAILED DESCRIPTION

[0075] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0076] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0077] The existing traditional navigation maps depict roads too simply, such as Figure 1 As shown, it simply shows the outline of the road, lacks description of many elements and scenes on the road, and has a low degree of restoration of the real world. It has certain costs and poor experience to use.

[0078] Compared with the road data in traditional maps, high-precision map data collects road data more precisely. It includes various lanes, road markings, speed limit information, etc. It also includes guide lines that prompt users to follow specified routes. The high-precision map can include a detailed description of the geometric data of the diversion area and the geometric data of each diversion area line within the diversion area, and use the collected real data to model and characterize the diversion area.

[0079] However, since high-precision map data contains detailed aggregate data of each diversion area line inside the diversion area, it takes a lot of manpower and material resources to collect and maintain data, and it will seriously increase the amount of map data, thereby increasing the storage cost of end users. In addition, in order to meet the needs of high-precision map drawing, the requirements for data collection are also more stringent, and it is easy for gaps to appear between the diversion area lines and the diversion area edges, which seriously affects the experience of map products.

[0080] Rendering technology is an image processing technology that renders the original image or model, adding color, lighting, shadow and other content to make the image finally displayed on the screen have a realistic effect.

[0081] Based on this, the present application proposes a map rendering method, device, equipment and medium, which can render the diversion area lines according to the lane contour lines, so that the map meets the lane-level data characterization while effectively reducing the difficulty of map data collection and reducing the cost of map drawing.

[0082] Embodiments of the present application provide a map rendering method, apparatus, device and storage medium.

[0083] The executor of the map rendering method provided in the embodiment of the present application is a map rendering device. The rendering device of the map diversion area can be implemented by software and / or hardware. The map rendering device in this embodiment can be configured in an electronic device, or in a server for controlling the electronic device. The server communicates with the electronic device and controls it.

[0084] Among them, the electronic device can be a terminal, such as a mobile phone, a tablet computer, a laptop computer, a vehicle-mounted mobile terminal, and a smart wearable device.

[0085] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network servers, cloud communications, middleware services, domain name servers, security services, CDN, as well as big data and artificial intelligence platforms, but is not limited to these.

[0086] The map rendering method proposed in the embodiment of the present application can be that the server renders the map to be published according to the map data provided by the map collection vehicle, and then publishes it to the terminal that communicates with the server, so that the user can navigate according to the published map. It can also be that after the terminal receives the map published by the server, the map diversion area is rendered locally to reduce the amount of data downloaded from the server communication.

[0087] Take the server executing the map rendering method proposed in the embodiment of the present application as an example. Figure 2 As shown, the map processing system may include a terminal 1 and a server 2. The server 2 may be a server that provides rendered maps to terminal users.

[0088] The diversion area is the entrance and exit part of highways, national and provincial trunk roads, etc., where the lanes on the main line and the entrance or exit ramp form a V-shaped area. The diversion area line is usually marked in the form of a zebra crossing or a V-shaped line, and the diversion area line is a white line of a certain width.

[0089] Server 2 receives data information for drawing a map, and uses the data information to draw a map. Figure 1 The map model shown in Figure 1 In the map model shown, the lane contour lines can fully record the geographical location, direction and width of each lane in the map, providing users with accurate navigation information. However, there is a gap between such map information and the real map data. For example, the diversion area is not outlined with a diversion area line, which can easily cause users to "misread" the lane contour lines, that is, mistakenly believe that the area formed between the adjacent contour lines of two lanes in a bifurcated state is a drivable lane.

[0090] Based on the above problems, server 2 uses lane contours that are easy to cause misunderstandings to determine the area range of the diversion area in the map, and then renders the diversion area lines within the area range of the diversion area to obtain map data containing the diversion area lines, thereby achieving map rendering, so that the rendered map data is the same as the actual map data content, and has a more realistic effect. Then, server 2 will obtain the perfect map and publish the rendered perfect map. Terminal 1 that communicates with server 2 receives the map published by server 2 and uses the map for navigation and other operations. In the example above, the map published by server 2 is as follows: Figure 3 As shown. Therefore, without increasing the difficulty of map data collection, the authenticity of the displayed map can be effectively improved through the rendering mode, the probability of users misreading map data can be effectively reduced, and the safety of vehicle driving can be improved.

[0091] Figure 4 This is a flow chart of the map rendering method proposed in the embodiment of the present application. Figure 4 As shown, the map rendering method of the embodiment of the present application includes the following steps:

[0092] Step 101: Acquire lane contour lines for constructing a diversion area from map data, where the lane contour lines include two adjacent side lines on two adjacent non-parallel lanes.

[0093] In one or more embodiments, map data may be identified to obtain a map area having an intersection or an entrance or exit in the map data, and then the map area may be further identified to identify lane contour lines at the intersection or the entrance or exit, and two adjacent side lines of two adjacent lanes may be used as lane contour lines for constructing a diversion area.

[0094] In the embodiment of the present application, the map data may be a traditional navigation map or high-precision map data. When the map data is high-precision map data, there is no limitation on the accuracy of the diversion area line obtained by the device collecting the high-precision map data.

[0095] Step 102: Determine the area range of the diversion area according to the two side lines.

[0096] It should be noted that the diversion area line is a warning line within the diversion area. The diversion area is set at the bifurcation of two bifurcated lanes and should not be too long.

[0097] Step 103: Perform image rendering in the area of ​​the diversion area to obtain map data including the diversion area line.

[0098] Specifically, the map rendering method proposed in the embodiment of the present application obtains the lane contour lines used to construct the diversion area from the map data, determines the area range of the diversion area, and determines the spatial area where the diversion area lines need to be rendered, and then performs image rendering on the area range of the diversion area, so that the map data finally displayed has the diversion area lines that are consistent with the actual road, thereby effectively improving the authenticity of the map data and improving the user experience without increasing the amount and difficulty of map collection data.

[0099] In some embodiments, the two edges include an original first edge and an original second edge. Figure 5 As shown, step 102, determining the area range of the diversion area according to the two side lines, includes:

[0100] Step 1021, respectively obtain the first point and the last point of the original first edge line and the original second edge line.

[0101] It should be noted that after the lane outline is drawn on the map, the two adjacent guide lines forming the guide area can be determined according to the attributes of each lane line in the map. The guide line segment has a starting point and an ending point, wherein the direction of the starting point of the original first side line and the direction of the ending point are the same as those of the original second side line.

[0102] In one or more embodiments, the edge data in the high-precision map data is expressed as follows Figure 6 A series of geometric points in three-dimensional space shown.

[0103] In one or more embodiments, the first points of the original first edge line and the original second edge line may coincide with each other. Figure 7 shown.

[0104] Step 1022: align the lengths of the original first sideline and the original second sideline according to the starting point and the ending point of the original first sideline and the original second sideline to obtain the first sideline and the second sideline.

[0105] It should be understood that aligning the lengths of the original first sideline and the original second sideline can make the diversion area more regular, that is, the diversion area will not be biased towards any one of the two bifurcated lanes.

[0106] In one or more embodiments, the lengths of the original first sideline and the original second sideline are aligned according to the starting point and the ending point of the original first sideline and the original second sideline to obtain the first sideline and the second sideline, including: for each sideline, using the starting point and the ending point to make a vertical projection to another sideline to obtain the first projection point corresponding to the starting point and the second projection point corresponding to the ending point, and the line segments intercepted by the two groups of the first projection points and the second projection points are the first sideline and the second sideline, respectively.

[0107] Specifically, the first point of the original first sideline is used to make a vertical projection to the original second sideline to obtain the first projection point corresponding to the original first sideline, and the tail point of the original first sideline is used to make a vertical projection to the original second sideline to obtain the second projection point corresponding to the original first sideline; at the same time, the first point of the original second sideline is used to make a vertical projection to the original first sideline to obtain the first projection point corresponding to the original second sideline, and the tail point of the original second sideline is used to make a vertical projection to the original first sideline to obtain the second projection point corresponding to the original second sideline.

[0108] In one or more embodiments, if the vertical projection point is on the extension line of the edge line, the closest point is selected as the projection point, for example, Figure 7 As shown in the original first sideline and the original second sideline, the vertical projection point of the tail point of the original first sideline falls on point A on the original second sideline. At this time, point A can be directly used as the second projection point corresponding to the first sideline, and the vertical projection point of the tail point of the original second sideline falls on point B on the extension line of the original first sideline. At this time, the second projection point corresponding to the original second sideline is the point on the original first sideline closest to point B, that is, the tail point of the original first sideline.

[0109] Specifically, the line segment between the first projection point and the second projection point corresponding to the original first sideline is taken as the final second sideline, and the line segment between the first projection point and the second projection point corresponding to the original second sideline is taken as the final first sideline.

[0110] Step 1023: The area enclosed by the first sideline and the second sideline is used as the area range of the diversion area.

[0111] It should be understood that, after interception by vertical projection, the lengths of the first sideline and the second sideline finally obtained are substantially aligned, that is, they can be combined to form a more reasonable diversion area.

[0112] As a feasible embodiment, the area range of the diversion area is composed of a first sideline and a second sideline, such as Figure 8 As shown, step 103, image rendering is performed in the area of ​​the diversion area to obtain map data containing the diversion area line, including

[0113] Step 1031, constructing a dividing line for the diversion area, where the dividing line is used to determine the turning position of the diversion area line.

[0114] Among them, since the guide area line is usually V-shaped, in order to make the rendered guide area line more consistent with the actual situation, it is necessary to construct a dividing line located between the first edge line and the second edge line so that the lines connecting the dividing line with the first edge line and the second edge line can form a "V" shape.

[0115] Step 1032, determining positioning points of a plurality of diversion areas on the dividing line.

[0116] That is to say, the present application selects positioning points on the dividing line within the guide area for determining the position of the guide area line, that is, the positioning points are used to determine the position of the guide area line, and each positioning point corresponds to a guide area line.

[0117] Step 1033: construct a diversion area line in the diversion area according to the positioning point.

[0118] Among them, multiple first sampling points can be selected on the dividing line in a variety of ways. For example, the dividing line can be divided equally according to the length of the dividing line according to the ratio, and each equally divided point is used as the first sampling point. Among them, the ratio can be a preset proportional relationship between the dividing line and the number of first sampling points. For example, a mapping relationship between the length of the dividing line and the number of first sampling points is preset, and then after the length of the dividing line is determined, the number of first sampling points is determined by the mapping relationship, and the dividing line is divided equally according to the number of first sampling points; or the ratio can be determined according to the density of the diversion area lines collected by the high-precision map, for example, the density of the diversion area lines in the diversion area is determined according to the collected data used to draw the high-precision map, and then the dividing line is divided equally according to the density, and the equally divided points are used as the first sampling points.

[0119] Among them, the first sampling point is the positioning point of the diversion area line.

[0120] Step 1034, performing width rendering on the diversion area line to obtain rendered map data.

[0121] That is to say, since the diversion area lines in reality are solid lines with a certain width, they remind drivers to drive according to the corresponding diversion lines, so that each car can "drive on its own lane", which plays a role in controlling, guiding and warning traffic, thereby reducing traffic accidents. Therefore, in order to make the rendered diversion area lines more realistic, it is necessary to render the width of the diversion area lines so that the diversion areas in the map can be like Figure 4 shown.

[0122] Therefore, the present application first divides the diversion area, then determines the positioning points of the diversion area line, and then outlines the diversion area line based on the positioning points of the diversion area line and renders the width, and finally obtains map data containing the rendered diversion area, so that the rendered diversion area line is adapted to the shape of the diversion area, effectively improving the authenticity of the map data.

[0123] In one or more embodiments, step 1031, constructing a dividing line for the guide area, includes: constructing a center line of the angle between the first edge line and the second edge line, obtaining a connecting line between the end point of the first edge line and the end point of the second edge line, and using the center line of the angle truncated by the connecting line as the initial center line, correcting the initial center line, and obtaining the dividing line of the guide area.

[0124] In one or more embodiments, the coordinates of the first point and the last point of each edge line may be used to determine the unit direction vector corresponding to the edge line, that is, a vector pointing from the direction of the first point to the direction of the last point and having a length of 1. Specifically, based on the coordinates of the first point and the last point of the first edge line, a first unit direction vector pointing from the first point of the first edge line to the last point of the first edge line and having a length of 1 is determined, and based on the coordinates of the first point and the last point of the second edge line, a second unit direction vector pointing from the first point of the second edge line to the last point of the second edge line and having a length of 1 is determined.

[0125] Then, the first unit direction vector and the second unit direction vector are used to construct the center line of the angle between the first sideline and the second sideline. Fig. 9 As shown in (a), when the first points of the first sideline and the second sideline coincide, the angle bisector of the first unit direction vector and the second unit direction vector can be directly used as the center line of the angle, as shown in Fig. 9 As shown in (b), when the first points of the first sideline and the second sideline do not coincide, the reverse extension lines of the first unit direction vector and the second unit direction vector can be made, and then the angle bisector of the reverse extension line can be used as the center line of the angle.

[0126] It should be noted that the center line of the angle should not be too long or too short. The length can be within the range of the guide area. Therefore, the center line of the angle can be truncated by connecting the end point of the first side line and the end point of the second side line, and the line segment from the angle to the truncation position is used as the initial center line.

[0127] It should be understood that when the first points of the first sideline and the second sideline do not coincide, the position where the line connecting the first point of the first sideline and the first point of the second sideline cuts off the center line of the included angle is the starting point of the initial center line.

[0128] like Fig.10 As shown, the initial center line is corrected to obtain the dividing line of the diversion area, including:

[0129] Step 201, selecting a plurality of second sampling points on the initial midline.

[0130] Among them, multiple second sampling points can be selected on the initial center line in a variety of ways. For example, the initial center line can be divided equally according to the ratio according to the length of the initial center line, and each equally divided point is used as the second sampling point. Among them, the ratio can be a preset proportional relationship between the initial center line and the number of second sampling points. For example, a mapping relationship between the length of the initial center line and the number of second sampling points is preset, and then after the length of the initial center line is determined, the number of second sampling points is determined by the mapping relationship, and the initial center line is divided equally according to the number of second sampling points; or the ratio can be determined according to the density of the diversion area lines collected by the high-precision map, for example, the density of the diversion area lines in the diversion area is determined according to the collected data used to draw the high-precision map, and then the initial center line is divided equally according to the density, and the equally divided points are used as the second sampling points.

[0131] Step 202 : For each second sampling point, vertical projection is performed onto the first sideline and the second sideline respectively to obtain a third projection onto the first sideline and a fourth projection onto the second sideline.

[0132] Step 203, connecting the midpoints of the lines connecting the third projection points and the fourth projection points corresponding to the plurality of second sampling points to obtain a dividing line of the diversion area.

[0133] Specifically, Fig.11 As shown, six second sampling points are selected on the initial center line, and then for each second sampling point, a vertical projection is made to the first sideline to obtain third projections m1~m6 on the first sideline, and a vertical projection is made to the second sideline to obtain fourth projections k1~k6 on the second sideline, and the third projection point and the fourth projection point corresponding to each second sampling point are connected, that is, m1 and k1 are connected to obtain L1, m2 and k2 are connected to obtain L2, ..., m6 and k6 are connected to obtain L6, and then the midpoints of L1~L6 are obtained respectively, and the midpoints of L1~L6 are connected to obtain the target center line.

[0134] Thus, it can be ensured that the target center is located between the first sideline and the second sideline, and the trends of the first sideline and the second sideline can be followed, so that when the diversion area line is constructed according to the target center line, the diversion area line in the entire diversion area has the same trend.

[0135] In one or more embodiments, Fig.12 As shown, the positioning point is the first sampling point on the dividing line. According to the positioning point, a diversion area line is constructed in the diversion area, including:

[0136] Step 301 : constructing a first normal vector and a second normal vector of each first sampling point, wherein the first normal vector and the first sideline are located on one side of the target centerline, and the second normal vector and the second sideline are located on the other side of the target centerline.

[0137] Among them, the normal vector is a unit vector perpendicular to the target centerline. Specifically, normal vectors can be constructed on both sides of the target centerline, and the normal vector on the same side as the first sideline is used as the first normal vector, and the normal vector on the same side as the second sideline is used as the second normal vector.

[0138] Step 302, obtaining a preset rotation angle.

[0139] The rotation angle is the angle formed by the first sideline and the second sideline.

[0140] In one or more embodiments, the angle formed by the first edge line and the second edge line can be directly obtained through map data, or the angle formed by the first edge line and the second edge line can be determined by the angle between the first unit direction vector of the first edge line and the second unit direction vector of the second edge line.

[0141] Step 303, controlling the first normal vector to rotate by a rotation angle toward the first point of the first sideline to obtain a first intersection of the first normal vector and the first sideline, and controlling the second normal vector to rotate by a rotation angle toward the first point of the second sideline to obtain a second intersection of the second normal vector and the second sideline.

[0142] Among them, controlling the normal vector rotation is to control the normal vector to rotate around the intersection with the target center line.

[0143] like Fig.13 As shown, when the angle between the first sideline and the second sideline is α, the first normal vector rotates α degrees around the intersection with the target midline toward the first point of the first sideline, and the second normal vector rotates α degrees around the intersection with the target midline toward the first point of the second sideline.

[0144] Step 304: Use the first sampling point to connect the first intersection point and the second intersection point respectively to obtain a guide area line.

[0145] Therefore, the present application can draw multiple guide area lines with consistent angles in the guide area.

[0146] In one or more embodiments, the intersection of the guide area line with the first side line is the first intersection point, and the intersection of the guide area line with the second side line is the second intersection point. Fig.14 As shown, the width of the diversion area line is rendered to obtain the selected diversion area line, including:

[0147] Step 401, obtaining a preset width corresponding to the guide area line.

[0148] Among them, the preset width of the diversion area line can be a fixed width, that is, the width of the diversion area line in the map is consistent, and it can also be determined according to the length of any one of the first side line, the second side line and the target center line. For example, a mapping relationship between the length of the target center line and the preset width can be preset. After determining the length of the target center line, the preset width corresponding to the diversion area line is determined according to the mapping relationship.

[0149] It should be understood that the widths of multiple guide area lines in the same guide area are consistent.

[0150] Step 402, determining the width area of ​​the guide area line with the first sampling point, the first intersection point and the second intersection point as the center respectively.

[0151] That is to say, the determined first sampling point, the first intersection point and the second intersection point are the center positions of the guide area lines.

[0152] In one or more embodiments, Fig.15 As shown, according to the preset width, 1 / 2 preset width is determined, and for any guide area line, 1 / 2 preset width is respectively extended in two directions along the straight line where the first sampling point, the first intersection point and the second intersection point corresponding to the guide area line are located, to obtain the width area corresponding to the guide area line. Specifically, the first sampling point is extended by 1 / 2 preset width in the direction of the angle between the first sideline and the second sideline, and is extended by 1 / 2 preset width in the opposite direction of the angle between the first sideline and the second sideline, the first intersection point is respectively extended by 1 / 2 preset width in the direction of the first point and the end point of the first sideline, and the second intersection point is respectively extended by 1 / 2 preset width in the direction of the first point and the end point of the second sideline, and the area after the first sampling point, the first intersection point and the second intersection point are extended is the width area corresponding to the guide area line.

[0153] Step 403, dividing the width area, and filling and rendering the divided areas to obtain rendered guide area lines.

[0154] In one or more embodiments, an OpenGL rendering tool may be used to perform stereoscopic rendering on the width area of ​​the guide area line. Optionally, a triangle rendering method may be used to render the width of the guide area line. Specifically, the width area is divided into at least one group of triangular areas, and each triangular area is subjected to stereoscopic rendering to obtain the selected guide area line.

[0155] It should be understood that since the guide area line is a rectangular line, each rectangular area can be divided into a group of triangular areas with common sides, and then each triangular area is rendered in three dimensions to achieve width rendering of the entire guide area line. Fig.16As shown, the width area of ​​the guide area line to be rendered can be divided into four triangular areas a, b, c and d, and then the OpenGL rendering tool is used to perform three-dimensional rendering on the triangular areas a, b, c and d respectively.

[0156] In one or more embodiments, Fig.17 and Fig.18 As shown, the map rendering method includes:

[0157] Step 501, obtaining the boundary data of the diversion area from the map.

[0158] The edge line data includes an original first edge line and an original second edge line.

[0159] Step 502, vertically project the first point and the last point of the original first sideline onto the original second sideline, and vertically project the first point and the last point of the original second sideline onto the original first sideline, and determine the first sideline and the second sideline according to the vertical projection points.

[0160] Step 503: construct a first unit direction vector of the first sideline, construct a second unit direction vector of the second sideline, and construct an initial centerline according to the first unit direction vector and the second unit direction vector.

[0161] Step 504: Select multiple second sampling points on the initial center line.

[0162] Step 505 , using each second sampling point to perform vertical projection onto the first sideline and the second sideline respectively, and determining the target centerline according to the midpoint of the line connecting the vertical projection points.

[0163] Step 506: Select a plurality of first sampling points on the target centerline.

[0164] Step 507, constructing a first normal vector and a second normal vector based on each first sampling point, controlling the first normal vector to rotate the angle between the first sideline and the second sideline toward the starting point of the first sideline, and controlling the second normal vector to rotate the angle between the first sideline and the second sideline toward the starting point of the second sideline, to obtain a first intersection point of the first normal vector and the first sideline, and a second intersection point of the second normal vector and the second sideline.

[0165] Step 508, controlling the first sampling point to extend along the target center line by a preset width, controlling the first intersection point to extend along the first side line by a preset width, and controlling the second intersection point to extend along the second side line by a preset width, to obtain a width region corresponding to the guide area line.

[0166] Step 509, triangulate the width area and render each triangular area.

[0167] In summary, the map rendering method proposed in the embodiment of the present application obtains the lane contour lines used to construct the diversion area from the map data, determines the area range of the diversion area, and determines the spatial area where the diversion area lines need to be rendered, and then performs image rendering on the area range of the diversion area, so that the map data finally displayed has the diversion area lines that are consistent with the actual road, thereby effectively improving the authenticity of the map data and improving the user experience without increasing the amount and difficulty of map collection data.

[0168] Fig.19 This is a block diagram of a map rendering device proposed in another embodiment of the present application. The present application embodiment provides a map rendering device, and the map rendering device 10 includes:

[0169] An acquisition module 11 is used to acquire a lane contour line for constructing a diversion area from map data, where the lane contour line includes two adjacent side lines on two adjacent non-parallel lanes;

[0170] A determination module 12 is used to determine the area range of the diversion area according to the two side lines;

[0171] The rendering module 13 is used to perform image rendering within the area of ​​the diversion area to obtain map data containing the diversion area line.

[0172] In some embodiments, the two edges include a first edge and a second edge, and the determining module 12 is configured to:

[0173] Get the first point and the last point of the original first edge line and the original second edge line;

[0174] According to the first point and the last point of the original first sideline and the original second sideline, the original first sideline and the original second sideline are aligned in length to obtain the first sideline and the second sideline;

[0175] The area enclosed by the first sideline and the second sideline is used as the area range of the diversion area.

[0176] In some embodiments, the determination module 12 is used to:

[0177] For each original edge line, use the first point and the last point to make a vertical projection to another edge line, and obtain the first projection point corresponding to the first point and the second projection point corresponding to the last point;

[0178] The line segments intercepted by the two groups of first projection points and second projection points are respectively used as the first sideline and the second sideline.

[0179] In some embodiments, the area of ​​the diversion area is composed of a first sideline and a second sideline, and the rendering module 13 is used to:

[0180] Constructing a dividing line for the diversion area, the dividing line is used to determine the turning position of the diversion area line;

[0181] Determine the positioning points of multiple diversion area lines on the dividing line;

[0182] According to the positioning points, a diversion area line is constructed in the diversion area;

[0183] The width of the diversion area line is rendered to obtain the rendered map data.

[0184] In some embodiments, the two edges include a first edge and a second edge, and the rendering module 13 is used to:

[0185] Construct a center line of the angle between the first side line and the second side line;

[0186] Get the connecting line of the end point of the first edge line and the end point of the second edge line, and use the center line of the angle truncated by the connecting line as the initial center line;

[0187] The initial center line is corrected to obtain the dividing line of the diversion area.

[0188] In some embodiments, the rendering module 13 is used to:

[0189] Select multiple second sampling points on the initial midline;

[0190] For each second sampling point, vertical projection is performed onto the first sideline and the second sideline respectively to obtain a third projection point on the first sideline and a fourth projection point on the second sideline;

[0191] The midpoints of the lines connecting the third projection points and the fourth projection points corresponding to the plurality of second sampling points are connected to obtain a dividing line of the diversion area.

[0192] In some embodiments, the rendering module 13 is used to:

[0193] According to a preset rule, a plurality of first sampling points are determined on the segmentation line, and each first sampling point is used as a positioning point of a diversion area line.

[0194] In some embodiments, the positioning point is the first sampling point on the segmentation line, and the rendering module is used to:

[0195] For each first sampling point, construct a first normal vector and a second normal vector of the first sampling point, wherein the first normal vector and the first sideline are located on one side of the target centerline, and the second normal vector and the second sideline are located on the other side of the target centerline;

[0196] Get the preset rotation angle;

[0197] Control the first normal vector to rotate by a rotation angle toward the first point of the first sideline to obtain a first intersection point of the first normal vector and the first sideline, and control the second normal vector to rotate by a rotation angle toward the first point of the second sideline to obtain a second intersection point of the second normal vector and the second sideline;

[0198] The first sampling point is used to connect the first intersection point and the second intersection point respectively to obtain a guide area line.

[0199] In some embodiments, the rotation angle is an angle formed by the first sideline and the second sideline, and the rendering module 13 is used to:

[0200] Get the angle formed by the first sideline and the second sideline;

[0201] Control the first normal vector to rotate toward the first point of the first sideline by an angle to obtain a first intersection point of the first normal vector and the first sideline, and control the second normal vector to rotate toward the first point of the second sideline by an angle to obtain a second intersection point of the second normal vector and the second sideline;

[0202] The first sampling point is used to connect the first intersection point and the second intersection point respectively to obtain a guide area line.

[0203] In some embodiments, the intersection points of the guide area line and the two edge lines are respectively a first intersection point and a second intersection point, and the rendering module 13 is used to:

[0204] Get the preset width corresponding to the diversion area line;

[0205] Determine the width of the diversion area line with the first sampling point, the first intersection point and the second intersection point as the center respectively;

[0206] The width area is divided into regions, and the divided regions are filled and rendered to obtain rendered diversion area lines.

[0207] In some embodiments, the width of the diversion area line is rendered using a triangle rendering method, and the rendering module 13 is used to:

[0208] dividing the width region into at least one set of triangular regions;

[0209] Three-dimensional rendering is performed on each triangular area to obtain a rendered diversion area line.

[0210] To summarize, the map rendering device proposed in the embodiment of the present application obtains lane contour lines for constructing diversion areas from map data, determines the area range of the diversion areas, and determines the spatial area where diversion area lines need to be rendered. Then, image rendering is performed on the area range of the diversion areas, so that the map data finally displayed has diversion area lines that are consistent with the actual roads, thereby effectively improving the authenticity of the map data and improving the user experience without increasing the amount and difficulty of map collection data.

[0211] It should be understood that the units or modules described in the map rendering device 10 are similar to those described in the reference Figure 3 The various steps in the described method correspond to each other. Therefore, the operations and features described above for the method are also applicable to the map rendering device 10 and the units contained therein, and will not be repeated here. The map rendering device 10 can be pre-implemented in a browser or other security application of an electronic device, or loaded into a browser or its security application of an electronic device by downloading or the like. The corresponding units in the map rendering device 10 can cooperate with the units in the electronic device to implement the solution of the embodiment of the present application.

[0212] For the several modules or units mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0213] It should be noted that for details not disclosed in the rendering device of the map diversion area in the embodiment of the present application, please refer to the details disclosed in the above embodiments of the present application, which will not be repeated here.

[0214] Reference below Fig. 20 , Fig. 20 A schematic diagram of the structure of a computer system of an electronic device or server suitable for implementing an embodiment of the present application is shown.

[0215] like Fig. 20 As shown, computer system 2000 includes a central processing unit (CPU) 2001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 2002 or a program loaded from a storage part 2008 into a random access memory (RAM) 2003. In RAM 2003, various programs and data required for the operation instructions of the system are also stored. CPU 2001, ROM 2002 and RAM 2003 are connected to each other via a bus 2004. An input / output (I / O) interface 2005 is also connected to bus 2004.

[0216] The following components are connected to the I / O interface 2005: an input section 2006 including a keyboard, a mouse, etc.; an output section 2007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 2008 including a hard disk, etc.; and a communication section 2009 including a network interface card such as a LAN card, a modem, etc. The communication section 2009 performs communication processing via a network such as the Internet. A drive 2010 is also connected to the I / O interface 2005 as needed. A removable medium 2011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 2010 as needed, so that a computer program read therefrom is installed into the storage section 2008 as needed.

[0217] In particular, according to an embodiment of the present application, the above reference flow chart Figure 2 The described process can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a program code for executing the method shown in the flow chart. In such an embodiment, the computer program includes a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 2009, and / or installed from the removable medium 2011. When the computer program is executed by the central processing unit (CPU) 2001, the above-mentioned functions defined in the system of the present application are executed.

[0218] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium such as a computer-readable storage medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0219] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operating instructions of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the aforementioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, the boxes represented by two connections can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operating instruction, or can be implemented with a combination of dedicated hardware and computer instructions.

[0220] The units or modules involved in the embodiments described in the present application may be implemented by software or by hardware. The described units or modules may also be arranged in a processor. For example, they may be described as: a processor includes an acquisition module, a determination module, a construction module, and a rendering module. Among them, the names of these units or modules do not constitute a limitation on the units or modules themselves in certain cases. For example, the acquisition module may also be described as "obtaining the boundary lines of the diversion area from the map, wherein the boundary lines include a first boundary line and a second boundary line".

[0221] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the map rendering method described in the present application.

[0222] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A map rendering method, characterized in that: include: Acquire a lane contour line for constructing a diversion area from map data, wherein the lane contour line includes two adjacent side lines on two adjacent non-parallel lanes; Determine the area range of the diversion area according to the two sidelines; the area range of the diversion area is composed of the first sideline and the second sideline; Constructing a center line of an angle between the first sideline and the second sideline; obtaining a connecting line between an end point of the first sideline and an end point of the second sideline, and using the center line of the angle truncated by the connecting line as an initial center line; Select multiple second sampling points on the initial midline; for each of the second sampling points, perform vertical projections to the first sideline and the second sideline, respectively, to obtain a third projection point on the first sideline and a fourth projection point on the second sideline; connect the midpoints of the lines connecting the third projection point and the fourth projection point corresponding to the multiple second sampling points to obtain a dividing line of the guide area, and the dividing line is used to determine the turning position of the guide area line; A plurality of positioning points of diversion area lines are determined on the segmentation line; the diversion area lines are constructed in the diversion area according to the positioning points; and the width of the diversion area lines is rendered to obtain rendered map data.

2. The method according to claim 1, characterized in that The two sidelines include an original first sideline and an original second sideline, and determining the area range of the diversion area according to the two sidelines includes: Respectively obtain the first point and the last point of the original first sideline and the original second sideline; According to the first point and the last point of the original first sideline and the original second sideline, the original first sideline and the original second sideline are aligned in length to obtain a first sideline and a second sideline; The area enclosed by the first sideline and the second sideline is used as the area range of the guide area.

3. The method according to claim 2, characterized in that The step of aligning the lengths of the original first sideline and the original second sideline according to the starting point and the ending point of the original first sideline and the original second sideline to obtain the first sideline and the second sideline includes: For each original edge line, use the first point and the last point to perform vertical projection on another edge line to obtain a first projection point corresponding to the first point and a second projection point corresponding to the last point; Line segments intercepted by two groups of the first projection points and the second projection points are used as the first sideline and the second sideline respectively.

4. The method according to claim 1, characterized in that: The step of determining a plurality of positioning points of the diversion area lines on the segmentation line comprises: According to a preset rule, a plurality of first sampling points are determined on the segmentation line, and each of the first sampling points is used as a positioning point of the guide area line.

5. The method according to claim 1, characterized in that The positioning point is the first sampling point on the dividing line, and the step of constructing the guide area line in the guide area according to the positioning point includes: For each of the first sampling points, construct a first normal vector and a second normal vector of the first sampling point, wherein the first normal vector and the first sideline are located on one side of a target midline, and the second normal vector and the second sideline are located on the other side of the target midline; Get the preset rotation angle; Control the first normal vector to rotate by the rotation angle toward the first point of the first sideline to obtain a first intersection point of the first normal vector and the first sideline, and control the second normal vector to rotate by the rotation angle toward the first point of the second sideline to obtain a second intersection point of the second normal vector and the second sideline; The first intersection point and the second intersection point are respectively connected using the first sampling point to obtain the guide area line.

6. The method according to claim 5, characterized in that The rotation angle is an angle formed by the first sideline and the second sideline, and the method further includes: Obtaining an angle formed by the first sideline and the second sideline; Control the first normal vector to rotate by the included angle toward the first point of the first sideline to obtain a first intersection point of the first normal vector and the first sideline, and control the second normal vector to rotate by the included angle toward the first point of the second sideline to obtain a second intersection point of the second normal vector and the second sideline; The first intersection point and the second intersection point are respectively connected using the first sampling point to obtain the guide area line.

7. The method according to claim 1, characterized in that The positioning point is the first sampling point on the dividing line, the intersection of the diversion area line with the first edge line is the first intersection point, and the intersection of the diversion area line with the second edge line is the second intersection point, and the width rendering of the diversion area line to obtain the rendered map data includes: Obtaining a preset width corresponding to the guide area line; Determine the width of the guide area line with the first sampling point, the first intersection point and the second intersection point as the center respectively; The width area is divided into regions, and the divided regions are filled and rendered to obtain rendered guide area lines.

8. The method according to claim 7, characterized in that The width of the diversion area line is rendered by using a triangle rendering method, the width area is divided into regions, and the divided regions are filled and rendered to obtain the rendered diversion area, including: dividing the width region into at least one set of triangular regions; Three-dimensional rendering is performed on each triangular area to obtain a rendered diversion area line.

9. A map rendering device, characterized in that: The device comprises: An acquisition module, used for acquiring lane contour lines for constructing a diversion area from map data, including two adjacent side lines on two adjacent non-parallel lanes; A determination module, used to determine the area range of the diversion area according to the two sidelines; the area range of the diversion area is composed of the first sideline and the second sideline; A rendering module is used to construct a center line of an angle between the first sideline and the second sideline; obtain a connecting line between the end point of the first sideline and the end point of the second sideline, and use the center line of the angle truncated by the connecting line as an initial center line; select multiple second sampling points on the initial center line; for each second sampling point, perform vertical projection to the first sideline and the second sideline respectively to obtain a third projection point on the first sideline and a fourth projection point on the second sideline; connect the midpoints of the connecting line between the third projection point and the fourth projection point corresponding to the multiple second sampling points to obtain a dividing line of the diversion area, and the dividing line is used to determine the turning position of the diversion area line; determine multiple positioning points of the diversion area line on the dividing line; construct the diversion area line in the diversion area according to the positioning points; perform width rendering on the diversion area line to obtain rendered map data.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements the map rendering method as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the map rendering method as described in any one of claims 1 to 8 is implemented.

Images