Method and device for generating base map of electronic map

Abstract

The present disclosure provides a base map generation method and device for an electronic map, which relates to map technology in computer technology. The method comprises: obtaining overlapping points in each road of a target area and plan view data corresponding to each road, wherein each overlapping point represents an intersection of the road to which the overlapping point belongs and other roads in the target area in a bird's-eye view, and determining a category attribute of each overlapping point, wherein the category attribute is used to represent whether the overlapping point is sunken; determining height information of key points on the road to which each overlapping point belongs based on the plan view data of the road to which each overlapping point belongs and the category attribute of each overlapping point; and generating a base map of an electronic map of the target area based on the height information of the overlapping points and the height information of the key points of each road. The method avoids the technical problem of high cost caused by on-site data collection in related technologies and improves the reliability and accuracy of the generated base map.

Description

Technical Field

[0001] The present disclosure relates to map technology in computer technology, and in particular to a method and device for generating a base map of an electronic map. Background Art

[0002] Electronic maps are a great help for people traveling, providing information including but not limited to road and building information. Electronic maps are created based on a basemap. The reliability of the generated basemap largely determines its accuracy, and the key to generating a basemap is determining the elevation information of each road on the map.

[0003] In the prior art, the height information of each road is usually obtained by field collection, and a base map is generated based on the collected height information.

[0004] However, field collection methods usually require a lot of manpower and equipment, and have technical problems such as high costs and low efficiency. Summary of the Invention

[0005] The present disclosure provides a method and apparatus for generating a base map of an electronic map, which are used to improve the efficiency of generating the base map.

[0006] According to a first aspect of the present disclosure, a method for generating a base map of an electronic map is provided, comprising:

[0007] Obtaining overlapping points and plan view data corresponding to each road in the target area, where each overlapping point represents the intersection of the road to which it belongs and other roads in the target area from a top-down perspective, and determining a category attribute for each overlapping point, where the category attribute is used to indicate whether the overlapping point is subsided;

[0008] Determining the height information of the key points of the road to which each of the overlapping points belongs according to the plan view data of the road to which each of the overlapping points belongs and the category attribute of each of the overlapping points;

[0009] A base map of the electronic map of the target area is generated according to the height information of the overlapping points of each road and the height information of the key points.

[0010] According to a second aspect of the present disclosure, there is provided a base map generating device for an electronic map, comprising:

[0011] an acquisition unit, configured to acquire overlapping points in each road of a target area and plan view data corresponding to each road, wherein each overlapping point represents an intersection between the road to which the overlapping point belongs and other roads in the target area in a plan view;

[0012] A first determining unit is used to determine a category attribute of each covering point, where the category attribute is used to indicate whether the covering point is sinking;

[0013] A second determining unit is configured to determine the height information of the key points of the road to which each of the overlapping points belongs based on the plan view data of the road to which each of the overlapping points belongs and the category attribute of each of the overlapping points;

[0014] The generating unit is used to generate a base map of the electronic map of the target area according to the height information of the overlapping points of each road and the height information of the key points.

[0015] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the method according to the first aspect.

[0019] According to a fourth aspect of the present disclosure, a computer program product is provided, comprising: a computer program, wherein the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the electronic device executes the method described in the first aspect.

[0020] According to a fifth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method according to the first aspect.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0023] Figure 1 It is a scene graph that can implement the method for generating a base map of an electronic map according to an embodiment of the present disclosure;

[0024] Figure 2 is a schematic diagram according to a first embodiment of the present disclosure;

[0025] Figure 3 is a schematic diagram according to a second embodiment of the present disclosure;

[0026] Figure 4 is a schematic diagram of the principle of determining key points according to an embodiment of the present disclosure;

[0027] Figure 5 is a schematic diagram according to a third embodiment of the present disclosure;

[0028] Figure 6 This is a schematic diagram of a scene of high-speed transfer processing according to an embodiment of the present disclosure. Figure 1 ;

[0029] Figure 7 This is a schematic diagram of a scene of high-speed transfer processing according to an embodiment of the present disclosure. Figure 2 ;

[0030] Figure 8 is a schematic diagram according to a fourth embodiment of the present disclosure;

[0031] Figure 9 is a schematic diagram according to a fifth embodiment of the present disclosure;

[0032] Figure 10 is a schematic diagram according to a sixth embodiment of the present disclosure;

[0033] Figure 11 The block diagram is a block diagram of an electronic device for implementing the method for generating a base map of an electronic map according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0035] An electronic map is a map produced by an electronic computer. It is a screen map based on digital mapping technology and a visual real map. An electronic map has the feature of being visualized on a computer screen.

[0036] Among them, electronic maps are realized based on the base map of electronic maps. That is, when generating electronic maps, the base map is usually generated first, and then the electronic map is generated based on the base map. Therefore, the generation of the base map of the electronic map is the key to generating electronic maps.

[0037] For example, an area includes multiple roads. In order to generate an electronic map of the area, in related technologies, the height information of each road in the area is usually obtained through field collection, such as collecting the height information of each point on each road, and generating a base map based on the height information.

[0038] Then, the field collection method usually requires a lot of manpower and equipment, and there are technical problems of high cost and low efficiency. In addition, the field collection process is easily affected by human subjective factors and objective environmental factors, resulting in the technical problem of low accuracy of the collected height information.

[0039] In some embodiments, the data of the geographic entity location of each road (which may be called vector data) may be pre-acquired and stored, and the height information of each road may be recursively calculated based on the vector data to generate a base map based on the height information of each road.

[0040] However, the recursive calculation method cannot take into account the spatial variation of a road, such as Figure 1 The interlacing relationship of the same road in space shown in the figure, especially when the number of roads is large, the spatial position relationship between the roads is more complicated (such as upper and lower layer relationships and interlacing relationships, etc.), such as the upper and lower layer relationships in space, which leads to low accuracy and reliability of the height information obtained based on recursive calculation processing, and thus causes the technical problem of low accuracy of the base map.

[0041] In order to avoid at least one of the above problems, the inventors of the present disclosure, through creative work, obtained the inventive concept of the present disclosure: for any overlapping point in each road, according to the plan view data of the road and the category attribute of whether the overlapping point is a sunken overlapping point, the height information of the overlapping point is processed by height transfer in the road to obtain the height information of the key points of the road, so as to generate a base map based on the height information of each overlapping point and the height information of the key points of each road.

[0042] Based on the above-mentioned inventive concept, the present disclosure provides a method and apparatus for generating a base map of an electronic map, which are applied to map technology in computer technology to reduce the cost of generating a base map and improve the efficiency and reliability of generating a base map.

[0043] Figure 2 is a schematic diagram according to the first embodiment of the present disclosure, as shown in Figure 2 As shown, the method for generating a base map of an electronic map according to an embodiment of the present disclosure includes:

[0044] S201: Obtain the overlapping points in each road in the target area and the plan view data corresponding to each road, each overlapping point represents the intersection of the road to which the overlapping point belongs and other roads in the target area at a top-down angle, and determine the category attribute of each overlapping point, which is used to represent whether the overlapping point is sunken.

[0045] Exemplarily, the executing entity of this embodiment can be a base map generating device of an electronic map (hereinafter referred to as a generating device), and the generating device can be a computer, a server (such as a cloud server, or a local server), a terminal device, a processor, a chip, etc., which is not limited in this embodiment.

[0046] The target area refers to the area corresponding to the base map of the electronic map to be generated, such as a city or an area in a city.

[0047] The overlapping point refers to the point where two roads intersect in space. For example, if the first road and the second road are two roads that intersect in space, the point where the first road and the second road overlap in space is the overlapping point. Figure 1 In the application scenario shown, the same road may spiral and extend, so that different sections of the same road intersect in space, resulting in the following Figure 1 The gland points shown in .

[0048] Based on the above analysis, it can be seen that the same overlapping point may belong to different roads or the same road. A road may have one overlapping point or multiple overlapping points, which is not limited in this embodiment.

[0049] The head-up view data refers to data representing relevant information of each road in the dimension of head-up vision, such as coordinates representing the position of each road in the dimension of head-up vision.

[0050] Combined with Figure 1 As shown in the application scenario, Figure 1 For the overlapping point shown in , the road on one side of the overlapping point is located in a different plane relative to the road on the other side, that is, one section of the road may be spiraling upward based on a certain slope, and the other section of the road may be tilted downward based on a certain slope.

[0051] S202: Determine the height information of the key points of the road to which each overlapping point belongs according to the plan view data of the road to which each overlapping point belongs and the category attribute of each overlapping point.

[0052] In this embodiment, for each overlapping point, the category attribute of the overlapping point is introduced to characterize whether the overlapping point is sinking based on the category attribute, so as to determine the height information of the key point in combination with the category attribute and the level view data, thereby improving the height information of the determined key point and the actual information of the road (such as slope-related information, circling-related information, etc.) to be highly consistent, so that the height information of the determined key point has a technical effect of higher accuracy and reliability.

[0053] S203: Generate a base map of the electronic map of the target area based on the height information of the overlapping points of each road and the height information of the key points.

[0054] The overlapping point has height information, and the height information of the overlapping point can be determined based on the corresponding plan view data.

[0055] Based on the above analysis, it can be known that the embodiment of the present disclosure provides a method for generating a base map of an electronic map, including: obtaining the overlapping points in each road of the target area and the plan view data corresponding to each road, each overlapping point representing the intersection of the road to which the overlapping point belongs and other roads in the target area at a bird's-eye view angle, and determining the category attribute of each overlapping point, the category attribute is used to characterize whether the overlapping point is sunken, and according to the plan view data of the road to which each overlapping point belongs and the category attribute of each overlapping point, determining the height information of the key points of the road to which each overlapping point belongs, and generating a base map of the electronic map of the target area according to the height information of the overlapping points of each road and the height information of the key points. In this embodiment, the following methods are introduced: determining the category attribute of each overlapping point, and according to the plan view data of the road to which each overlapping point belongs, determining the height information of the key points of the road to which each overlapping point belongs, and generating a base map of the electronic map of the target area. The road plan view data and the category attributes of each overlapping point are used to determine the height information of the key points of the road to which each overlapping point belongs, and the technical features of generating a base map by combining the height information of the overlapping points and the height information of the key points avoid the technical problems of high cost, low efficiency and low reliability caused by easy interference from human factors caused by field collection in related technologies, and avoid the problem of low accuracy caused by low fit between recursive calculation and actual scene when the recursive calculation is based on recursive calculation in related technologies. The base map is generated by combining the actual position relationship and position change of each road in the scene, thereby improving the reliability and accuracy of the generated base map, thereby achieving the user's usage needs and experience when the user uses the electronic map generated based on the base map.

[0056] Figure 3 is a schematic diagram according to the second embodiment of the present disclosure, as shown in Figure 3 As shown, the method for generating a base map of an electronic map according to an embodiment of the present disclosure includes:

[0057] S301: Obtain the bird's-eye view data of each road, and perform visual conversion processing on each bird's-eye view data to obtain the horizontal view data of each road.

[0058] For example, regarding the execution subject of this embodiment, reference can be made to the above embodiments, and the technical features in this embodiment that are the same as those in the above embodiments will not be repeated in this embodiment.

[0059] The bird's-eye view data is a relative concept to the plan view data in the above embodiment, and refers to data that represents the relevant information of each road in the dimension of bird's-eye view, such as the coordinates that represent the position of each road in the dimension of bird's-eye view.

[0060] Visual conversion processing is the process of converting data from a bird's-eye view to data in the head-up view dimension. For example, the coordinates of a road in the bird's-eye view dimension can be converted to the coordinates of a road in the head-up view dimension.

[0061] In this embodiment, by converting the overhead view data into the horizontal view data, when determining the height information of the key points, the data of the roads in different planes are converted into data of the same plane, thereby facilitating the determination of the height information of the key points, thereby improving the accuracy and reliability of the height information of the determined key points, and achieving the technical effect of improving the accuracy and reliability of the generated base map.

[0062] In some embodiments, S301 may include the following steps:

[0063] The first step: for any road, obtain the overlapping points between the road and other roads in each road, and obtain the starting point of the road.

[0064] The starting point of the road is determined based on the direction of the vehicle traveling on the road to which the overlapped point belongs, for example, the vehicle travels from the starting point of the road to the end point of the road.

[0065] The second step: calculate the distance between each overlapping point of the road and the obtained starting point, determine the bird's-eye view height of the road based on the bird's-eye view data of the road, and determine the conversion coordinate system based on the distance between each overlapping point of the road and the obtained starting point, and the bird's-eye view height.

[0066] For example, the straight line containing the distance between each overlapping point of the road and the obtained starting point is determined as the horizontal coordinate (i.e., the x-axis) of the conversion coordinate system, and the straight line containing the overhead height is determined as the vertical coordinate (i.e., the y-axis) of the conversion coordinate system, so that the information of each point in the road can be conveniently and quickly represented, thereby achieving the technical effect of switching stability and reliability when determining the plan view data based on the conversion coordinate system.

[0067] The third step: converting the top view data of the road according to the conversion coordinate system to obtain the plan view data of the road.

[0068] S302: Obtain the overlapping points in each road in the target area and the plan view data corresponding to each road. Each overlapping point represents the intersection of the road to which the overlapping point belongs and other roads in the target area at a top-down angle, and determine the category attribute of each overlapping point. The category attribute is used to represent whether the overlapping point is sunken.

[0069] For example, regarding the implementation principle of S302, reference may be made to the above embodiment, which will not be repeated here.

[0070] S303: For any overlapping point, according to the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point, the height information of the overlapping point is transferred along the direction of the starting point of the road to which the overlapping point belongs to obtain the height information of the key points of the road to which each overlapping point belongs.

[0071] The height transfer processing refers to the estimation processing of the height information change of the height information of the covering point along the starting point of the road to which the covering point belongs.

[0072] It should be noted that for any road, the road includes many points, and a certain overlapping point in the road is just one of the points.

[0073] For any two adjacent points, the difference between the height information corresponding to the two adjacent points may be very small and almost negligible, and there is a certain correlation between the height information of each point within a certain section of the road, such as increase or decrease. The increase or decrease of height information between points within a certain section can be called height transfer.

[0074] In this embodiment, height transfer processing is performed by combining the height information of the covering point to make the key point and the covering point highly aligned, thereby avoiding deviation when determining the key point, thereby improving the accuracy and reliability of the height information of the determined key point.

[0075] In some embodiments, S303 may include the following steps:

[0076] Step 1: Based on the plan view data of the road to which the covering point belongs and the category attribute of the covering point, determine the transfer attribute information of the height information of the covering point when the height transfer processing is performed on the road to which the covering point belongs. The transfer attribute information represents whether the covering point can be transferred to the starting point of the road to which the covering point belongs.

[0077] Combined with the above understanding of the height transfer processing, it can be known that in some embodiments, when performing height transfer processing on the height information of the covering point, there may be a point, which is the point between the covering point and the starting point of the road to which the covering point belongs. The height information of this point is zero, then the transfer attribute information represents: the covering point cannot be transferred to the starting point of the road to which the covering point belongs.

[0078] In other embodiments, when the height information of the overlapping point is processed for height transfer, if the height information of the points between the overlapping point and the starting point of the road to which the overlapping point belongs are all values ​​greater than zero, then the transfer attribute information indicates that the overlapping point can be transferred to the starting point of the road to which the overlapping point belongs.

[0079] In this embodiment, since the category attribute of the covering point represents whether the covering point is sinking, that is, when the height information of the covering point is processed for height transfer, the situation of the road to which the covering point belongs in the actual scene is fully considered, such as whether it is upturned or sunken, etc. Therefore, the authenticity and reliability of the height transfer processing of the height information of the covering point can be improved, thereby improving the accuracy and reliability of the height information of the key points of the road to which the covering point belongs, which is subsequently determined based on the transfer attribute information of the covering point. Technical effect.

[0080] In some embodiments, the first step may include the following sub-steps:

[0081] The first sub-step: obtaining a preset basic attenuation coefficient of the road to which the covering point belongs, and obtaining a preset adjustment coefficient of the covering point.

[0082] The basic attenuation coefficient and the preset adjustment coefficient both refer to pre-set parameters for correcting the height information of the covering point when performing the height transfer process.

[0083] It should be noted that the base attenuation coefficient is set based on the characteristics of the road, that is, the base attenuation coefficient constrains the height transfer processing from the dimension of the road characteristics. The adjustment coefficient is set based on the characteristics of the overlapping points, that is, the adjustment coefficient constrains the height transfer processing from the dimension of the point characteristics.

[0084] Relatively speaking, for different coverage points on a certain road, the basic attenuation coefficients of different coverage points are the same, that is, different coverage points have the same basic attenuation coefficients. The adjustment coefficients of different coverage points are generally different, that is, the adjustment coefficients of different coverage points are personalized.

[0085] In some embodiments, for any road, the basic attenuation coefficient of the road can be determined based on the slope information of the road. If the road has different slope information in different sections, the basic attenuation coefficient of the road can be determined based on the average slope information of the road.

[0086] Correspondingly, the adjustment coefficient of any overlapping point can be determined based on the slope information of the road at the overlapping point.

[0087] The second sub-step: determine the transfer attribute information of the covering point when the height transfer processing is performed on the road to which the covering point belongs based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

[0088] In this embodiment, the transfer attribute information is determined by combining the basic attenuation coefficient and the adjustment coefficient, so that the transfer attribute information conforms to the actual terrain of the road in the application scenario, and the transfer attribute information has a technical effect of high reliability and accuracy.

[0089] The second step: determining the height information of the key point of the road to which the covering point belongs according to the transfer attribute information of the covering point.

[0090] In some embodiments, the second step may include the following sub-steps:

[0091] First sub-step: If the transfer attribute information of the covering point indicates that the covering point can be transferred to the starting point of the road to which the covering point belongs, then determine the height information of the key points of the road to which the covering point belongs based on the plan view data of each road.

[0092] Exemplarily, the first sub-step may include the following detailed steps:

[0093] The first refinement step is to obtain the edge line of each road according to the plan view data of each road, and determine the intersection point with the edge line of the road to which the overlapping point belongs based on each edge line.

[0094] The second refinement step: obtain the projection point of the point projected onto the center line of the road to which the overlapping point belongs, and use the projection point as the key point of the road to which the overlapping point belongs, and determine the height information of the key point of the road to which the overlapping point belongs.

[0095] For example, Figure 4 As shown in Figure 1, Road A and Road B are two roads in the target area. Road A includes two sidelines and a centerline. The two sidelines are as follows: Figure 4 The side lines A1 and A2 shown in FIG, a center line is as follows Figure 4 The center line A3 is shown in FIG.

[0096] Road B includes two side lines, which are as follows: Figure 4 The side lines B1 and B2 are shown in FIG.

[0097] The generating device can determine that among the four side lines (i.e., side line A1, side line A2, side line B1, side line B2), side line A2 and side line B2 have an intersection (e.g., Figure 4 The intersection point marked in the figure is projected onto the center line A3 to obtain the following: Figure 4 The projection point shown is the key point of the road to which the covering point belongs, so that the maintenance distance of the height information of the covering point can be determined more accurately, thereby improving the accuracy and reliability of the determined key point.

[0098] In some embodiments, the projection point and the starting point of the road to which the overlapped point belongs can be calculated (e.g. Figure 4The distance between the starting point and the covering point is determined as the height information of each point within the distance.

[0099] Second sub-step: If the transfer attribute information of the covering point indicates that the covering point cannot be transferred to the starting point of the road to which the covering point belongs, then determine the height information of the key points of the road to which the covering point belongs based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

[0100] In some embodiments, the second sub-step may include the following refinement steps:

[0101] The first refinement step: determining the height information of the overlapping point based on the plan view data of the road to which the overlapping point belongs.

[0102] The second refinement step: determine the maximum distance of the covering point during height transfer processing in the road to which the covering point belongs based on the height information of the covering point, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

[0103] For example, a subsidence coefficient can be assigned to the overlapping point based on the category attribute of the overlapping point. The maximum distance can be proportional to the height information of the overlapping point, proportional to the basic attenuation coefficient of the road to which the overlapping point belongs, and proportional to the assigned subsidence coefficient, so as to improve the technical effect of the determined maximum distance with higher accuracy and reliability.

[0104] The third refinement step: generating an insertion point at the farthest distance, determining the insertion point as the key point of the road to which the overlapped point belongs, and determining the height information of the insertion point.

[0105] Based on the above analysis, since the determined farthest distance has high accuracy and reliability, it means that determining the farthest distance as the maintenance distance of the height information of the covering point has high accuracy and reliability. Then, when an insertion point is generated at the farthest distance and the insertion point is determined as a key point, the key point can have high accuracy, thereby improving the technical effect of the accuracy and reliability of the height information of the determined key point.

[0106] S304: Generate a base map of the electronic map of the target area based on the height information of the overlapping points of each road and the height information of the key points.

[0107] In some embodiments, for any road, key point interpolation processing may be performed based on the height information of each overlapping point and the height information of each key point of the road.

[0108] For example, the height information of each overlapping point of the road and the height information of each key point are interpolated by the point interpolation algorithm to avoid the disadvantage of erroneous interweaving between roads in the base map, thereby improving the accuracy and reliability of the generated base map.

[0109] Combined with the above analysis, it can be seen that when performing height transfer processing, it is implemented based on the horizontal view data, and the overhead view is converted to obtain the horizontal view data, and it is implemented based on the obtained horizontal view data. Therefore, in some embodiments, after obtaining the height information of each overlapping point and the height information of each key point, the height information of each overlapping point based on the horizontal vision and the height information of each key point can be converted (the specific conversion method can be found in the above embodiment, the principle of converting the overhead vision data into the horizontal vision data, which will not be repeated here), to obtain the height information of each overlapping point based on the overhead vision and the height information of each key point, and generate a base map.

[0110] Figure 5 is a schematic diagram according to the third embodiment of the present disclosure, as shown in Figure 5 As shown, the method for generating a base map of an electronic map according to an embodiment of the present disclosure includes:

[0111] S501: Obtain the overlapping points in each road in the target area and the plan view data corresponding to each road, each overlapping point represents the intersection of the road to which the overlapping point belongs and other roads in the target area at a top-down angle, and determine the category attribute of each overlapping point, which is used to represent whether the overlapping point is sunken.

[0112] Similarly, regarding the technical features in this embodiment that are the same as those in the above embodiments, this embodiment will not repeat them again.

[0113] For example, regarding the implementation principle of S501, please refer to S201, which will not be repeated here.

[0114] S502: For any overlapping point, determine the association relationship between the road to which the overlapping point belongs and other roads.

[0115] The association relationship refers to the spatial relationship between the road to which the overlapping point belongs and other roads, such as the upper and lower layer relationship, the interlaced relationship, etc.

[0116] S503: Based on the determined association relationship, the plan view data of the road to which the overlapping point belongs, and the category attribute of the overlapping point, the overlapping point is subjected to height transfer processing on the road to which the overlapping point belongs, and the height information of the key points of each road to which the overlapping point belongs is obtained.

[0117] Among them, the starting point of the road to which the covering point belongs is determined based on the driving direction of the vehicle on the road to which the covering point belongs, and the height transfer processing refers to the estimated processing of the height information change of the height information of the covering point along the starting point of the road to which the covering point belongs.

[0118] It is worth noting that the spatial relationship between roads is intricate, especially in scenes with a large number of roads. In this embodiment, the height information is transmitted and processed by combining the association relationship between roads, which fully considers the complexity of the scene and meets the technical effect of universal applicability and flexibility of the scene generated by the base map.

[0119] In some embodiments, if the association relationship indicates that the road to which the overlapping point belongs and other roads are in a spatial upper-lower layer relationship, S503 may include the following steps:

[0120] Step 1: Get the road type attribute of the road to which the overlapping point belongs, and get the road type attributes of other roads.

[0121] The road type attribute refers to the type of road, such as expressway, national highway, ordinary road, etc.

[0122] The second step: determining the difference between the road type attributes of the road to which the overlapped point belongs and the road type attributes of other roads.

[0123] The third step: if the difference information meets the preset difference requirement information, the height transfer processing is performed on the road to which the covering point belongs according to the plan view data of the road to which the covering point belongs and the category attribute of the covering point.

[0124] like Figure 6 As shown, the road type attribute of road 1 is ordinary road, and the road type attribute of road 2 is expressway ( Figure 6 The vehicle's driving direction when the vehicle is traveling on Road 2 is marked in the middle). There are similarities between Road 1 and Road 2. Figure 6 The capping point shown, and Road 1 is connected to Road 2 (as shown Figure 6 ).

[0125] In such Figure 6 In the embodiment shown, since the difference information between the road type attributes of road 1 (i.e., ordinary highway) and the road type attributes of road 2 (i.e., expressway) represents that the difference between the road types of the two roads is large, it means that the difference information between the road types of the two roads does not meet the difference requirement information, and the height transfer processing is no longer performed to avoid raising the height information of other points.

[0126] On the contrary, if the difference information between the road type attributes of the two roads indicates that the difference between the road types of the two roads is small, it means that the difference information between the road types of the two roads meets the difference requirement information, and the height transfer processing is performed.

[0127] It is worth noting that, in this embodiment, the technical effect of improving the universal applicability and flexibility of the scene for generating the base map is achieved by determining whether to perform height transfer processing based on the road type attribute.

[0128] In other embodiments, if the association relationship indicates that the road to which the overlapping point belongs and other roads are spatially interlaced, S503 may include the following steps:

[0129] The first step: obtain the height information of the overlapping point. If the height information of the overlapping point is different from the height information of the overlapping points of other roads adjacent to the overlapping point, and there is a spatial ring structure between the road to which the overlapping point belongs and other roads, then determine the correction transfer parameter.

[0130] The second step: performing height transfer processing on the height information of the covering point on the road to which the covering point belongs according to the determined association relationship, the plan view data of the road to which the covering point belongs, the category attribute of the covering point, and the corrected transfer parameters.

[0131] For example, Figure 7 As shown, Road 1 and Road 2 are two roads that intersect in space. There are two overlapping points between Road 1 and Road 2, which are as follows: Figure 7 The capping points 1 and 2 are shown in FIG.

[0132] In order to avoid the height information being raised or even reaching infinity during the height information transmission process, in this embodiment, a method of determining a modified transfer parameter is adopted so as to combine the modified transfer parameter to perform height transfer processing, thereby improving the reliability and accuracy of the height transfer processing.

[0133] In some embodiments, the second step includes the following sub-steps:

[0134] The first sub-step: obtaining a preset basic attenuation coefficient of the road to which the covering point belongs, and obtaining a preset adjustment coefficient of the covering point.

[0135] The second sub-step: modifying the basic attenuation coefficient of the road to which the overlapping point belongs according to the modified transfer parameter to obtain a modified attenuation parameter.

[0136] For example, combining Figure 6In the application scenario shown, in order to avoid the altitude information being infinitely raised during the altitude transfer processing, the basic attenuation coefficient can be attenuated based on the modified transfer parameter, that is, the basic attenuation coefficient can be reduced, and so on, until the altitude information will not be infinitely raised during the altitude transfer processing.

[0137] The third sub-step: performing height transfer processing on the height information of the covering point on the road to which the covering point belongs based on the corrected attenuation parameter, the determined association relationship, the plan view data of the road to which the covering point belongs, and the category attribute of the covering point.

[0138] For example, combined with the above analysis, when the height transfer processing is performed based on the modified transfer parameters, the height information of the covering point may be maintained at a distance, and when the maintained distance may cause the height information to be continuously raised or even infinitely raised, the height information of the covering point is adjusted based on the transfer attenuation coefficient. When the height transfer processing is performed based on the adjusted height information of the covering point, if it still causes the height information to be continuously raised or even infinitely raised, the transfer attenuation coefficient is continued to be adjusted, and the modified height information of the covering point is rolled back to the height information of the covering point before correction, and the height transfer processing is continued in combination with the height information of the covering point before correction and the adjusted transfer attenuation coefficient, and so on, until the height information will not be infinitely raised, the corresponding transfer attenuation coefficient is determined as the final transfer attenuation coefficient, so that the basic attenuation coefficient is attenuated based on the final transfer attenuation coefficient.

[0139] It is worth noting that, in this embodiment, by combining the correction transfer parameter to perform attenuation processing on the corrected attenuation coefficient and performing height transfer processing based on the corrected attenuation coefficient, it is possible to avoid the problem of low accuracy of height information caused by the height information being continuously raised on the road, thereby improving the accuracy and reliability of the determined height information, and further improving the technical effect of improving the accuracy and reliability of the generated base map.

[0140] Regarding the specific height transfer processing process, please refer to the description of the above embodiment, which will not be repeated here.

[0141] S504: Generate a base map of the electronic map of the target area according to the height information of the overlapping points of each road and the height information of the key points.

[0142] It should be understood that, regarding the process of generating the base map, reference can be made to the description of the above embodiment, which will not be repeated here.

[0143] In some embodiments, after the base map is generated, processing operations such as rendering may be performed on the base map to obtain an electronic map of the target area.

[0144] Figure 8is a schematic diagram according to a fourth embodiment of the present disclosure, as shown in Figure 8 As shown, the base map generating device 800 of the electronic map according to the embodiment of the present disclosure includes:

[0145] The acquisition unit 801 is used to acquire overlapping points in each road of the target area and the plan view data corresponding to each road. Each overlapping point represents the intersection of the road to which the overlapping point belongs and other roads in the target area in a bird's-eye view.

[0146] The first determining unit 802 is configured to determine a category attribute of each overlapping point, where the category attribute is used to indicate whether the overlapping point is sunken.

[0147] The second determining unit 803 is configured to determine the height information of the key points of the road to which each overlapping point belongs according to the plan view data of the road to which each overlapping point belongs and the category attribute of each overlapping point.

[0148] The generating unit 804 is configured to generate a base map of the electronic map of the target area according to the height information of the overlapping points of each road and the height information of the key points.

[0149] Figure 9 is a schematic diagram according to a fifth embodiment of the present disclosure, as shown in Figure 9 As shown, the base map generating device 900 of the electronic map according to the embodiment of the present disclosure includes:

[0150] The acquisition unit 901 is used to acquire overlapping points in each road of the target area and the plan view data corresponding to each road. Each overlapping point represents the intersection of the road to which the overlapping point belongs and other roads in the target area in a bird's-eye view.

[0151] Combine Figure 9 It can be seen that, in some embodiments, the acquisition unit 901 includes:

[0152] The acquisition subunit 9011 is used to acquire the bird's-eye view data of each road.

[0153] The conversion subunit 9012 is used to perform visual conversion processing on each bird's-eye view data to obtain the horizontal view data of each road.

[0154] In some embodiments, the conversion subunit 9012 includes:

[0155] The fourth acquisition module is used to acquire, for any road, the overlapping points between the road and other roads in the roads, and acquire the starting point of the road.

[0156] The calculation module is used to calculate the distance between each overlapping point of the road and the obtained starting point.

[0157] The sixth determination module is used to determine the bird's-eye view height of the road according to the bird's-eye view data of the road, and to determine the conversion coordinate system according to the distance between each overlapping point of the road and the acquired starting point, and the bird's-eye view height.

[0158] The conversion module is used to convert the bird's-eye view data of the road according to the conversion coordinate system to obtain the plan view data of the road.

[0159] The first determining unit 902 is configured to determine a category attribute of each overlapping point, where the category attribute is used to indicate whether the overlapping point is sunken.

[0160] The second determining unit 903 is configured to determine the height information of the key points of the road to which each overlapping point belongs according to the plan view data of the road to which each overlapping point belongs and the category attribute of each overlapping point.

[0161] In some embodiments, the second determination unit 903 is used to, for any overlapping point, perform height transfer processing on the height information of the overlapping point along the direction of the starting point of the road to which the overlapping point belongs, based on the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point, to obtain the height information of the key points of the road to which each overlapping point belongs.

[0162] Among them, the starting point of the road to which the covering point belongs is determined based on the driving direction of the vehicle on the road to which the covering point belongs, and the height transfer processing refers to the estimated processing of the height information change of the height information of the covering point along the starting point of the road to which the covering point belongs.

[0163] Combine Figure 9 It can be seen that, in some embodiments, the second determining unit 903 includes:

[0164] The first determination subunit 9031 is used to determine the transfer attribute information of the height information of the covering point when the height information is transferred on the road to which the covering point belongs based on the plan view data of the road to which the covering point belongs and the category attribute of the covering point. The transfer attribute information represents whether the covering point can be transferred to the starting point of the road to which the covering point belongs.

[0165] In some embodiments, the first determining subunit 9031 includes:

[0166] The first acquisition module is used to obtain a preset basic attenuation coefficient of the road to which the overlapping point belongs, and to obtain a preset adjustment coefficient of the overlapping point.

[0167] The first determination module is used to determine the transfer attribute information of the covering point when the road to which the covering point belongs is subjected to height transfer processing based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

[0168] The second determining subunit 9032 is configured to determine the height information of the key point of the road to which the overlapping point belongs based on the transfer attribute information of the overlapping point.

[0169] In some embodiments, the second determining subunit 9032 includes:

[0170] The second determination module is used to determine the height information of the key points of the road to which the covering point belongs based on the plan view data of each road if the transfer attribute information of the covering point indicates that the covering point can be transferred to the starting point of the road to which the covering point belongs.

[0171] In some embodiments, the second determining module includes:

[0172] The first acquisition submodule is used to acquire the edge line of each road according to the plan view data of each road, and determine the intersection point with the edge line of the road to which the overlapping point belongs based on each edge line.

[0173] The first determination submodule is used to obtain the projection point of the intersection projected to the center line of the road to which the overlapping point belongs, and use the projection point as the key point of the road to which the overlapping point belongs, and determine the height information of the key point of the road to which the overlapping point belongs.

[0174] The third determination module is used to determine the height information of the key point of the road to which the covering point belongs based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point if the transfer attribute information of the covering point indicates that the covering point cannot be transferred to the starting point of the road to which the covering point belongs.

[0175] In some embodiments, the third determining module includes:

[0176] The second determining submodule is configured to determine the height information of the overlapping point based on the plan view data of the road to which the overlapping point belongs.

[0177] The third determination submodule is used to determine the maximum distance of the covering point during height transfer processing in the road to which the covering point belongs based on the height information of the covering point, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

[0178] Generate submodule for generating insertion points at the farthest distance.

[0179] The fourth determining submodule is configured to determine the insertion point as a key point of the road to which the overlapping point belongs, and determine height information of the insertion point.

[0180] Combine Figure 9 It can be seen that, in some embodiments, the second determining unit 903 includes:

[0181] The third determining subunit 9033 is configured to determine the association relationship between the road to which the overlapping point belongs and other roads.

[0182] The processing subunit 9034 is used to perform height transfer processing on the road to which the overlapping point belongs based on the determined association relationship, the plan view data of the road to which the overlapping point belongs, and the category attribute of the overlapping point.

[0183] In some embodiments, if the association relationship indicates that the road to which the overlapping point belongs and other roads are in a spatial upper-lower layer relationship, the processing sub-unit 9034 includes:

[0184] The second acquisition module is used to obtain the road type attribute of the road to which the overlapping point belongs, and obtain the road type attributes of other roads.

[0185] The fourth determining module is used to determine the difference information between the road type attributes of the road to which the overlapping point belongs and the road type attributes of other roads.

[0186] The first processing module is used to perform height transfer processing on the road to which the overlapping point belongs according to the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point if the difference information meets the preset difference requirement information.

[0187] In some embodiments, if the association relationship indicates that the road to which the overlapping point belongs and other roads are spatially interlaced, the processing sub-unit 9034 includes:

[0188] The third acquisition module is used to obtain the height information of the covering point.

[0189] The fifth determining module is used to determine the modified transfer parameter when there is a ring structure in space between the road to which the overlapping point belongs and other roads.

[0190] The second processing module is used to perform height transfer processing on the height information of the covering point on the road to which the covering point belongs based on the determined association relationship, the plan view data of the road to which the covering point belongs, the category attribute of the covering point, and the corrected transfer parameters.

[0191] In some embodiments, the second processing module includes:

[0192] The second acquisition submodule is used to obtain a preset basic attenuation coefficient of the road to which the overlapping point belongs, and to obtain a preset adjustment coefficient of the overlapping point.

[0193] The correction submodule is used to correct the basic attenuation coefficient of the road to which the covering point belongs according to the correction transfer parameter to obtain the corrected attenuation parameter.

[0194] The processing submodule is used to perform height transfer processing on the height information of the covering point on the road to which the covering point belongs based on the corrected attenuation parameter, the determined association relationship, the plan view data of the road to which the covering point belongs, and the category attribute of the covering point.

[0195] The generating unit 904 is configured to generate a base map of the electronic map of the target area according to the height information of the overlapping points of each road and the height information of the key points.

[0196] Figure 10 is a schematic diagram according to a sixth embodiment of the present disclosure, as shown in Figure 10 As shown, the electronic device 1000 in the present disclosure may include: a processor 1001 and a memory 1002 .

[0197] Memory 1002 is used to store programs. Memory 1002 may include volatile memory (volatile memory), such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. Memory may also include non-volatile memory (non-volatile memory), such as flash memory. Memory 1002 is used to store computer programs (such as applications and functional modules that implement the above-mentioned methods), computer instructions, etc. The above-mentioned computer programs and computer instructions may be partitioned and stored in one or more memories 1002. Furthermore, the above-mentioned computer programs, computer instructions, data, etc. may be called by processor 1001.

[0198] The aforementioned computer programs, computer instructions, etc. may be partitioned and stored in one or more memories 1002 . Furthermore, the aforementioned computer programs, computer instructions, etc. may be called by the processor 1001 .

[0199] The processor 1001 is configured to execute the computer program stored in the memory 1002 to implement the various steps in the method involved in the above embodiment.

[0200] For details, please refer to the relevant description in the previous method embodiment.

[0201] The processor 1001 and the memory 1002 may be independent structures or integrated structures. When the processor 1001 and the memory 1002 are independent structures, the memory 1002 and the processor 1001 may be coupled via a bus 1003 .

[0202] The electronic device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0203] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0204] According to an embodiment of the present disclosure, the present disclosure also provides a computer program product, which includes: a computer program, the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0205] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0206] like Figure 11 As shown, the device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. Various programs and data required for the operation of the device 1100 can also be stored in the RAM 1103. The computing unit 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0207] Various components in device 1100 are connected to I / O interface 1105, including an input unit 1106, such as a keyboard and mouse; an output unit 1107, such as various types of displays and speakers; a storage unit 1108, such as a magnetic disk and optical disk; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. Communication unit 1109 allows device 1100 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0208] The computing unit 1101 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above, such as the base map generation method for an electronic map. For example, in some embodiments, the base map generation method for an electronic map can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as the storage unit 1108. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 1100 via the ROM 1102 and / or the communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the base map generation method for an electronic map described above can be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to execute the method for generating a base map of an electronic map in any other appropriate manner (for example, by means of firmware).

[0209] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0210] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0211] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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 foregoing.

[0212] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0213] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0214] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0215] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0216] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for generating a base map of an electronic map, comprising: Obtaining overlapping points and corresponding plan view data for each road in the target area, where each overlapping point represents the intersection of the road to which it belongs and other roads in the target area from a bird's-eye view perspective, and determining a category attribute for each overlapping point, the category attribute being used to indicate whether the overlapping point is sunken; wherein the plan view data for each road is obtained by performing visual conversion processing based on the bird's-eye view data for each road; For any overlapping point, based on the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point, the height information of the overlapping point is subjected to height transfer processing along the direction of the starting point of the road to which the overlapping point belongs, thereby obtaining the height information of each key point on the road to which the overlapping point belongs; the height transfer processing refers to estimating the height information change of the height information of the overlapping point along the starting point of the road to which the overlapping point belongs; A base map of the electronic map of the target area is generated according to the height information of the overlapping points of each road and the height information of the key points.

2. The method according to claim 1, wherein The starting point of the road to which the covering point belongs is determined based on the driving direction of the vehicle on the road to which the covering point belongs.

3. The method according to claim 2, wherein: Based on the plan view data of the road to which the covered point belongs and the category attribute of the covered point, the height information of the covered point is subjected to height transfer processing on the road to which the covered point belongs. The height information of each key point on the road to which the covered point belongs includes: Determining, based on the plan view data of the road to which the overlapped point belongs and the category attribute of the overlapped point, transfer attribute information of the height information of the overlapped point when performing height transfer processing on the road to which the overlapped point belongs, wherein the transfer attribute information indicates whether the overlapped point can be transferred to the starting point of the road to which the overlapped point belongs; The height information of the key point of the road to which the covering point belongs is determined according to the transfer attribute information of the covering point.

4. The method according to claim 3, wherein: Determining, based on the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point, transfer attribute information when the height information of the overlapping point is subjected to height transfer processing on the road to which the overlapping point belongs, includes: Obtain the preset basic attenuation coefficient of the road to which the overlapping point belongs; and obtain the preset adjustment coefficient of the overlapping point; Based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point, the transfer attribute information of the covering point when the road to which the covering point belongs is determined when the height transfer processing is performed.

5. The method according to claim 4, wherein Determining the height information of the key point of the road to which the covering point belongs based on the transfer attribute information of the covering point includes: If the transfer attribute information of the overlapping point indicates that the overlapping point can be transferred to the starting point of the road to which the overlapping point belongs, then determining the height information of the key points of the road to which the overlapping point belongs based on the plan view data of each road; If the transfer attribute information of the covering point indicates that the covering point cannot be transferred to the starting point of the road to which the covering point belongs, then the height information of the key point of the road to which the covering point belongs is determined based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

6. The method according to claim 5, wherein: Determine the height information of the key points of the road to which the overlapped point belongs based on the plan view data of each road, including: Obtain the edge line of each road according to the plan view data of each road, and determine the intersection point with the edge line of the road to which the overlapping point belongs based on each edge line; A projection point of the intersection projected onto the center line of the road to which the overlapping point belongs is obtained, and the projection point is used as a key point of the road to which the overlapping point belongs, and height information of the key point of the road to which the overlapping point belongs is determined.

7. The method according to claim 5, wherein: Determine the height information of the key points of the road to which the overlapping point belongs based on the plan view data of the road to which the overlapping point belongs, the basic attenuation coefficient of the road to which the overlapping point belongs, the adjustment coefficient of the overlapping point, and the category attribute of the overlapping point, including: Determine the height information of the covering point according to the plan view data of the road to which the covering point belongs; Determine the maximum distance of the covering point during height transfer processing on the road to which the covering point belongs based on the height information of the covering point, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point, and the category attribute of the covering point; An insertion point is generated at the farthest distance, and the insertion point is determined as a key point of the road to which the overlapping point belongs, and height information of the insertion point is determined.

8. The method according to claim 2 or 3, wherein: According to the plan view data of the road to which the covering point belongs and the category attribute of the covering point, the height information of the covering point is transferred along the direction of the starting point of the road to which the covering point belongs, including: Determine the association relationship between the road to which the overlapped point belongs and other roads; According to the determined association relationship, the plan view data of the road to which the overlapping point belongs, and the category attribute of the overlapping point, the overlapping point is subjected to height transfer processing on the road to which the overlapping point belongs.

9. The method according to claim 8, wherein If the association relationship indicates that the road to which the overlapping point belongs and other roads are in a spatial upper-lower layer relationship, then, based on the determined association relationship, the plan view data of the road to which the overlapping point belongs, and the category attribute of the overlapping point, height transfer processing is performed on the overlapping point and the road to which the overlapping point belongs, including: Get the road type attribute of the road to which the overlapped point belongs, and get the road type attributes of other roads; Determine the difference between the road type attributes of the road to which the overlapped point belongs and the road type attributes of other roads; If the difference information meets the preset difference requirement information, the height transfer processing is performed on the road to which the overlapping point belongs according to the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point.

10. The method according to claim 8, wherein If the association relationship indicates that the road to which the overlapping point belongs and other roads are spatially interlaced, then, based on the determined association relationship, the plan view data of the road to which the overlapping point belongs, and the category attribute of the overlapping point, a height transfer process is performed on the overlapping point on the road to which the overlapping point belongs, including: Obtain the height information of the overlapping point, and if the road to which the overlapping point belongs and other roads form a spatial ring structure, determine the correction transfer parameter; According to the determined association relationship, the plan view data of the road to which the overlapping point belongs, the category attribute of the overlapping point, and the corrected transfer parameter, the height information of the overlapping point is height-transferred on the road to which the overlapping point belongs.

11. The method according to claim 10, wherein: According to the determined association relationship, the plan view data of the road to which the overlapping point belongs, the category attribute of the overlapping point, and the modified transfer parameter, the height information of the overlapping point is transferred to the road to which the overlapping point belongs, including: Obtain the preset basic attenuation coefficient of the road to which the overlapping point belongs; and obtain the preset adjustment coefficient of the overlapping point; Correcting the basic attenuation coefficient of the road to which the overlapped point belongs according to the corrected transfer parameter to obtain a corrected attenuation parameter; According to the corrected attenuation parameter, the determined association relationship, the plan view data of the road to which the covering point belongs, and the category attribute of the covering point, the height information of the covering point is height-transferred on the road to which the covering point belongs.

12. The method according to any one of claims 1 to 7 and 9 to 11, wherein Get the corresponding plan view data for each road, including: The bird's-eye view data of each road is obtained, and each bird's-eye view data is visually converted to obtain the horizontal view data of each road.

13. The method according to claim 12, wherein: Perform visual conversion on each top-view data to obtain the horizontal view data of each road, including: For any road, obtain the overlapping points between the road and other roads in the roads, and obtain the starting point of the road; Calculating the distance between each overlapping point of the road and the obtained starting point, determining the overhead height of the road according to the overhead view data of the road, and determining the conversion coordinate system according to the distance between each overlapping point of the road and the obtained starting point and the overhead height; The bird's-eye view data of the road are transformed according to the transformation coordinate system to obtain the plan view data of the road.

14. A device for generating a base map of an electronic map, comprising: an acquisition unit, configured to acquire overlapping points and plan view data corresponding to each road in a target area, wherein each overlapping point represents an intersection of the road to which the overlapping point belongs and other roads in the target area from a top-down perspective; wherein the plan view data of each road is obtained by performing a visual conversion process based on the top-down view data of each road; A first determining unit is used to determine a category attribute of each covering point, where the category attribute is used to indicate whether the covering point is sinking; The second determining unit is used to For any overlapping point, based on the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point, the height information of the overlapping point is subjected to height transfer processing along the direction of the starting point of the road to which the overlapping point belongs, thereby obtaining the height information of each key point on the road to which the overlapping point belongs; the height transfer processing refers to estimating the height information change of the height information of the overlapping point along the starting point of the road to which the overlapping point belongs; The generating unit is used to generate a base map of the electronic map of the target area according to the height information of the overlapping points of each road and the height information of the key points.

15. The device according to claim 14, wherein The starting point of the road to which the covering point belongs is determined based on the driving direction of the vehicle on the road to which the covering point belongs.

16. The device according to claim 15, wherein The second determining unit includes: A first determining subunit is configured to determine, based on the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point, transfer attribute information of the height information of the overlapping point when performing height transfer processing on the road to which the overlapping point belongs, wherein the transfer attribute information indicates whether the overlapping point can be transferred to the starting point of the road to which the overlapping point belongs; The second determining subunit is configured to determine the height information of the key point of the road to which the covering point belongs according to the transfer attribute information of the covering point.

17. The device according to claim 16, wherein The first determining subunit includes: A first acquisition module is used to obtain a preset basic attenuation coefficient of the road to which the overlapping point belongs, and obtain a preset adjustment coefficient of the overlapping point; The first determination module is used to determine the transfer attribute information of the covering point when the road to which the covering point belongs is subjected to height transfer processing based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point.

18. The device according to claim 17, wherein The second determining subunit includes: a second determining module configured to determine, if the transfer attribute information of the overlapping point indicates that the overlapping point can be transferred to the starting point of the road to which the overlapping point belongs, height information of a key point of the road to which the overlapping point belongs based on the plan view data of each road; The third determination module is used to determine the height information of the key point of the road to which the covering point belongs based on the plan view data of the road to which the covering point belongs, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point and the category attribute of the covering point if the transfer attribute information of the covering point indicates that the covering point cannot be transferred to the starting point of the road to which the covering point belongs.

19. The device according to claim 18, wherein The second determining module includes: A first acquisition submodule is used to acquire the edge line of each road according to the plan view data of each road, and determine the intersection point of each edge line with the edge line of the road to which the overlapping point belongs; The first determination submodule is used to obtain the projection point of the intersection projected to the center line of the road to which the overlapping point belongs, and use the projection point as the key point of the road to which the overlapping point belongs, and determine the height information of the key point of the road to which the overlapping point belongs.

20. The apparatus according to claim 18, wherein The third determining module includes: A second determining submodule is configured to determine the height information of the overlapping point based on the plan view data of the road to which the overlapping point belongs; A third determination submodule is configured to determine the maximum distance of the covering point during height transfer processing on the road to which the covering point belongs based on the height information of the covering point, the basic attenuation coefficient of the road to which the covering point belongs, the adjustment coefficient of the covering point, and the category attribute of the covering point; A generating submodule, configured to generate an insertion point at the farthest distance; The fourth determining submodule is configured to determine the insertion point as a key point of the road to which the overlapping point belongs, and determine height information of the insertion point.

21. The device according to claim 15 or 16, wherein The second determining unit includes: The third determining subunit is used to determine the association relationship between the road to which the overlapped point belongs and other roads; The processing subunit is used to perform height transfer processing on the road to which the overlapping point belongs based on the determined association relationship, the plan view data of the road to which the overlapping point belongs, and the category attribute of the overlapping point.

22. The device according to claim 21, wherein If the association relationship indicates that the road to which the overlapping point belongs and other roads are in a spatial upper-lower layer relationship, the processing subunit includes: The second acquisition module is used to obtain the road type attribute of the road to which the overlapping point belongs, and obtain the road type attributes of other roads; A fourth determining module is used to determine difference information between the road type attributes of the road to which the overlapped point belongs and the road type attributes of other roads; The first processing module is used to perform height transfer processing on the road to which the overlapping point belongs according to the plan view data of the road to which the overlapping point belongs and the category attribute of the overlapping point if the difference information meets the preset difference requirement information.

23. The device according to claim 21, wherein If the association relationship indicates that the road to which the overlapping point belongs and other roads are spatially interlaced, the processing subunit includes: A third acquisition module is used to obtain the height information of the capping point; A fifth determining module is used to determine the modified transfer parameter when there is a ring structure in space between the road to which the overlapped point belongs and other roads; The second processing module is used to perform height transfer processing on the height information of the covering point on the road to which the covering point belongs based on the determined association relationship, the plan view data of the road to which the covering point belongs, the category attribute of the covering point, and the corrected transfer parameter.

24. The device according to claim 23, wherein The second processing module includes: The second acquisition submodule is used to obtain a preset basic attenuation coefficient of the road to which the overlapping point belongs, and obtain a preset adjustment coefficient of the overlapping point; A correction submodule, configured to correct the basic attenuation coefficient of the road to which the overlapped point belongs according to the correction transfer parameter to obtain a corrected attenuation parameter; The processing submodule is used to perform height transfer processing on the height information of the covering point on the road to which the covering point belongs based on the corrected attenuation parameter, the determined association relationship, the plan view data of the road to which the covering point belongs, and the category attribute of the covering point.

25. The device according to any one of claims 14-20, 22-24, wherein The acquisition unit includes: An acquisition subunit, used to acquire overhead view data of each road; The conversion subunit is used to perform visual conversion processing on each bird's-eye view data to obtain the horizontal view data of each road.

26. The device according to claim 25, wherein The conversion subunit comprises: a fourth acquisition module, configured to acquire, for any road, overlapping points between the road and other roads among the roads, and to acquire a starting point of the road; A calculation module, used to calculate the distance between each overlapping point of the road and the obtained starting point; a sixth determining module, configured to determine a bird's-eye view height of the road based on the bird's-eye view data of the road, and to determine a conversion coordinate system based on a distance between each overlapping point of the road and the acquired starting point, and the bird's-eye view height; The conversion module is used to convert the bird's-eye view data of the road according to the conversion coordinate system to obtain the plan view data of the road.

27. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 13.

28. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-13.

29. A computer program product comprising a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 13.

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