Method, device, computer equipment and storage medium for generating virtual elevation of road

Abstract

The present application relates to a method, apparatus, computer device, and storage medium for generating virtual elevations of roads. Embodiments of the present invention can be applied to the fields of mapping, transportation, or autonomous driving, and include: determining the virtual elevations of road segments within each group; performing a smooth transition calculation on ungrouped road segments within a plurality of road segments based on the virtual elevations of the road segments within each group to obtain virtual elevations for the ungrouped road segments; merging road groups that meet merging conditions based on the virtual elevations of each road segment to obtain new road groups, and determining the corresponding road groups for the next iteration based on the new road groups; returning to the step of determining the virtual elevations of road segments within each group and continuing until no road groups meet the merging conditions exist, thereby obtaining the final virtual elevations corresponding to each road segment in the target area. Since a smooth transition can be achieved between road groups and ungrouped road segments, display discontinuities at the junctions between road groups and ungrouped road segments can be avoided.

Claims

1. A method for generating virtual elevation of a road, characterized in that: The method comprises: Determining a plurality of road segments in a target area and determining road groups corresponding to the current iteration, wherein the road groups include more than one road segment, wherein the road segments included in the road groups corresponding to the initial iteration are associated road segments in the road segment set consisting of the plurality of road segments, and the ungrouped road segments corresponding to the initial iteration are road segments in the road segment set that are not grouped into the road groups corresponding to the initial iteration; For each road segment in each road group corresponding to the current iteration, re-determine the virtual elevation of each road segment in the group; performing a smooth transition calculation on an ungrouped road segment corresponding to the current iteration based on the virtual elevations of the road segments within each group to obtain the virtual elevations of the ungrouped road segment, wherein the ungrouped road segment corresponding to the current iteration is a road segment in the road segment set that is not grouped into any road group corresponding to the current iteration; Merging the road groups that meet the merging conditions based on the virtual elevations of the road segments within each group and the virtual elevations of the ungrouped road segments to obtain new road groups, and determining the road groups corresponding to the next iteration based on the new road groups; The step of returning to the step of re-determining the virtual elevations of the road segments in each group is continued until no road group that meets the merging condition exists, thereby obtaining the final virtual elevation corresponding to each road segment in the target area.

2. The method according to claim 1, characterized in that The road group corresponding to the first iteration is obtained by the following steps: determining a road segment set consisting of a plurality of road segments that have not been currently divided, selecting a road segment from the road segment set to be divided into a new road group, and deleting the currently selected road segment from the road segment set; Acquire, from the road segment set, associated road segments that are associated with road segments in the new road group, and group the associated road segments into the new road group; Deleting the associated road segments that have been divided from the road segment set to obtain an updated road segment set; Return to the step of selecting a road segment from the road segment set to divide into a new road group, and continue executing based on the updated road segment set until the division stop condition is met, thereby obtaining multiple road groups.

3. The method according to claim 2, characterized in that The acquiring, from the road segment set, associated road segments that are associated with road segments in the new road group includes: determining a planar map corresponding to the target area; For any road segment in the new road group, performing a primary screening on the road segment set based on a frame corresponding to the road segment on the planar map to obtain a primary screening result; Based on the association relationship between the road segments on the planar map, the initial screening results are screened again to obtain associated road segments that have an association relationship with the road segments in the new road group.

4. The method according to claim 3, characterized in that The initial screening of the road segment set based on the frame corresponding to any road segment on the planar map includes: Determining a corresponding frame on the planar map for each road segment in the road segment set; The road segments having intersections between the frame in the road segment set and the frame corresponding to any road segment are used as the initial screening results.

5. The method according to claim 3, characterized in that The re-screening of the initial screening results based on the association relationship between the road segments on the planar map to obtain associated road segments that have an association relationship with the road segments in the new road group includes: Determining a road centerline of any road segment on the planar map; A road segment where a road centerline in the initial screening result intersects with a road centerline corresponding to any road segment is used as an associated road segment associated with the any road segment.

6. The method according to claim 1, characterized in that The step of performing a smooth transition calculation on the ungrouped road segments corresponding to the current iteration based on the virtual elevations of the road segments within each group to obtain the virtual elevations of the ungrouped road segments includes: Determine a road point set within the group corresponding to the road group, and obtain endpoints in the road point set within the group, where the endpoints are road points located at both ends of a road segment; Based on the connection relationship between the endpoints in the set of road points within the group and the endpoints in the ungrouped road segment, and using a smooth transition calculation method, determining the virtual elevation of the endpoint in the ungrouped road segment for representing the transition road segment; determining a virtual elevation of a transition road segment in the ungrouped road segment according to the virtual elevations of the endpoints representing the transition road segment; The virtual elevations of the ungrouped road segments except the transition road segment in the ungrouped road segments are determined as the reference elevations corresponding to the corresponding ungrouped road segments.

7. The method according to claim 6, characterized in that The determining of the intra-group road point set corresponding to the road group includes: For any road group, construct a corresponding intra-group road point set based on the intra-group road points of each intra-group road segment in the road group; Determining surrounding road segments corresponding to the road segments in each road group; For each road segment within the group, determining a first perpendicular foot point from corresponding surrounding road segments based on an endpoint of the road segment within the group, and adding the first perpendicular foot point to the road point set within the group; For each surrounding road segment, if it is determined based on the endpoints of the surrounding road segment that a second perpendicular foot point exists in the corresponding in-group road segment, the endpoints of the surrounding road segment are added to the in-group road point set.

8. The method according to claim 7, characterized in that The determining of a first perpendicular foot point from corresponding surrounding road segments based on the endpoints of the road segments within the group includes: For any road segment within a group, determining the nearest surrounding road point, among the surrounding road segments corresponding to the road segment within the group, that is closest to the endpoint of the road segment within the group; determining a plurality of first connecting lines belonging to the surrounding road segment based on the nearest surrounding road point; Taking the endpoint of the road segment within the group as a starting point, draw perpendicular lines to a plurality of first connecting lines belonging to the same surrounding road segment, where the same surrounding road segment is a surrounding road segment of the road segment within the group; If there is an intersection between the perpendicular line and the first connecting line, the intersection is used as the first perpendicular foot point; If no perpendicular line intersects any of the first connecting lines, perpendicular lines are drawn from the endpoints of the road segments within the group as starting points to first extension lines of the plurality of first connecting lines in a preset direction. If no perpendicular line intersects any of the plurality of first delay lines, the nearest peripheral road point is used as a first perpendicular foot point.

9. The method according to claim 7, characterized in that The method further comprises: For any surrounding road segment, determining, among the road segments within the group corresponding to the surrounding road segment, a nearest road point within the group that is closest to an endpoint of the surrounding road segment; Determining a plurality of second links belonging to the road segment within the group based on the nearest road point within the group; Taking the endpoints of the peripheral road segments as starting points, draw perpendicular lines to the corresponding plurality of second connecting lines of the road segments within the group; In the case where there is an intersection between the perpendicular line and the second connecting line, determining that there is a second perpendicular foot point in the road segment within the group; If no perpendicular line intersects any of the second connecting lines, perpendicular lines are drawn from the endpoints of the surrounding road segments to the second extension lines of the plurality of second connecting lines in the preset direction. If the perpendicular line intersects all of the second delay lines, it is determined that a second perpendicular foot point exists in the road segment within the group.

10. The method according to claim 6, characterized in that The determining, based on the connection relationship between the endpoints in the set of road points within the group and the endpoints in the ungrouped road segment and using a smooth transition calculation method, of the virtual elevations of the endpoints in the ungrouped road segment for representing the transition road segment includes: Taking an endpoint in the road point set within the group as a first road endpoint, and constructing a first set based on the first road endpoint; determining, from the ungrouped road segments, a second road endpoint connected to the first road endpoint; determining a virtual elevation of the second road endpoint based on the virtual elevation of the first road endpoint, and adding the second road endpoint whose virtual elevation is not less than the corresponding reference elevation to the second set; Deleting the second road endpoint corresponding to the maximum virtual elevation from the second set, updating the second road endpoint corresponding to the maximum virtual elevation to the first road endpoint, and adding it to the first set; Determining, in the ungrouped road segment, a second road endpoint connected to the newly added first road endpoint; Determining the virtual elevation of the second road endpoint connected to the newly added first road endpoint and the latest second set based on the set to which the second road endpoint connected to the newly added first road endpoint belongs and the virtual elevation of the newly added first road endpoint; Return to the step of updating the second road endpoint corresponding to the maximum virtual elevation in the second set as the first road endpoint and continue executing based on the latest second set until the second set is empty, thereby obtaining the virtual elevation of the endpoint representing the transition road segment in the ungrouped road segment.

11. The method according to claim 10, characterized in that The determining, based on the set to which the second road endpoint connected to the newly added first road endpoint belongs and the virtual elevation of the newly added first road endpoint, the virtual elevation of the second road endpoint connected to the newly added first road endpoint and the latest second set includes: In a case where the second road endpoint connected to the newly added first road endpoint belongs to the latest first set, maintaining the virtual elevation of the second road endpoint connected to the newly added first road endpoint unchanged; If the second road endpoint connected to the newly added first road endpoint belongs to the latest second set, recalculating the virtual elevation of the second road endpoint connected to the newly added first road endpoint based on a preset slope, the virtual elevation of the newly added first road endpoint, and the length of the connecting edge between the second road endpoint and the newly added first road endpoint; The larger value of the virtual elevation calculated previously and the virtual elevation calculated again is used as the virtual elevation of the second road endpoint connected to the newly added first road endpoint; Based on the length of the connecting edge between the newly added first road endpoint and the connected first road endpoint, and the length of the connecting edge between the newly added first road endpoint and the connected second road endpoint, the length of the connecting edge corresponding to the second road endpoint is updated.

12. The method according to claim 10, characterized in that The determining, based on the set to which the second road endpoint connected to the newly added first road endpoint belongs and the virtual elevation of the newly added first road endpoint, of the virtual elevation of the second road endpoint and the latest second set further includes: If the second road endpoint connected to the newly added first road endpoint does not belong to the latest first set and does not belong to the latest second set, calculating the virtual elevation of the second road endpoint connected to the newly added first road endpoint based on a preset slope, the virtual elevation of the newly added first road endpoint, and the length of the connecting edge between the newly added first road endpoints; When the virtual elevation is greater than the corresponding reference elevation, adding a second road endpoint connected to the newly added first road endpoint to the second set; Based on the length of the connecting edge between the newly added first road endpoint and the connected first road endpoint, and the length of the connecting edge between the newly added first road endpoint and the connected second road endpoint, the length of the connecting edge corresponding to the second road endpoint is updated.

13. The method according to claim 6, characterized in that Before determining the virtual elevations of the transition road segments in the ungrouped road segments based on the virtual elevations used to characterize the endpoints of the transition road segments, the method further includes: When there is an endpoint that meets a preset condition among the endpoints used to represent the transition road segment, the endpoint that meets the preset condition is used as the target endpoint, wherein the preset condition includes being connected to at least two road groups; Randomly selecting two road groups from all road groups connected to the target endpoint as a first road group and a second road group respectively; The endpoint connected to the target endpoint in the first road group is used as the first endpoint, and the endpoint connected to the target endpoint in the second road group is used as the second endpoint; Obtaining the target connecting edge length between the first endpoint and the second endpoint; The virtual elevation of the target endpoint is calculated according to a preset slope, the target connecting edge length, the virtual elevation of the first endpoint, and the virtual elevation of the second endpoint.

14. The method according to claim 13, characterized in that The calculating the virtual elevation of the target endpoint according to the preset slope, the target connecting side length, the virtual elevation of the first endpoint, and the virtual elevation of the second endpoint includes: Calculating a first base distance according to the virtual elevation of the first endpoint and the preset slope, and calculating a second base distance according to the virtual elevation of the second endpoint and the preset slope; When the sum of the first base edge distance and the second base edge distance is not less than the target connecting edge length, dividing the road surface between the first end point and the second end point into three road surface sections; The road surface section in which the target endpoint falls is determined, and the virtual elevation of the target endpoint is calculated based on the road surface section in which the target endpoint falls.

15. The method according to claim 1, wherein The merging condition includes a steep slope connection condition; before merging the road groups that meet the merging condition based on the virtual elevations of the road segments within each group and the virtual elevations of the ungrouped road segments to obtain a new road group, the method further includes: When there are multiple connection endpoints in the ungrouped road segment connected to road segments in at least two road groups, obtaining the lengths of connection edges between the multiple connection endpoints and any two road groups connected thereto; Determining an estimated difference in virtual elevations based on the length of a connecting edge between any two connected road groups; calculating an absolute value of the difference in virtual elevations based on the virtual elevations of endpoints in the arbitrary two road groups that are connected to the multiple connection endpoints; When the absolute value of the difference is greater than the estimated difference, it is determined that the arbitrary two road groups meet a merging condition.

16. The method according to any one of claims 1 to 15, characterized in that The method further comprises: forming roads in the target area based on the road segments in the target area; constructing a target map corresponding to the target area based on the final virtual elevations corresponding to the road segments; The target map is displayed in a spatial dimension, and during the display of the target map, connected road segments with different final virtual elevations are presented in a relative relationship that matches the different final virtual elevations, wherein the relative relationship includes an upper and lower position relationship of the road.

17. A device for generating virtual elevation of a road, characterized in that: The device comprises: a first determining module configured to determine a plurality of road segments in a target area and to determine road groups corresponding to a current iteration, wherein the road groups include more than one road segment, wherein the road segments included in the road group corresponding to the initial iteration are associated road segments in the road segment set consisting of the plurality of road segments, and the ungrouped road segments corresponding to the initial iteration are road segments in the road segment set that are not grouped into the road group corresponding to the initial iteration; A second determining module is configured to re-determine the virtual elevation of each road segment in each road group corresponding to the current iteration; a smooth transition calculation module, configured to perform a smooth transition calculation on an ungrouped road segment corresponding to a current iteration based on the virtual elevations of the road segments within each group, to obtain the virtual elevations of the ungrouped road segment. The ungrouped road segment corresponding to the current iteration is a road segment in the road segment set that is not grouped into any road group corresponding to the current iteration; a merging module, configured to merge the road groups that meet the merging conditions based on the virtual elevations of the road segments within each group and the virtual elevations of the ungrouped road segments to obtain new road groups, and determine the road groups corresponding to the next iteration based on the new road groups; The first loop iteration module is configured to return to the step of re-determining the virtual elevations of the road segments within each group and continue executing the step until no road group meeting the merging condition exists, thereby obtaining a final virtual elevation corresponding to each road segment in the target area.

18. The device according to claim 17, characterized in that The device further comprises: a third determining module for determining a road segment set consisting of multiple road segments that have not been currently divided; a selecting module for selecting a road segment from the road segment set to be divided into a new road group; a first deleting module for deleting the currently selected road segment from the road segment set; a first acquiring module for acquiring, from the road segment set, associated road segments that are associated with road segments in the new road group; a dividing module for dividing the associated road segments into the new road group; a second deleting module for deleting the associated road segments that have been divided from the road segment set to obtain an updated road segment set; and a second loop iteration module for returning to the step of selecting a road segment from the road segment set to be divided into a new road group and continuing execution based on the updated road segment set until a division stop condition is met, thereby obtaining multiple road groups.

19. The device according to claim 18, characterized in that The first acquisition module includes: a first determination unit for determining a plan map corresponding to the target area; a primary screening unit for performing a primary screening of the road segment set based on a frame corresponding to any road segment in the new road group on the plan map to obtain a primary screening result; and a secondary screening unit for performing a secondary screening of the primary screening result based on an association relationship between the road segments on the plan map to obtain associated road segments that have an association relationship with the road segments in the new road group.

20. The device according to claim 19, characterized in that The primary screening unit is configured to determine a corresponding frame on the planar map for each road segment in the road segment set; and to take a road segment having an intersection between a frame in the road segment set and a frame corresponding to any road segment as a primary screening result.

21. The device according to claim 19, characterized in that The secondary screening unit is configured to determine a road centerline of any one of the road segments on the planar map; and to use a road segment where the road centerline in the primary screening result intersects with the road centerline corresponding to any one of the road segments as an associated road segment associated with the any one of the road segments.

22. The device according to claim 17, characterized in that The smooth transition calculation module includes: a second determining unit for determining a set of intra-group road points corresponding to the road group; a first obtaining unit for obtaining endpoints from the intra-group road point set, wherein the endpoints are road points located at both ends of a road segment; a third determining unit for determining, based on a connection relationship between the endpoints from the intra-group road point set and the endpoints from the ungrouped road segment, virtual elevations of the endpoints from the ungrouped road segment used to characterize a transition road segment using a smooth transition calculation method; a fourth determining unit for determining, based on the virtual elevations of the endpoints used to characterize the transition road segment, virtual elevations of the transition road segments from the ungrouped road segment; and a fifth determining unit for determining the virtual elevations of the ungrouped road segments other than the transition road segment from the ungrouped road segment as the base elevations corresponding to the corresponding ungrouped road segments.

23. The device according to claim 22, characterized in that The second determining unit includes: a first constructing subunit, configured to construct, for any road group, a corresponding intra-group road point set based on the intra-group road points of each intra-group road segment in the road group; a first determining subunit, configured to determine the surrounding road segments corresponding to each intra-group road segment in the road group; a second determining subunit, configured to determine, for each intra-group road segment, a first perpendicular foot point from the corresponding surrounding road segments based on the endpoints of the intra-group road segment, and add the first perpendicular foot point to the intra-group road point set; and an adding subunit, configured to add, for each surrounding road segment, the endpoints of the surrounding road segment to the intra-group road point set if a second perpendicular foot point is determined to exist in the corresponding intra-group road segment based on the endpoints of the surrounding road segment.

24. The device according to claim 23, characterized in that The second determining subunit is configured to determine, for any road segment within a group, a nearest surrounding road point that is closest to an endpoint of the road segment within the group among the surrounding road segments corresponding to the road segment within the group; Based on the nearest surrounding road point, multiple first connecting lines belonging to the surrounding road segment are determined; with the endpoint of the road segment within the group as a starting point, perpendicular lines are drawn to the multiple first connecting lines belonging to the same surrounding road segment, where the same surrounding road segment is a surrounding road segment of the road segment within the group; when there is an intersection between the perpendicular line and the first connecting line, the intersection is used as a first perpendicular foot point; when there is no intersection between the perpendicular line and any of the first connecting lines, perpendicular lines are drawn to the first extension lines of the multiple first connecting lines in a preset direction with the endpoint of the road segment within the group as a starting point, and when there is an intersection between the perpendicular line and the multiple first delay lines, the nearest surrounding road point is used as the first perpendicular foot point.

25. The device according to claim 23, characterized in that The second determining unit further includes: a third determining subunit, for determining, for any surrounding road segment, a nearest intra-group road point in the intra-group road segment corresponding to the surrounding road segment, which is closest to the endpoint of the surrounding road segment; a fourth determining subunit, for determining, based on the nearest intra-group road point, a plurality of second connecting lines belonging to the intra-group road segment; a drawing subunit, for drawing perpendicular lines to the plurality of second connecting lines of the corresponding intra-group road segment with the endpoint of the surrounding road segment as a starting point; a fifth determining subunit, for determining, when there is an intersection between the perpendicular line and the second connecting line, the presence of a second perpendicular foot point in the intra-group road segment; and a sixth determining subunit, for drawing perpendicular lines to the second extension lines of the plurality of second connecting lines in a preset direction with the endpoint of the surrounding road segment as a starting point, when there is no intersection between the perpendicular line and any of the second connecting lines, and determining, when there is an intersection between the perpendicular line and the plurality of second delay lines, the presence of a second perpendicular foot point in the intra-group road segment.

26. The device according to claim 22, characterized in that The third determining unit includes: a second constructing subunit for taking an endpoint in the set of road points within the group as a first road endpoint and constructing a first set based on the first road endpoint; a tenth determining subunit for determining a second road endpoint connected to the first road endpoint from the ungrouped road segment; an eleventh determining subunit for determining a virtual elevation of the second road endpoint based on the virtual elevation of the first road endpoint, and adding the second road endpoint whose virtual elevation is not less than the corresponding reference elevation to the second set; an adding subunit for deleting the second road endpoint corresponding to the maximum virtual elevation from the second set, updating the second road endpoint corresponding to the maximum virtual elevation to the first road endpoint, and adding it to the first set a twelfth determining subunit, configured to determine, in the ungrouped road segment, a second road endpoint connected to the newly added first road endpoint; a thirteenth determining subunit, configured to determine, based on the set to which the second road endpoint connected to the newly added first road endpoint belongs and the virtual elevation of the newly added first road endpoint, the virtual elevation of the second road endpoint connected to the newly added first road endpoint and the latest second set; a loop iteration subunit, configured to return to the step of updating the second road endpoint corresponding to the maximum virtual elevation in the second set as the first road endpoint and continue executing based on the latest second set until the second set is empty, thereby obtaining the virtual elevation of the endpoint representing the transition road segment in the ungrouped road segment.

27. The device according to claim 26, characterized in that The thirteenth determining subunit is configured to maintain the virtual elevation of the second road endpoint connected to the newly added first road endpoint unchanged when the second road endpoint connected to the newly added first road endpoint belongs to the latest first set; When the second road endpoint connected to the newly added first road endpoint belongs to the latest second set, the virtual elevation of the second road endpoint connected to the newly added first road endpoint is recalculated based on the preset slope, the virtual elevation of the newly added first road endpoint, and the length of the connecting edge between the second road endpoint and the newly added first road endpoint; the larger value of the virtual elevation calculated last time and the recalculated virtual elevation is used as the virtual elevation of the second road endpoint connected to the newly added first road endpoint; based on the length of the connecting edge between the newly added first road endpoint and the connected first road endpoint, and the length of the connecting edge between the newly added first road endpoint and the connected second road endpoint, the length of the connecting edge corresponding to the second road endpoint is updated.

28. The device according to claim 26, characterized in that The thirteenth determining subunit is further configured to calculate, when the second road endpoint connected to the newly added first road endpoint does not belong to the latest first set and does not belong to the latest second set, a virtual elevation of the second road endpoint connected to the newly added first road endpoint based on a preset slope, the virtual elevation of the newly added first road endpoint, and the length of the connecting edge between the newly added first road endpoints; When the virtual elevation is greater than the corresponding benchmark elevation, the second road endpoint connected to the newly added first road endpoint is added to the second set; based on the length of the connecting edge between the newly added first road endpoint and the connected first road endpoint, and the length of the connecting edge between the newly added first road endpoint and the connected second road endpoint, the length of the connecting edge corresponding to the second road endpoint is updated.

29. The device according to claim 22, characterized in that The smooth transition calculation module also includes: a selection unit for, when there is an endpoint satisfying a preset condition among the endpoints used to characterize the transition road segment, taking the endpoint satisfying the preset condition as the target endpoint, the preset condition including being connected to at least two road groups; arbitrarily selecting two road groups from all road groups connected to the target endpoint, as the first road group and the second road group, respectively; a second acquisition unit for taking the endpoint connected to the target endpoint in the first road group as the first endpoint, and taking the endpoint connected to the target endpoint in the second road group as the second endpoint; obtaining the target connecting edge length between the first endpoint and the second endpoint; a calculation unit for calculating the virtual elevation of the target endpoint based on a preset slope, the target connecting edge length, the virtual elevation of the first endpoint, and the virtual elevation of the second endpoint.

30. The device according to claim 29, characterized in that The calculation unit includes: a first calculation subunit, used to calculate the first base edge distance based on the virtual elevation of the first endpoint and the preset slope, and calculate the second base edge distance based on the virtual elevation of the second endpoint and the preset slope; a division subunit, used to divide the road surface between the first endpoint and the second endpoint into three road surface intervals when the sum of the first base edge distance and the second base edge distance is not less than the target connecting edge length; a judgment subunit, used to judge the road surface interval in which the target endpoint falls; and a second calculation subunit, used to calculate the virtual elevation of the target endpoint based on the road surface interval in which the target endpoint falls.

31. The device according to claim 17, wherein The merging condition includes a steep slope connection condition; the device also includes: a second acquisition module, which is used to obtain the length of the connection edge between the multiple connection endpoints and any two road groups connected to each other when there are multiple connection endpoints connected to road segments within the group of at least two road groups in the ungrouped road segment; a fourth determination module, which is used to determine the estimated difference in virtual elevation based on the length of the connection edge between the any two road groups connected to each other; a calculation module, which is used to calculate the absolute value of the difference in virtual elevation based on the virtual elevations of the endpoints in the any two road groups that are respectively connected to the multiple connection endpoints; and a fifth determination module, which is used to determine that the any two road groups meet the merging condition when the absolute value of the difference is greater than the estimated difference.

32. The device according to any one of claims 17 to 31, characterized in that The device further includes: a first construction module for constructing roads in the target area based on the road segments in the target area; a second construction module for constructing a target map corresponding to the target area based on the final virtual elevations corresponding to the road segments in the roads; and a display module for displaying the target map in a spatial dimension, wherein during the display of the target map, connected road segments with different final virtual elevations are presented in a relative relationship that matches the different final virtual elevations, wherein the relative relationship includes an upper and lower position relationship of the roads.

33. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 16 are implemented.

34. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

35. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

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