Map display method, device, equipment and computer program product

Abstract

The present application discloses a map display method, apparatus, device, and computer program product, which can be applied to the field of maps. The method includes: displaying an electronic map of a target site in a site management device, wherein the electronic map includes: image elements obtained by satellite photography of the target site, and road network elements of the target site; when any vehicle is parked in the target site, displaying a vehicle representation element at the target location on the electronic map; wherein the target location is used to indicate the parking location of any vehicle in the target site; in response to any vehicle starting to travel in the target site, controlling the movement of the vehicle representation element on the electronic map according to the driving location of any vehicle. The embodiments of the present application can not only enrich the display content of the electronic map, but also reproduce the driving conditions of real vehicles through the vehicle representation elements, saving processing resources and improving display performance.

Description

Technical Field

[0001] The present application relates to the field of Internet technology, specifically to the field of computer technology, and in particular to a map display method, device, equipment and computer program product. Background Art

[0002] Currently, when understanding a vehicle's movement within a target location, it is typically necessary to perform a three-dimensional modeling of the target location containing the vehicle, obtaining a three-dimensional reconstructed map of the target location. This map is then displayed on a terminal device, allowing the user to understand the vehicle's movement within the target location through the 3D reconstructed map. Although displaying the 3D reconstructed map can visualize the vehicle's movement within the target location, the device needs to render a large number of 3D models when displaying the 3D reconstructed map, which degrades display performance. Therefore, how to better visualize the vehicle's movement within the target location has become a research hotspot. Summary of the Invention

[0003] The embodiments of the present application provide a map display method, apparatus, device, and computer program product, which can not only enrich the display content of the electronic map, but also reproduce the driving conditions of real vehicles through vehicle characterization elements, save processing resources, and improve display performance.

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

[0005] Displaying an electronic map of the target site in a site management device, the electronic map including: image elements obtained by satellite photography of the target site, and road network elements of the target site;

[0006] When any vehicle is parked in the target site, a vehicle representation element is displayed at the target location on the electronic map; wherein the target location is used to indicate the parking location of the any vehicle in the target site;

[0007] In response to any one of the vehicles starting to travel in the target site, the vehicle representation element is controlled to move on the electronic map according to the travel position of the any one of the vehicles.

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

[0009] A display unit, configured to display an electronic map of the target site in the site management device, wherein the electronic map includes: image elements obtained by satellite photography of the target site, and road network elements of the target site;

[0010] The display unit is further configured to display a vehicle representation element at a target position on the electronic map when any vehicle is parked in the target site; wherein the target position is used to indicate the parking position of the any vehicle in the target site;

[0011] A control unit is configured to control the vehicle representation element to move on the electronic map in response to any vehicle starting to travel in the target site and according to the travel position of any vehicle.

[0012] In another aspect, an embodiment of the present application provides a computer device, the computer device including an input interface and an output interface, and the computer device further including:

[0013] a processor adapted to implement one or more instructions; and

[0014] A computer storage medium storing one or more instructions adapted to be loaded by the processor and executed by the processor:

[0015] Displaying an electronic map of the target site in a site management device, the electronic map including: image elements obtained by satellite photography of the target site, and road network elements of the target site;

[0016] When any vehicle is parked in the target site, a vehicle representation element is displayed at the target location on the electronic map; wherein the target location is used to indicate the parking location of the any vehicle in the target site;

[0017] In response to any one of the vehicles starting to travel in the target site, the vehicle representation element is controlled to move on the electronic map according to the travel position of the any one of the vehicles.

[0018] On the other hand, an embodiment of the present application provides a computer storage medium, which stores one or more instructions, and the one or more instructions are suitable for being loaded by a processor and executing the above-mentioned map display method.

[0019] On the other hand, an embodiment of the present application provides a computer program product, which includes a computer program; when the computer program is executed by a processor, it implements the above-mentioned map display method.

[0020] The embodiment of the present application can obtain image elements and determine the road network elements of the target site by taking satellite photos of the target site, so that the electronic map of the target site contains both the image elements and the road network elements, which can effectively enrich the display content of the electronic map. Since the image elements taken by satellite can more intuitively reflect the real environment of the target site, and the road network elements can clearly reflect the road network structure of the target site, it is possible to display an electronic map that takes into account both visual effects and clear road networks on the site management equipment, thereby improving the intuitiveness of the display of the electronic map. Furthermore, when any vehicle is parked in the target site, the vehicle representation element can be displayed at the corresponding position on the electronic map according to the parking position of any vehicle in the target site; and when any vehicle starts to drive in the target site, the vehicle representation element can be controlled to move on the electronic map according to the driving position of any vehicle to reproduce the driving situation of the vehicle in the target site, thereby achieving the effect of digital twin. It can be seen that the embodiment of the present application realizes the visualization of the vehicle's driving conditions in the target site by superimposing display image elements, road network elements and vehicle representation elements; during the entire process, there is no need to perform three-dimensional modeling of the target site, which can save processing resources and improve display performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1a This is a schematic diagram of a satellite image provided by an embodiment of the present application;

[0023] Figure 1b This is a schematic diagram of a road network diagram provided in an embodiment of the present application;

[0024] Figure 1c is a schematic diagram of an electronic map provided in an embodiment of the present application;

[0025] Figure 1d is a schematic diagram of displaying an electronic map in a venue management device provided by an embodiment of the present application;

[0026] Figure 1e is another schematic diagram of displaying an electronic map in a venue management device provided by an embodiment of the present application;

[0027] Figure 2 This is a flowchart of a map display method provided in an embodiment of the present application;

[0028] Figure 3aThis is a schematic diagram of the relationship between a 3D scene and a camera provided in an embodiment of the present application;

[0029] Figure 3b This is a schematic diagram of a scenario in which an electronic map is displayed using a second viewing angle, provided in an embodiment of the present application;

[0030] Figure 3c This is another schematic diagram of a scenario in which an electronic map is displayed using a second viewing angle, provided by an embodiment of the present application;

[0031] Figure 3d This is a schematic diagram of a scenario for zooming and displaying an electronic map provided by an embodiment of the present application;

[0032] Figure 3e This is a schematic diagram of an embodiment of the present application providing a method of superimposing vehicle characterization elements on an electronic map;

[0033] Figure 3f This is a schematic diagram of displaying driving speed and heading on a management page provided by an embodiment of the present application;

[0034] Figure 4 This is a flowchart of a map display method provided by another embodiment of the present application;

[0035] Figure 5a This is a schematic diagram of a distortion correction process for a target satellite image provided by an embodiment of the present application;

[0036] Figure 5b is a schematic diagram of positioning the vehicle representation element to the canvas coordinates on the canvas element provided by an embodiment of the present application;

[0037] Figure 6 This is a structural diagram of a map display device provided in an embodiment of the present application;

[0038] Figure 7 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0040] In order to realize the visualization of the driving situation of the vehicle in the target site, the embodiment of the present application proposes a map display solution based on the digital twin technology. Among them, the so-called digital twin can be understood as the digitization of the real world (system); specifically, the digital twin is to make full use of physical models, sensor updates, operation history and other data, integrate multi-disciplinary, multi-physical quantity, multi-scale, multi-probability simulation processes, and complete mapping in the virtual space, thereby reflecting the full life cycle process of the corresponding physical entity object. The physical entity object here can be a vehicle, drone, mobile robot, etc. It can be seen that digital twin technology refers to a technology that can establish a digital mapping of the real world (system) within an information platform and simulate physical entities, processes or systems; digital twin technology can analyze and optimize physical physical objects, and can understand the state of physical entities by relying on sensor data.

[0041] Specifically, the general principle of the map display solution is as follows: First, a high-resolution satellite image of the target site obtained by satellite photography of the target site and a high-precision road network map of the target site can be obtained. Then, an electronic map of the target site can be obtained by fusing the high-resolution satellite image and the high-precision road network map of the target site, and the electronic map can be displayed in the site management device. The so-called electronic map can be understood as a map displayed in the device. Furthermore, when any vehicle is parked in the target site, the vehicle parked in the target site can be represented by a vehicle representation element; and the vehicle representation element can also be displayed at the corresponding position on the electronic map according to the parking position of any vehicle in the target site. When it is detected that any vehicle starts to drive in the target site, the vehicle representation element can also be controlled to move on the electronic map according to the driving position of any vehicle.

[0042] The high-resolution satellite images mentioned above refer to satellite images with image resolution greater than a certain resolution threshold. The so-called satellite images refer to images that use satellites as a medium to provide users with a true reflection of the earth's surface appearance. Figure 1a As shown, the high-resolution satellite image of the target site may include: image elements obtained by satellite photography of the target site. The high-precision road network map mentioned above refers to an image that can clearly display the road network structure. The high-precision road network map of the target site may include the road network elements of the target site; the road network elements can be used to indicate: the physical lanes (i.e., actual lanes) and physical traffic elements (i.e., actual traffic elements) existing in the target site. Physical traffic elements may include but are not limited to: lane markings (such as lane dividers, lane center lines, lane turn lines, etc.), traffic lights, sidewalks, etc. Figure 1bFor the sake of convenience, the high-resolution satellite image will be referred to as the target satellite image, and the high-precision road network image will be referred to as the road network image. It should be noted that the target satellite image is essentially a bitmap, which is composed of a single pixel. The image clarity will decrease as the image is magnified. Figure 1a The image shown is a satellite image of the target after the image clarity is reduced due to the zoom operation; the high-precision road network map is essentially a vector map, which is composed of points connected by lines. Its image clarity does not change as the image is zoomed in.

[0043] Based on the above description, it can be seen that the map display solution proposed in the embodiment of the present application can realize the display of an electronic map that takes into account both visual effects and clear road networks in the site management equipment by fusing the target satellite image and road network map of the target site, such as Figure 1c As shown; this can improve the intuitiveness of electronic map display and enrich the displayed content of electronic maps. In addition, after any vehicle is placed at the target site, the real-time location of any vehicle during driving can be visualized on the electronic map by displaying the vehicle representation element on the electronic map and adjusting the display position of the vehicle representation element, thus realizing a digital twin. In addition, during the entire process of visualizing the vehicle's driving conditions at the target site, there is no need to perform three-dimensional modeling of the target site, which can effectively save processing resources, increase the number of frames displayed on the map, and thus improve display performance. Furthermore, because the vehicle representation element and the electronic map are independent of each other, there is no need to repeatedly render the electronic map when controlling the movement of the vehicle representation element, which can further save processing resources and improve display performance.

[0044] In a specific implementation, the map display solution mentioned above can be executed by a computer device; the computer device and the site management device mentioned above can be the same device or different devices. When the computer device and the site management device are two different devices, the computer device can be responsible for generating an electronic map of the target site and sending the electronic map to the site management device for display; and the computer device can also be responsible for calculating the position coordinates of the vehicle representation element on the electronic map based on the position of any vehicle in the target site, thereby sending the calculated position coordinates to the site management device, so that the site management device can display the vehicle representation element on the electronic map based on the position coordinates. Among them, when the computer device and the site management device are different, the computer device can be a terminal or a server; the terminal mentioned here can include but is not limited to: smart phones, tablet computers, laptops, desktop computers, smart wearable devices (such as smart watches, smart glasses), smart TVs, smart car terminals, etc. A server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), big data and artificial intelligence platforms, etc.

[0045] Furthermore, the map display solution proposed in the embodiment of the present application can be applied to various application scenarios, such as real-car testing scenarios for autonomous driving vehicles, competition scenarios for remote-controlled vehicles, etc. Among them, when the map display solution is applied to real-car testing scenarios for autonomous driving, the above-mentioned venue management device can be any device with display function, such as a smart phone, tablet computer, laptop computer, desktop computer, smart wearable device, smart TV, etc.; taking the venue management device as a desktop computer as an example, the schematic diagram of displaying an electronic map in the venue management device can be seen in Figure 1d When the map display solution is applied to a competition scene for remote-controlled vehicles, the above-mentioned venue management device can be a vehicle remote controller with a display screen, such as Figure 1e It should be understood that the present embodiment only exemplifies two application scenarios to which the map display solution is applicable, and is not exhaustive; the map display solution proposed in the present embodiment can be used in any other scenario where the driving conditions of vehicles in the target site need to be visualized.

[0046] Based on the above description of the map display scheme, the embodiment of the present application proposes a map display method. The embodiment of the present application mainly uses the example of the map display method being executed by the above-mentioned venue management device as an example, but it should be understood that: in other embodiments, the map display method can also be executed by a terminal or server other than the venue management device. In this case, the specific implementation of each step can be found in the description of the embodiment of the present application. Figure 2 The map display method may include the following steps S201-S203:

[0047] S201: Display an electronic map of a target venue on a venue management device.

[0048] In an embodiment of the present application, the electronic map of the target site is obtained by fusing (e.g., overlaying) a target satellite image and a road network map of the target site. Since the target satellite image includes image elements obtained by satellite photography of the target site, and the road network map includes road network elements of the target site, the electronic map of the target site may include: image elements obtained by satellite photography of the target site, and road network elements of the target site.

[0049] The image element at least includes: image content corresponding to each physical object in the target site. For example, if there is a physical object such as a road in the target site, the image element may include the image content corresponding to the road; for another example, if there is a physical object such as a house in the target site, the image element may also include the image content corresponding to the house; for another example, if there is a physical object such as a tree in the target site, the image element may also include the image content corresponding to the tree, and so on. Furthermore, the image element may correspond to a shooting angle, which may be understood as the angle between the vertical line between the shooting device and the ground plane of the target site, and the horizontal line of the ground plane. For example, the shooting angle may be a 90° viewing angle, in which case the image element is obtained by vertically shooting the target site; for another example, the shooting angle may be a 45° viewing angle, and so on, without limitation.

[0050] Road network elements can be used to indicate: physical lanes and physical traffic elements existing in the target site, and physical traffic elements may include but are not limited to: lane markings (such as lane dividers, lane center lines, lane turn lines, etc.), traffic lights, sidewalks, etc. Based on this, when the target site includes multiple physical lanes and one or more physical lane dividers, the road network element may include: electronic lanes corresponding to each physical lane, and electronic lane dividers corresponding to each physical lane divider. Among them, electronic lanes refer to lanes drawn based on real physical lanes and used for display in the device; similarly, electronic lane dividers refer to lane dividers drawn based on real physical lane dividers and used for display in the device. It should be understood that when the target site includes traffic lights, the road network element may also include electronic traffic lights corresponding to the traffic lights, and so on.

[0051] In a specific implementation of step S201, a management page can be output on the display screen of the venue management device, and an electronic map of the target venue can be displayed on the management page. Furthermore, the electronic map can be displayed on the venue management device using a camera (a camera object used to display images on a screen) using a first-person perspective. In one embodiment, the first-person perspective matches the shooting perspective corresponding to the image element; for example, if the shooting perspective is a 90° angle, the first-person perspective is a perspective perpendicular to the target venue. In another embodiment, the first-person perspective may not match the shooting perspective, which is not limited to this; for example, if the shooting perspective is a 90° angle, the first-person perspective may be a 45° angle at an angle. The management page used to display the electronic map can be a web page, such as an H5 (fifth generation HTML (Hypertext Markup Language) web page); or, the management page can be a system page provided by the venue management device's operating system; or, the management page can be an application page provided by other applications such as video applications or social applications in the venue management device, etc.

[0052] In an optional embodiment, the layer where the electronic map is located can be located on the ground plane of a three-dimensional scene (3D scene), so that the user can trigger the adjustment of the display perspective of the electronic map by inputting the perspective adjustment operation, so that the electronic map presents a three-dimensional effect. The relationship between the 3D scene and the camera can be seen in Figure 3a shown; in Figure 3aIn the figure, the pyramid formed by all the line segments (solid and dashed) represents the camera's perspective (i.e., the user's perspective). The vertices of the pyramid formed by the dashed segments represent the user's eyes. The smaller rectangle 31 represents the screen, the larger rectangle 32 represents the area seen by the camera, and the triangle 33 represents the top of the camera. The intersection 35 of the line segment 34 and the larger rectangle 32 represents the camera's focal point. Based on this, the venue management device can adjust the perspective of the electronic map by controlling the camera's movement.

[0053] That is, the venue management device can respond to a perspective adjustment operation on the electronic map and use a second perspective to display the electronic map in the venue management device. The second perspective can be determined based on the perspective adjustment operation, which can be input by sliding a finger on the screen, triggering a perspective adjustment component on the page, or manipulating an external device connected to the venue management device (such as a mouse). Taking the example of a user inputting a perspective adjustment operation by manipulating a mouse, the specific scenario of the venue management device displaying the electronic map in the second perspective in response to the perspective adjustment operation is explained as follows:

[0054] Scenario 1: See Figure 3b As shown in the upper figure, the user can use the mouse to move the input focus (such as the cursor) to the first position a on the electronic map, and press the left mouse button to drag the input focus horizontally from the first position a to the second position b. At this time, the dotted circle can be used to represent the focus of the camera, h can be used to represent the height of the window (i.e., the screen), and dx can be used to represent the distance the input focus slides horizontally. Then, a value can be calculated using the formula dx / h*2π. This value can then be used as a radian to control the camera to rotate this radian to the left with the focus as the center of the sphere, thereby adjusting the display angle of the electronic map and outputting Figure 3b The electronic map under the second perspective is shown in the lower figure.

[0055] It should be noted that the embodiments of the present application are not limited to the user dragging the input focus horizontally, but can also support users performing various drag operations on the input focus, such as vertical drag operations and diagonal drag operations. Specifically, when the user performs a vertical drag operation on the input focus, the principle of adjusting the display angle of the electronic view by the venue management device is similar to the principle corresponding to the horizontal drag operation, except that dx is replaced by dy (the distance the input focus slides vertically); when the user performs a diagonal drag operation on the input focus, the principle of adjusting the display angle of the electronic view by the venue management device is similar to the principle corresponding to the horizontal drag operation, except that the distance the input focus moves in the diagonal direction is split into dx and dy, so as to calculate the radians required for rotation respectively, and then control the camera to rotate the corresponding radians respectively.

[0056] Scenario 2: See Figure 3c As shown in the upper figure, the user can move the input focus (such as the cursor) to the first position a on the electronic map by manipulating the mouse, and drag the input focus horizontally from the first position a to the second position b by pressing the right mouse button. At this time, the focus of the camera can be represented by a dotted circle, and the position coordinates of the first position a on the management page and the position coordinates of the second position b on the management page are converted to the world coordinate system corresponding to the three-dimensional scene, thereby obtaining the displacement vector vector in the world coordinate system based on the two converted world coordinates, and then the camera and the focus can be displaced in opposite directions at the same time by vector, thereby adjusting the display perspective of the electronic map (perspective translation), and outputting Figure 3c The electronic map under the second perspective is shown in the lower figure.

[0057] In another optional embodiment, the venue management device can magnify and display each image element and road network element in the electronic map in response to a map scale increase operation on the electronic map. Since the road network element is a vector and the enlargement of the image does not affect the clarity of the road network element, the venue management device can maintain the clarity of the road network element during the process of enlarging and displaying the road network element. The degree of magnification of the image element and the degree of magnification of the road network element are both determined based on the map scale increase operation; that is, the degree of magnification of the image element is consistent with the degree of magnification of the road network element. The map scale increase operation mentioned here refers to the operation of increasing the map scale. The map scale refers to the ratio of the length of a line segment on the map to the length of the horizontal projection of the corresponding line segment in the field; for example, assuming the map scale is 1:100,000, it can be indicated that 1 centimeter on the map is equivalent to 100,000 centimeters (i.e., 1,000 meters) in the field. Optionally, the map scale increase operation may include but is not limited to any of the following: inputting a preset gesture, clicking any point on the electronic map, triggering the map scale increase component in the management page, or scrolling the mouse wheel in the first direction, etc.

[0058] It should be understood that embodiments of the present application are not limited to supporting only user input for map scale increase operations, but may also support user input for map scale reduction operations. That is, the venue management device may, in response to a map scale reduction operation on the electronic map, reduce the size of individual image elements and road network elements within the electronic map. The map scale reduction operation may include, but is not limited to, any of the following: inputting a designated gesture, triggering a map scale reduction component within a management interface, or scrolling a mouse wheel in a second direction, where the second direction is opposite to the first direction, etc.

[0059] Taking the example of a user scrolling the mouse wheel to trigger the zooming of the electronic map, the specific method of how the venue management device can achieve the zooming of the electronic map is explained as follows: Figure 3d As shown in the upper figure, the user can use the mouse to move the input focus (such as the cursor) to any position c on the electronic map, and then roll the mouse wheel; at this time, a straight line can be drawn from the camera's view to any position c (that is, a straight line is determined between the camera's view and any position c), and the camera can be moved a certain distance along this straight line in the direction of any position c to achieve zoom display of the electronic map, and output Figure 3d The zoomed electronic map is shown in the lower figure of FIG. The distance the camera moves can be determined according to the distance the scroll wheel is rolled.

[0060] S202 : When any vehicle is parked in a target location, a vehicle representation element is displayed at the target location on the electronic map.

[0061] The target location is determined based on the parking position of any vehicle within the target location. In other words, the target location can be used to indicate the parking position of any vehicle within the target location. For example, if there is a physical lane A within the target location, and any vehicle is parked at the physical lane stop line of physical lane A, that is, the physical lane stop line is the parking position of any vehicle. Therefore, the electronic map can include the electronic lane a corresponding to physical lane A, and the vehicle representation element can be displayed on the electronic lane stop line of electronic lane a. The electronic lane stop line of electronic lane a can be used as the target location.

[0062] Among them, the vehicle characterization element refers to an element used to characterize any vehicle. For example, the vehicle characterization element may include a breathing light, and the breathing light here refers to an electronic element that emits light at a certain flashing frequency and can present a gradual change of light from bright to dark. For another example, the vehicle characterization element may include a vehicle style icon, or an icon of a preset geometric shape, and so on. It should be understood that the embodiments of the present application only exemplarily list several specific implementations of the vehicle characterization element, and are not exhaustive. In addition, the vehicle characterization element and the electronic map are independent of each other, and the layer where the vehicle characterization element is located is above the layer where the electronic map is located; that is, the vehicle characterization element is superimposed and displayed on the electronic map, such as Figure 3eThis display method eliminates the need for extensive re-rendering of the electronic map during subsequent control of the vehicle representation element's movement, further conserving processing resources and improving display performance. Optionally, both the vehicle representation element layer and the electronic map image can be placed on the same ground plane within a three-dimensional scene, enabling the user to adjust the electronic map's display perspective by inputting a perspective adjustment operation, thereby creating a three-dimensional effect.

[0063] S203 : In response to any vehicle starting to travel in the target site, controlling the vehicle representation element to move on the electronic map according to the travel position of any vehicle.

[0064] In a specific implementation, after any vehicle starts driving in the target site, it can transmit the driving information it obtains in real time during the driving process back to the site management device; wherein, the driving information may include but is not limited to: the driving position, driving speed, direction (or heading) of any vehicle, the images captured by the camera equipped with any vehicle, etc. It should be noted that the embodiment of the present application does not limit the communication method between any vehicle and the site management device; for example, any vehicle can connect to the Internet through the fifth generation mobile communication technology (5G) network card, and then use the Internet of Things solution such as MQTT (message queue telemetry transmission) to transmit the driving information back to the site management device.

[0065] Accordingly, after receiving the driving information, the site management device can determine the display position of the vehicle representation element on the electronic map based on the driving position of any vehicle included in the driving information, thereby controlling the vehicle representation element to move to the determined display position. Optionally, when the driving information includes driving speed and heading, the site management device can also display the driving speed and heading in text or other forms on the management page, such as Figure 3f Similarly, if the driving information includes images captured by a camera configured on any vehicle, the site management device may also display the images on the management page; wherein, the number of cameras configured on any vehicle may be one or more, and the configuration positions of the cameras may be different.

[0066] In an optional embodiment, the venue management device can also obtain the speed transmitted by any vehicle during its travel and determine whether the vehicle's speed reaches a speed threshold (i.e., is greater than the speed threshold). If the vehicle's speed reaches the speed threshold, the venue management device can adjust the element style of the vehicle's character element to promptly alert the user that the vehicle is speeding. The element style can include at least one of the following: element shape and element color. For example, if the vehicle's character element's original element shape is a circle, after the vehicle's speed reaches the speed threshold, the element shape of the vehicle's character element can be adjusted from a circle to a triangle or a warning light. For another example, if the vehicle's original element color is yellow, after the vehicle's speed reaches the speed threshold, the element shape of the vehicle's character element can be adjusted from yellow to red. Optionally, if the vehicle's character element includes a breathing light, the venue management device can also increase the flashing frequency of the breathing light if the vehicle's speed reaches the speed threshold, thereby promptly alerting the user that the vehicle is speeding.

[0067] In another optional embodiment, if the target site is a real vehicle test site for autonomous driving testing, that is, any vehicle is an autonomous driving vehicle, then since the electronic map in the embodiment of the present application can clearly display the road network elements of the target site, and the road network elements include an electronic lane corresponding to each physical lane and one or more electronic lane dividers, the site management device can also remotely determine whether the driving behavior of any vehicle in the target site is compliant through the movement behavior of the vehicle representation element on the electronic map and each electronic lane divider. For example, during the movement of the vehicle representation element on the electronic map, if it is detected that the vehicle representation element changes lanes from the first electronic lane to the second electronic lane, the target electronic lane divider between the first electronic lane and the second electronic lane can be determined. Then, according to the type of the target electronic lane divider, the automatic driving behavior of any vehicle can be detected for violation; specifically, if the type of the target electronic lane divider is a solid line type, the automatic driving behavior of any vehicle is determined to be illegal; if the type of the target electronic lane divider is a dotted line type, the automatic driving behavior of any vehicle is determined to be compliant. Furthermore, if any vehicle's driving behavior is detected to be in violation of the regulations, a violation warning prompt will be output; wherein, outputting the violation warning prompt may include at least one of the following: outputting violation prompt information in the management page, broadcasting the violation prompt voice, adjusting the element style of the vehicle representation element in the management page, etc.

[0068] In another optional embodiment, if the target venue is an arena for remote-controlled vehicle competitions, that is, any vehicle is remotely controlled by a venue management device, then since the electronic map in the embodiment of the present application can clearly display the road network elements of the target venue, and the road network elements include an electronic lane corresponding to each physical lane and one or more electronic lane separators, if the user wants to control any vehicle to change lanes during the process of remotely controlling any vehicle through the venue management device, the user can first observe whether the lane separator between the current electronic lane where the vehicle characterization element is located and the adjacent electronic lane is a dotted line to remotely determine whether any vehicle meets the lane change conditions. If it is observed that the lane separator between the current electronic lane and the adjacent electronic lane is a dotted line, it can be determined that any vehicle meets the lane change conditions, and at this time, a lane change operation can be input to trigger any vehicle to change lanes. Correspondingly, the site management equipment can receive a lane change operation for triggering any vehicle to change lanes, then generate a lane change control instruction based on the lane change operation, and send the lane change control instruction to any vehicle to control any vehicle to change lanes from the current physical lane to the adjacent physical lane; wherein the current physical lane corresponds to the current electronic lane, and the adjacent physical lane corresponds to the adjacent electronic lane.

[0069] The embodiment of the present application can obtain image elements and determine the road network elements of the target site by taking satellite photos of the target site, so that the electronic map of the target site contains both the image elements and the road network elements, which can effectively enrich the display content of the electronic map. Since the image elements taken by satellite can more intuitively reflect the real environment of the target site, and the road network elements can clearly reflect the road network structure of the target site, it is possible to display an electronic map that takes into account both visual effects and clear road networks on the site management equipment, thereby improving the intuitiveness of the display of the electronic map. Furthermore, when any vehicle is parked in the target site, the vehicle representation element can be displayed at the corresponding position on the electronic map according to the parking position of any vehicle in the target site; and when any vehicle starts to drive in the target site, the vehicle representation element can be controlled to move on the electronic map according to the driving position of any vehicle to reproduce the driving situation of the vehicle in the target site, thereby achieving the effect of digital twin. It can be seen that the embodiment of the present application realizes visualization of the vehicle's driving conditions in the target site by superimposing display image elements, road network elements and vehicle representation elements; during the entire process, there is no need to perform three-dimensional modeling of the target site, which can save processing resources and improve the terminal's operating performance.

[0070] Based on the above description, the embodiment of the present application further proposes a more specific map display method. Figure 2 The method embodiment shown is similar to the one shown in FIG. 2 , and the present application embodiment still takes the map display method executed by the venue management device as an example for explanation. Figure 4The map display method may include the following steps S401-S406:

[0071] S401 , obtaining a target satellite image of a target site, wherein the target satellite image includes image elements obtained by shooting the target site through a satellite.

[0072] S402: Obtain a road network map of the target site.

[0073] The road network map includes road network elements constructed based on the road network structure of the target site. In a specific implementation, a high-precision map of the target site can be obtained. This high-precision map is a vector map in the OpenDrive format. The OpenDrive format mentioned here is a format that uses linear algebraic equations to represent graphs. For example, to represent a straight line, the equation y = ax + b might be used to represent the line. Representing graphs using linear algebraic equations allows for expressing as much of the graph as possible with minimal information, and does not blur the graph regardless of how it is magnified. Because the linear algebraic equations require numerical solutions (points in a plane coordinate system) at certain intervals (the smaller the interval, the more accurate), and these numerical solutions are used as sampling points, the sampling points are then connected with line segments to construct road network elements. Therefore, after obtaining the high-precision map, the site management device can parse the high-precision map into multiple sampling points, and then use these sampling points to construct a road network map of the target site (also known as a road network object (Line B)).

[0074] S403: Perform image overlay processing on the target satellite image and the road network image to obtain an electronic map of the target site.

[0075] In a specific implementation, a canvas element (canvas element) may be created first, and the rendering context of the canvas element may be obtained; the rendering context is a three-dimensional scene used to carry drawing elements, for example, the rendering context may be a WebGL rendering context (a rendering context that uses a graphics card to draw 3D graphics), or a webGPU (which may be understood as the next generation web 3D graphics API (application programming interface)). Secondly, an initial plane object (Plane A) may be constructed, and the target satellite image may be pasted onto an initial plane object (Plane A) as a texture to obtain a target plane object (i.e., (Plane A) pasted with the target satellite image); and the target plane object may be added to the rendering context as a drawing element. Optionally, if the target satellite image is distorted, the target satellite image may be subjected to distortion correction processing first, such as Figure 5a As shown; then, the distortion-corrected target satellite image is applied as a texture onto an initial plane object. Figure 5aThe three upper images in the figure respectively represent three distortion conditions of the target satellite image. By performing distortion correction processing on any of the images, the distortion-corrected target satellite image shown in the lower image can be obtained.

[0076] Then, the road network map can be added to the rendering context as a drawing element based on the first height of the target plane object in the rendering context. The second height of the road network map in the rendering context is greater than the first height, and the difference between the second height and the first height can be set according to actual needs, and there is no limitation on this. The height of the drawing element in the rendering context can refer to the height of the drawing element on the z-axis (assuming that the x-axis is from left to right, the y-axis is from bottom to top, and the z-axis is from the back of the screen to the user's eyes). Objects closer to the user's eyes will cover objects farther away, and in the scene, this will appear as a larger z value of the drawing element, or a higher height.

[0077] After adding the road network map to the rendering context, image rendering can be performed directly within the canvas element based on the rendering context, rendering the target satellite image and road network map into the canvas element to obtain an electronic map of the target site. Furthermore, to align the image elements in the target satellite image with the corresponding road network elements in the road network map, thereby improving the display quality of the electronic map, after adding the road network map to the rendering context, the target plane object and the road network map can be aligned within the rendering context. Then, based on the resulting rendering context, image rendering can be performed within the canvas element to obtain an electronic map of the target site.

[0078] When downloading the target satellite image, the longitude and latitude of the four corners (i.e., the four image corners) of the target satellite image are specified. Image corners refer to corners of an image, such as the upper left corner, upper right corner, lower left corner, and lower right corner. Therefore, one implementation method for aligning the target plane object with the road network map in the rendering context may be: first, the longitude and latitude of each image corner of the target satellite image, as well as the longitude and latitude of each pixel point in the road network map, may be determined. Second, based on the matching relationship between the longitude and latitude of each image corner and the longitude and latitude of each pixel point, the pixel points corresponding to each image corner may be found in the road network map. Then, according to the alignment principle of mutual overlap between the image corners and the corresponding pixel points, the target satellite image may be adjusted, and the adjusted target satellite image and the road network map may be aligned. The image adjustment process may include at least one of the following: image rotation and image scaling.

[0079] S404: Display an electronic map of the target venue in the venue management device.

[0080] S405 , when any vehicle is parked in the target site, a vehicle representation element is displayed at the target location on the electronic map.

[0081] In a specific implementation, when any vehicle is parked in the target site, the vehicle can transmit the GPS (Global Positioning System) coordinates of the parking location to the site management device; after receiving the GPS coordinates, the site management device can map the GPS coordinates to the world coordinate system to obtain the mapped coordinates (which can be called merc world coordinates), and then use the camera object used in the three-dimensional scene to retrieve the canvas coordinates relative to the canvas element, thereby locating the vehicle representation element to the canvas coordinates on the canvas element, such as Figure 5b As shown; this allows the vehicle representation element to be displayed at the target location, which is the location indicated by the canvas coordinates. GPS coordinates refer to coordinates in the World Geodetic System (WGS), expressed as (L, B, H); H represents geodetic height, B represents geodetic latitude, and L represents geodetic longitude. Based on this, the following formula can be used to map GPS coordinates to the world coordinate system:

[0082] X=(N+H)*cosB*cosL

[0083] Y=(N+H)*cosB*sinL

[0084] Z=[N*(1-e 2 )+H]*sinB

[0085] In the above formula, N can be understood as a mapping coefficient, X is the horizontal coordinate in the merc world coordinate, Y is the vertical coordinate in the merc world coordinate, and Z is the vertical coordinate in the merc world coordinate.

[0086] In the embodiments of this application, the vehicle characterization element is mainly described as a breathing light. One way to generate the breathing light can be: first construct a div element (an element used to provide structure and background for large blocks of content in an HTML document), and then set CSS (Cascading Style Sheets) background color, rounded corners, element shadows and animations in the div element, so that the div looks like a breathing breathing light. Specifically, the style code of the breathing light (car-point) can be seen as follows:

[0087] .car-point{

[0088] width:64px; / / define width

[0089] height:64px; / / define length

[0090] background:#F9EEA6; / / Defines the yellow-white color value in the middle of the breathing light. #F9EEA6 is used to represent an RGB value.

[0091] box-shadow:0 0 16px 10px#f79940; / / Defines the shadow effect of the breathing light. The color value specified here is a bright color to make the breathing light look luminous. #f79940 is used to represent an RGB value.

[0092] position:absolute; / / Define the positioning mode as absolute positioning

[0093] z-index:10; / / Define the occlusion relationship of the breathing light in the management page. Elements with large z values can block elements with small z values.

[0094] top:0; / / Define the position of the breathing light relative to the top of the management page

[0095] left:0; / / Define the position of the breathing light relative to the left side of the management page

[0096] animation:fadeBlink 1.6s linear infinite; / / Define the animation effect of the breathing light, including the use of fadeBlink animation effect. 1.6s means that one animation cycle is 1.6 seconds. Linear represents the speed curve equation for executing the animation. Here, it is executed at a uniform speed. Infinite represents the number of times the animation is executed. Here, it is an infinite loop.

[0097] transform:translate(-50%,-50%); / / Define the deformation effect of the breathing light including the displacement effect

[0098] }

[0099] It should be noted that in other embodiments, breathing lights can also be generated by constructing other HTML elements, as long as the HTML element has the "car-point" class name. Of course, the "car-point" class name can also be replaced with something else, as long as it corresponds to the above style code. Among them, the relevant code for the fadeBlink animation effect is as follows:

[0100]

[0101] It's important to note that the above code defines a keyframe animation called fadeBlink (defines a keyframe, and the venue management device automatically plays interpolated frames based on this keyframe animation during playback). The opacity in the code represents the element's transparency, which can range from 0 to 1. 0% in the code indicates a transparency of 1 for the starting keyframe; 50% in the code indicates a transparency of 0.2 for the 50% keyframe; and 100% in the code indicates a transparency of 1 for the ending keyframe. Therefore, this animation aims to fade the element's transparency and then restore it, creating a breathing light effect.

[0102] S406 , in response to any vehicle starting to travel in the target site, controlling the vehicle representation element to move on the electronic map according to the travel position of any vehicle.

[0103] In a specific implementation, the site management device can determine the world coordinates of any vehicle in the world coordinate system based on the driving position of any vehicle. The determination method can be referred to the coordinate conversion formula mentioned above and will not be repeated here. The world coordinates can then be mapped to the canvas element to obtain the element coordinates of any vehicle in the canvas element; and the vehicle representation element can be controlled to move from the current display position on the electronic map to the display position indicated by the element coordinates. The current display position refers to the display position of the vehicle representation element on the electronic map when the driving position of any vehicle is obtained.

[0104] The embodiment of the present application can overlay the target satellite image and the road network map to present an electronic map, which can avoid the site management equipment from rendering a large number of three-dimensional models and improve the frame rate. Moreover, compared with three-dimensional modeling, this method reduces the complexity, which can effectively shorten the development cycle and save development costs. Furthermore, the method of displaying the vehicle in the form of a div outside the canvas can avoid a large number of repeated renderings of the canvas 3D scene (because of the breathing light effect); especially when the management page is a web page, based on the browser's native support for CSS animation, it can further save the performance resources of the device and improve the frame rate. By combining the display method of the electronic map and the display method of the vehicle representation element, it is possible to ensure that the visual effect is acceptable while not taking up a large amount of performance resources, so that the management page can display more content.

[0105] Based on the description of the above map display method embodiment, the present application embodiment also discloses a map display device, which can be a computer program (including program code) running in a computer device. The map display device can execute Figure 2 as well as Figure 4 See the method shown in Figure 6 , the map display device can run the following units:

[0106] A display unit 601 is configured to display an electronic map of a target site in a site management device, wherein the electronic map includes image elements obtained by satellite photography of the target site and road network elements of the target site;

[0107] The display unit 601 is further configured to display a vehicle representation element at a target location on the electronic map when any vehicle is parked in the target site; wherein the target location is used to indicate the parking location of the vehicle in the target site;

[0108] The control unit 602 is configured to control the vehicle representation element to move on the electronic map in response to any vehicle starting to travel in the target site according to the travel position of the any vehicle.

[0109] In one embodiment, the control unit 602 may further be configured to:

[0110] In response to a map scale increase operation on the electronic map, each image element and the road network element in the electronic map is magnified and displayed; and during the process of magnifying and displaying the road network element, the clarity of the road network element is maintained unchanged;

[0111] The magnification degree of the image element and the magnification degree of the road network element are both determined according to the map scale enlargement operation.

[0112] In another embodiment, the electronic map is displayed on the venue management device by adopting a first perspective; accordingly, the control unit 602 may further be configured to:

[0113] In response to a viewing angle adjustment operation on the electronic map, the electronic map is displayed in the venue management device using a second viewing angle.

[0114] In another embodiment, the control unit 602 may further be configured to:

[0115] During the driving process of any of the vehicles, obtaining the driving speed transmitted back by any of the vehicles;

[0116] If the driving speed of any of the vehicles reaches a speed threshold, the element style of the vehicle characterization element is adjusted; the element style includes at least one of the following: element shape and element color.

[0117] In another embodiment, the vehicle characterizing element includes a breathing light; accordingly, the control unit 602 may further be configured to:

[0118] If the driving speed of any of the vehicles reaches a speed threshold, the flashing frequency of the breathing light is increased.

[0119] In another embodiment, the target site includes a plurality of physical lanes and one or more physical lane dividers;

[0120] The road network elements include: an electronic lane corresponding to each physical lane, and an electronic lane separator corresponding to each physical lane separator.

[0121] In another embodiment, the target site is a real vehicle test site for autonomous driving testing, and any of the vehicles is a vehicle performing autonomous driving; accordingly, the control unit 602 may further be configured to:

[0122] During the movement of the vehicle characterizing element on the electronic map, if it is detected that the vehicle characterizing element changes lanes from a first electronic lane to a second electronic lane, determining a target electronic lane separator line between the first electronic lane and the second electronic lane;

[0123] performing violation detection on the automatic driving behavior of any one of the vehicles according to the type of the target electronic lane divider;

[0124] If any of the vehicles is detected to have violated a driving behavior rule, a violation warning prompt is output.

[0125] In another embodiment, the target venue is an arena for remote-controlled vehicle competition, and any of the vehicles is a vehicle remotely controlled by the venue management device; accordingly, the control unit 602 may further be configured to:

[0126] receiving a lane change operation for triggering any of the vehicles to change lanes, the lane change operation being input by a user observing that a lane dividing line between a current electronic lane where the vehicle representation element is located and an adjacent electronic lane is a dotted line;

[0127] generating a lane-changing control instruction according to the lane-changing operation, and sending the lane-changing control instruction to any one of the vehicles to control the any one of the vehicles to change lanes from a current physical lane to an adjacent physical lane;

[0128] The current physical lane corresponds to the current electronic lane, and the adjacent physical lane corresponds to the adjacent electronic lane.

[0129] In another embodiment, the control unit 602 may further be configured to:

[0130] Acquire a target satellite image of the target site, wherein the target satellite image includes: image elements obtained by satellite photography of the target site;

[0131] Acquire a road network map of the target site, the road network map comprising: road network elements constructed based on the road network structure of the target site;

[0132] The target satellite image and the road network image are overlaid to obtain an electronic map of the target site.

[0133] In another embodiment, when the control unit 602 is used to perform image superposition processing on the target satellite image and the road network image to obtain the electronic map of the target site, it can be specifically used to:

[0134] Create a canvas element and obtain the rendering context of the canvas element, where the rendering context is a three-dimensional scene used to carry the drawing element;

[0135] Overlaying the target satellite image as a texture onto an initial plane object to obtain a target plane object; and adding the target plane object as a drawing element to the rendering context;

[0136] Adding the road network map as a drawing element to the rendering context according to a first height of the target plane object in the rendering context; wherein a second height of the road network map in the rendering context is greater than the first height;

[0137] The target plane object and the road network map are aligned in the rendering context, and image rendering is performed in the canvas element according to the rendering context obtained after the alignment process to obtain an electronic map of the target site.

[0138] In another embodiment, when the control unit 602 is used to align the target plane object and the road network map in the rendering context, it can be specifically used to:

[0139] Determining the longitude and latitude of each image corner of the target satellite image, and the longitude and latitude of each pixel point in the road network image;

[0140] Finding pixel points corresponding to each image corner from the road network map based on a matching relationship between the longitude and latitude of each image corner and the longitude and latitude of each pixel point;

[0141] According to the alignment principle of mutual overlap between image corners and corresponding pixel points, the target satellite image is subjected to image adjustment processing, and the target satellite image after image adjustment and the road network map are aligned; wherein the image adjustment processing includes at least one of the following: image rotation processing and image scaling processing.

[0142] In another embodiment, when the control unit 602 is used to control the movement of the vehicle representation element on the electronic map according to the driving position of any vehicle, it can be specifically used to:

[0143] Determining the world coordinates of any vehicle in a world coordinate system according to the driving position of any vehicle;

[0144] Mapping the world coordinates to the canvas element to obtain the element coordinates of any vehicle in the canvas element;

[0145] Control the vehicle representation element to move from a current display position on the electronic map to a display position indicated by the element coordinates; wherein the current display position refers to the display position of the vehicle representation element on the electronic map when the driving position of any vehicle is obtained.

[0146] According to another embodiment of the present application, Figure 6 The various units in the map display device shown can be individually or all combined into one or several other units to form a whole, or one (or some) of the units can be further divided into multiple functionally smaller units to form a whole, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In actual applications, the functions of one unit can also be realized by multiple units, or the functions of multiple units can be realized by one unit. In other embodiments of the present application, other units can also be included based on the map display device. In actual applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0147] According to another embodiment of the present application, the program can be executed by running on a general computing device such as a computer including a central processing unit (CPU), a random access memory (RAM), a read-only memory (ROM) and other processing elements and storage elements. Figure 2 or Figure 4 A computer program (including program code) for each step involved in the corresponding method shown in Figure 6 The map display device shown in the figure and the map display method of the embodiment of the present application are implemented. The computer program can be recorded on a computer-readable recording medium, for example, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0148] The embodiment of the present application can obtain image elements and determine the road network elements of the target site by taking satellite photos of the target site, so that the electronic map of the target site contains both the image elements and the road network elements, which can effectively enrich the display content of the electronic map. Since the image elements taken by satellite can more intuitively reflect the real environment of the target site, and the road network elements can clearly reflect the road network structure of the target site, it is possible to display an electronic map that takes into account both visual effects and clear road networks on the site management equipment, thereby improving the intuitiveness of the display of the electronic map. Furthermore, when any vehicle is parked in the target site, the vehicle representation element can be displayed at the corresponding position on the electronic map according to the parking position of any vehicle in the target site; and when any vehicle starts to drive in the target site, the vehicle representation element can be controlled to move on the electronic map according to the driving position of any vehicle to reproduce the driving situation of the vehicle in the target site, thereby achieving the effect of digital twin. It can be seen that the embodiment of the present application realizes the visualization of the vehicle's driving conditions in the target site by superimposing display image elements, road network elements and vehicle representation elements; during the entire process, there is no need to perform three-dimensional modeling of the target site, which can save processing resources and improve display performance.

[0149] Based on the description of the above method embodiment and apparatus embodiment, the present application embodiment also provides a computer device. Figure 7 , the computer device at least includes a processor 701, an input interface 702, an output interface 703 and a computer storage medium 704. Among them, the processor 701, input interface 702, output interface 703 and computer storage medium 704 in the computer device can be connected via a bus or other means. The computer storage medium 704 can be stored in the memory of the computer device, and the computer storage medium 704 is used to store a computer program, and the computer program includes program instructions. The processor 701 is used to execute the program instructions stored in the computer storage medium 704. The processor 701 (or CPU (Central Processing Unit)) is the computing core and control core of the computer device, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to realize the corresponding method flow or corresponding function.

[0150] In one embodiment, the processor 701 described in the embodiment of the present application can be used to perform a series of map displays, specifically including: displaying an electronic map of the target site in a site management device, the electronic map including: image elements obtained by satellite photography of the target site, and road network elements of the target site; when any vehicle is parked in the target site, displaying a vehicle representation element at the target position on the electronic map; wherein the target position is used to indicate the parking position of any vehicle in the target site; in response to any vehicle starting to drive in the target site, controlling the vehicle representation element to move on the electronic map according to the driving position of any vehicle, and so on.

[0151] The embodiment of the present application also provides a computer storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer storage medium provides a storage space that stores the operating system of the computer device. In addition, one or more instructions suitable for being loaded and executed by the processor 701 are also stored in the storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk storage; optionally, it can also be at least one computer storage medium located away from the aforementioned processor.

[0152] In one embodiment, the processor may load and execute one or more instructions stored in the computer storage medium to implement the above-mentioned Figure 2 or Figure 4 The corresponding steps of the method in the map display method embodiment shown are as follows; in a specific implementation, one or more instructions in the computer storage medium are loaded by the processor 701 and execute the following steps:

[0153] Displaying an electronic map of the target site in a site management device, the electronic map including: image elements obtained by satellite photography of the target site, and road network elements of the target site;

[0154] When any vehicle is parked in the target site, a vehicle representation element is displayed at the target location on the electronic map; wherein the target location is used to indicate the parking location of the any vehicle in the target site;

[0155] In response to any one of the vehicles starting to travel in the target site, the vehicle representation element is controlled to move on the electronic map according to the travel position of the any one of the vehicles.

[0156] In one embodiment, the one or more instructions may also be loaded and specifically executed by the processor:

[0157] In response to a map scale increase operation on the electronic map, each image element and the road network element in the electronic map is magnified and displayed; and during the process of magnifying and displaying the road network element, the clarity of the road network element is maintained unchanged;

[0158] The magnification degree of the image element and the magnification degree of the road network element are both determined according to the map scale enlargement operation.

[0159] In another embodiment, the electronic map is displayed on the venue management device by adopting a first perspective; accordingly, the one or more instructions may also be loaded and specifically executed by the processor:

[0160] In response to a viewing angle adjustment operation on the electronic map, the electronic map is displayed in the venue management device using a second viewing angle.

[0161] In another embodiment, the one or more instructions may also be loaded and specifically executed by the processor:

[0162] During the driving process of any of the vehicles, obtaining the driving speed transmitted back by any of the vehicles;

[0163] If the driving speed of any of the vehicles reaches a speed threshold, the element style of the vehicle characterization element is adjusted; the element style includes at least one of the following: element shape and element color.

[0164] In another embodiment, the vehicle characterizing element includes a breathing light; accordingly, the one or more instructions may also be loaded and specifically executed by the processor:

[0165] If the driving speed of any of the vehicles reaches a speed threshold, the flashing frequency of the breathing light is increased.

[0166] In another embodiment, the target site includes a plurality of physical lanes and one or more physical lane dividers;

[0167] The road network elements include: an electronic lane corresponding to each physical lane, and an electronic lane separator corresponding to each physical lane separator.

[0168] In another embodiment, the target site is a real vehicle test site for autonomous driving testing, and any one of the vehicles is a vehicle performing autonomous driving; accordingly, the one or more instructions may also be loaded and specifically executed by the processor:

[0169] During the movement of the vehicle characterizing element on the electronic map, if it is detected that the vehicle characterizing element changes lanes from a first electronic lane to a second electronic lane, determining a target electronic lane separator line between the first electronic lane and the second electronic lane;

[0170] performing violation detection on the automatic driving behavior of any one of the vehicles according to the type of the target electronic lane divider;

[0171] If any of the vehicles is detected to have violated the driving behavior regulations, a violation warning prompt will be output.

[0172] In another embodiment, the target venue is an arena for remote-controlled vehicle competition, and any of the vehicles is a vehicle remotely controlled by the venue management device; accordingly, the one or more instructions may also be loaded and specifically executed by the processor:

[0173] receiving a lane change operation for triggering any of the vehicles to change lanes, the lane change operation being input by a user observing that a lane dividing line between a current electronic lane where the vehicle representation element is located and an adjacent electronic lane is a dotted line;

[0174] generating a lane-changing control instruction according to the lane-changing operation, and sending the lane-changing control instruction to any one of the vehicles to control the any one of the vehicles to change lanes from a current physical lane to an adjacent physical lane;

[0175] The current physical lane corresponds to the current electronic lane, and the adjacent physical lane corresponds to the adjacent electronic lane.

[0176] In another embodiment, the one or more instructions may also be loaded and specifically executed by the processor:

[0177] Acquire a target satellite image of the target site, wherein the target satellite image includes: image elements obtained by satellite photography of the target site;

[0178] Acquire a road network map of the target site, the road network map comprising: road network elements constructed based on the road network structure of the target site;

[0179] The target satellite image and the road network image are overlaid to obtain an electronic map of the target site.

[0180] In another embodiment, when performing image overlay processing on the target satellite image and the road network map to obtain an electronic map of the target site, the one or more instructions may be loaded and specifically executed by the processor:

[0181] Create a canvas element and obtain the rendering context of the canvas element, where the rendering context is a three-dimensional scene used to carry the drawing element;

[0182] Overlaying the target satellite image as a texture onto an initial plane object to obtain a target plane object; and adding the target plane object as a drawing element to the rendering context;

[0183] Adding the road network map as a drawing element to the rendering context according to a first height of the target plane object in the rendering context; wherein a second height of the road network map in the rendering context is greater than the first height;

[0184] The target plane object and the road network map are aligned in the rendering context, and image rendering is performed in the canvas element according to the rendering context obtained after the alignment process to obtain an electronic map of the target site.

[0185] In another embodiment, when aligning the target plane object and the road network map in the rendering context, the one or more instructions may be loaded and specifically executed by the processor:

[0186] Determining the longitude and latitude of each image corner of the target satellite image, and the longitude and latitude of each pixel point in the road network image;

[0187] Finding pixel points corresponding to each image corner from the road network map based on a matching relationship between the longitude and latitude of each image corner and the longitude and latitude of each pixel point;

[0188] According to the alignment principle of mutual overlap between image corners and corresponding pixel points, the target satellite image is subjected to image adjustment processing, and the target satellite image after image adjustment and the road network map are aligned; wherein the image adjustment processing includes at least one of the following: image rotation processing and image scaling processing.

[0189] In another embodiment, when controlling the movement of the vehicle representation element on the electronic map according to the driving position of any vehicle, the one or more instructions may be loaded and specifically executed by the processor:

[0190] Determining the world coordinates of any vehicle in a world coordinate system according to the driving position of any vehicle;

[0191] Mapping the world coordinates to the canvas element to obtain the element coordinates of any vehicle in the canvas element;

[0192] Control the vehicle representation element to move from the current display position on the electronic map to the display position indicated by the element coordinates; wherein the current display position refers to the display position of the vehicle representation element on the electronic map when the driving position of any vehicle is obtained.

[0193] The embodiment of the present application can obtain image elements and determine the road network elements of the target site by taking satellite photos of the target site, so that the electronic map of the target site contains both the image elements and the road network elements, which can effectively enrich the display content of the electronic map. Since the image elements taken by satellite can more intuitively reflect the real environment of the target site, and the road network elements can clearly reflect the road network structure of the target site, it is possible to display an electronic map that takes into account both visual effects and clear road networks on the site management equipment, thereby improving the intuitiveness of the display of the electronic map. Furthermore, when any vehicle is parked in the target site, the vehicle representation element can be displayed at the corresponding position on the electronic map according to the parking position of any vehicle in the target site; and when any vehicle starts to drive in the target site, the vehicle representation element can be controlled to move on the electronic map according to the driving position of any vehicle to reproduce the driving situation of the vehicle in the target site, thereby achieving the effect of digital twin. It can be seen that the embodiment of the present application realizes the visualization of the vehicle's driving conditions in the target site by superimposing display image elements, road network elements and vehicle representation elements; during the entire process, there is no need to perform three-dimensional modeling of the target site, which can save processing resources and improve display performance.

[0194] It should be noted that, according to one aspect of the present application, a computer program product or computer program is also provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above-mentioned Figure 2 or Figure 4 The map display method shown in the embodiment is provided in various optional ways.

[0195] Furthermore, it should be understood that what is disclosed above is only a preferred embodiment of the present application, and certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A map display method, characterized in that: include: An electronic map of a target site is displayed on a site management device, the electronic map including: a road network element of the target site and an image element obtained by satellite photography of the target site. The electronic map is generated by: creating a canvas element and obtaining a rendering context for the canvas element, the rendering context being a three-dimensional scene used to carry drawing elements; overlaying a target satellite image as a texture onto an initial plane object to obtain a target plane object, the target satellite image including image elements obtained by satellite photography of the target site; adding the target plane object as a drawing element to the rendering context; adding a road network map as a drawing element to the rendering context based on a first height of the target plane object in the rendering context, the road network map being a vector map including road network elements constructed based on the road network structure of the target site, the road network map having a second height in the rendering context being greater than the first height; aligning the target plane object and the road network map in the rendering context, and rendering the image in the canvas element based on the rendering context obtained after the alignment, to obtain the electronic map of the target site. When any vehicle is parked in the target site, a vehicle representation element is displayed at the target location on the electronic map; wherein the target location is used to indicate the parking location of the any vehicle in the target site; In response to any one of the vehicles starting to travel in the target site, the vehicle representation element is controlled to move on the electronic map according to the travel position of the any one of the vehicles.

2. The method according to claim 1, wherein The method further comprises: In response to a map scale increase operation on the electronic map, each image element and the road network element in the electronic map is magnified and displayed; and during the process of magnifying and displaying the road network element, the clarity of the road network element is maintained unchanged; The magnification degree of the image element and the magnification degree of the road network element are both determined according to the map scale enlargement operation.

3. The method according to claim 1, wherein The electronic map is displayed on the site management device by adopting a first perspective; the method further includes: In response to a viewing angle adjustment operation on the electronic map, the electronic map is displayed in the venue management device using a second viewing angle.

4. The method according to claim 1, wherein The method further comprises: During the driving process of any of the vehicles, obtaining the driving speed transmitted back by any of the vehicles; If the driving speed of any of the vehicles reaches a speed threshold, the element style of the vehicle characterization element is adjusted; the element style includes at least one of the following: element shape and element color.

5. The method according to any one of claims 1 to 4, characterized in that The vehicle characterizing element includes a breathing light; and the method further includes: If the driving speed of any of the vehicles reaches a speed threshold, the flashing frequency of the breathing light is increased.

6. The method according to any one of claims 1 to 4, characterized in that The target site includes a plurality of physical lanes and one or more physical lane dividers; The road network elements include: an electronic lane corresponding to each physical lane, and an electronic lane separator corresponding to each physical lane separator.

7. The method according to claim 6, wherein The target site is a real vehicle test site for performing autonomous driving tests, and any one of the vehicles is a vehicle performing autonomous driving; the method further includes: During the movement of the vehicle characterizing element on the electronic map, if it is detected that the vehicle characterizing element changes lanes from a first electronic lane to a second electronic lane, determining a target electronic lane separator line between the first electronic lane and the second electronic lane; performing violation detection on the automatic driving behavior of any one of the vehicles according to the type of the target electronic lane divider; If any of the vehicles is detected to have violated a driving behavior rule, a violation warning prompt is output.

8. The method according to claim 6, wherein The target venue is an arena for conducting remote-controlled vehicle competitions, and any of the vehicles is a vehicle remotely controlled by the venue management device; the method further includes: receiving a lane change operation for triggering any of the vehicles to change lanes, the lane change operation being input by a user observing that a lane dividing line between a current electronic lane where the vehicle representation element is located and an adjacent electronic lane is a dotted line; generating a lane-changing control instruction according to the lane-changing operation, and sending the lane-changing control instruction to any one of the vehicles to control the any one of the vehicles to change lanes from a current physical lane to an adjacent physical lane; The current physical lane corresponds to the current electronic lane, and the adjacent physical lane corresponds to the adjacent electronic lane.

9. The method according to claim 1, wherein The aligning process of the target plane object and the road network graph in the rendering context includes: Determining the longitude and latitude of each image corner of the target satellite image, and the longitude and latitude of each pixel point in the road network image; Finding pixel points corresponding to each image corner from the road network map based on a matching relationship between the longitude and latitude of each image corner and the longitude and latitude of each pixel point; According to the alignment principle of mutual overlap between image corners and corresponding pixel points, the target satellite image is subjected to image adjustment processing, and the target satellite image after image adjustment and the road network map are aligned; wherein the image adjustment processing includes at least one of the following: image rotation processing and image scaling processing.

10. The method according to claim 1, wherein The controlling the vehicle representation element to move on the electronic map according to the driving position of any one of the vehicles includes: Determining the world coordinates of any vehicle in a world coordinate system according to the driving position of any vehicle; Mapping the world coordinates to the canvas element to obtain the element coordinates of any vehicle in the canvas element; Control the vehicle representation element to move from the current display position on the electronic map to the display position indicated by the element coordinates; wherein the current display position refers to the display position of the vehicle representation element on the electronic map when the driving position of any vehicle is obtained.

11. A map display device, characterized in that: include: A display unit is configured to display an electronic map of a target site in a site management device, the electronic map including: road network elements of the target site and image elements obtained by satellite photography of the target site; the electronic map is generated by: creating a canvas element and obtaining a rendering context for the canvas element, the rendering context being a three-dimensional scene used to carry drawing elements; overlaying a target satellite image onto an initial plane object as a texture to obtain a target plane object, the target satellite image including image elements obtained by satellite photography of the target site; adding the target plane object as a drawing element to the rendering context; adding a road network map as a drawing element to the rendering context based on a first height of the target plane object in the rendering context, the road network map being a vector map including road network elements constructed based on the road network structure of the target site, the second height of the road network map in the rendering context being greater than the first height; aligning the target plane object and the road network map in the rendering context, and rendering the image in the canvas element based on the rendering context obtained after the alignment, to obtain the electronic map of the target site; The display unit is further configured to display a vehicle representation element at a target position on the electronic map when any vehicle is parked in the target site; wherein the target position is used to indicate the parking position of the any vehicle in the target site; A control unit is configured to control the vehicle representation element to move on the electronic map in response to any vehicle starting to travel in the target site and according to the travel position of any vehicle.

12. A computer device comprising an input interface and an output interface, characterized in that: Also includes: a processor adapted to implement one or more instructions; as well as, A computer storage medium storing one or more instructions, wherein the one or more instructions are suitable for being loaded by the processor and executing the map display method according to any one of claims 1 to 10.

13. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the map display method according to any one of claims 1 to 10 is implemented.

14. A computer storage medium, characterized in that The computer storage medium stores one or more instructions, and the one or more instructions are suitable for being loaded by a processor and executing the map display method according to any one of claims 1 to 10.

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