Green belt processing method, device, electronic device, and storage medium for high-precision maps

Abstract

The present application discloses a method, device, electronic device, and storage medium for processing green belts in high-precision maps, wherein the method includes obtaining an edge point data set of a green belt in the high-precision map data during the process of updating the high-precision map data, wherein the edge point data set includes at least a plurality of edge point data on the green belt, and the green belt is a closed figure obtained by sequentially connecting a plurality of edge points; fitting the plurality of edge point data in the edge point data set to obtain a fitting curve; rendering the rendered green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt. The optimized high-precision map obtained by the present application can display a more vivid and smooth green belt.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, electronic device, and storage medium for processing green belts in high-precision maps. Background Art

[0002] High-definition maps are typically machine-oriented maps used by autonomous vehicles. They not only have highly accurate coordinates but also provide accurate road shapes and detailed information for each lane. Furthermore, green belt elements can be added to HD maps.

[0003] However, there are many uneven areas on the edges of the green belts in high-precision maps, which results in poor visual effects and a poor user experience. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, electronic device, and storage medium for processing green belts in high-precision maps to optimize the display of green belts in high-precision maps and obtain smoother green belts.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a green belt processing method for high-precision maps, wherein the method includes: in the process of updating high-precision map data, obtaining an edge point data set of the green belt in the high-precision map data, wherein the edge point data set includes at least multiple edge point data on the green belt, and the green belt is a closed figure obtained by connecting multiple edge points in sequence; fitting the multiple edge point data in the edge point data set to obtain a fitting curve; rendering the rendered green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt.

[0007] In the second aspect, an embodiment of the present application also provides a green belt processing device for high-precision maps, wherein the device includes: an acquisition module for acquiring an edge point data set of a green belt in the high-precision map data during the process of updating the high-precision map data, wherein the edge point data set includes at least multiple edge point data on the green belt, and the green belt is a closed figure obtained by connecting multiple edge points in sequence; a fitting module for fitting multiple edge point data in the edge point data set to obtain a fitting curve; a rendering module for rendering the rendered green belt according to the MESH data in the fitting curve, so that the high-precision map data is updated, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt.

[0008] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor; and a memory arranged to store computer-executable instructions, wherein the executable instructions, when executed, cause the processor to execute any of the aforementioned methods.

[0009] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple applications, the electronic device executes any of the aforementioned methods.

[0010] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0011] First, we obtain a dataset of edge points for the green belts in the HD map data. Then, we fit the edge points in the dataset. The resulting mesh data in the fitted curve is rendered to create a smoother green belt display. The optimized HD map can display a more vivid and smooth green belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0013] Figure 1 Schematic diagram of the hardware structure of the green belt processing method for high-precision maps in an embodiment of the present application;

[0014] Figure 2 Schematic diagram of the process of processing green belts for high-precision maps in an embodiment of the present application;

[0015] Figure 3 This is a schematic structural diagram of a green belt processing device for high-precision maps in an embodiment of the present application;

[0016] Figure 4 This is a schematic diagram of the effect before treatment in the embodiment of this application;

[0017] Figure 5 This is a schematic diagram of the effect after processing by the green belt processing method for high-precision maps in an embodiment of the present application;

[0018] Figure 6 This is a structural diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0021] like Figure 1 As shown, it is a hardware structure diagram of the road sign generation method for high-precision maps in an embodiment of the present application. It includes a vehicle-side display screen 100, a vehicle 200, a road 300, and a (regular or irregular) green belt 400. It can be understood that the vehicle 200 can be an autonomous driving vehicle or a non-autonomous driving vehicle. During driving, the vehicle-side display screen 100 will render all elements in the current road environment in real time, including the green belt 400. Usually, the display effect of the green belt 400 is also obtained by real-time rendering based on sensor data. The turn in the road 300 is only an example and is not a limitation in this application.

[0022] A high-precision map can be made in advance, and updated and loaded into the pre-made high-precision map during driving.

[0023] Example 1

[0024] The first embodiment of the present application provides a green belt processing method for high-precision maps, wherein, Figure 2 As shown, the method includes:

[0025] Step S210: During the process of updating the high-precision map data, a data set of edge points of a green belt in the high-precision map data is obtained, wherein the data set of edge points includes at least a plurality of edge point data on the green belt, and the green belt is a closed graph formed by sequentially connecting the plurality of edge points.

[0026] Step S220, fitting multiple edge point data in the edge point data set to obtain a fitting curve;

[0027] Step S230 , rendering the green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt.

[0028] Through the above steps, we first obtain a dataset of edge points of the green belts in the HD map data. Then, we fit the edge points in the edge point dataset. After rendering the resulting mesh data in the fitting curve, we obtain a smoother display of the green belts. The optimized HD map can display a more vivid and smooth green belt.

[0029] It should be noted that MESH data refers to triangular patch data, and MESH parameter type refers to triangular patch data parameter type.

[0030] Before executing step S210, that is, before updating the high-precision map data, a portion of the high-precision map data is collected and produced in advance. The updating process may include adding a new map element or adding a new map area.

[0031] In the process of updating the high-precision map data in the above step S210, an edge point dataset of the green belt in the high-precision map data is obtained.

[0032] In a specific implementation, the edge point dataset includes at least a plurality of edge point data on two opposite green belts.

[0033] It can be understood that green belts are usually arranged on both sides of the road, so the green belt also includes the green belts on both sides of the road, or in other words, at least includes the green belt on one side of the road.

[0034] In a specific embodiment, the green belt is a closed figure obtained by sequentially connecting multiple edge points.

[0035] In the above step S220 , a plurality of edge point data in the edge point data set that meet certain preset conditions are fitted to obtain a fitting curve.

[0036] In a specific implementation, the preset condition may include, but is not limited to, the distance between any two edge points.

[0037] In a specific implementation, some edge points that are too close to each other are deleted during the fitting process.

[0038] In the above step S230, the rendered green belt is obtained according to the MESH data in the fitting curve, so that the high-precision map data is updated.

[0039] In a specific implementation, the MESH data, namely triangular facets, can be used as the smallest unit used in the rendering process.

[0040] In a specific embodiment, the MESH data determines corresponding MESH parameter types according to different shapes of the green belts. Considering that green belts have different sizes, shapes, or sparseness, it is necessary to determine corresponding MESH parameter types according to different shapes to achieve the best rendering effect.

[0041] After executing step S230 , the rendered image is displayed in 3D stereoscopic form.

[0042] In a specific embodiment of the present application, the process of updating the high-precision map data also includes: in response to a smoothing instruction of the green belt, planning a green area to be displayed in the current scene of the high-precision map; when the green area to be displayed is a three-dimensional scene, converting the three-dimensional stereoscopic graphics of the green belt into a two-dimensional plane graphic according to preset rules; when the green area to be displayed is a non-three-dimensional scene, filtering out the green belt border according to the green area to be displayed of the non-three-dimensional scene.

[0043] In the embodiment of the present application, in response to the green belt smoothing instruction, the vehicle side plans the green belt area to be displayed in the current scene of the high-precision map. The planning method can include various methods and is not specifically limited in the embodiment of the present application.

[0044] Furthermore, if the green belt area to be displayed is a three-dimensional scene, the three-dimensional graphic of the green belt is converted into a two-dimensional graphic according to a preset rule. If the green belt area cannot be directly obtained from the three-dimensional scene, the three-dimensional graphic of the green belt is converted into a two-dimensional graphic according to a preset rule after conversion.

[0045] In addition, when the green area to be displayed is a non-3D scene, the green belt border is filtered out according to the green area to be displayed in the non-3D scene. That is, the green belt is a two-dimensional plane area and does not need to be rendered. Only the green belt border needs to be filtered out.

[0046] In a specific embodiment of the present application, after fitting the multiple edge point data in the edge point data set to obtain a fitting curve, the method further includes: fitting the multiple edge point data in the edge point data set, and determining whether the distance between any two adjacent points in the obtained fitting curve is greater than a first preset threshold; if it is determined that the distance between any two adjacent points is greater than the first preset threshold, performing point interpolation on the fitting curve.

[0047] In an embodiment of the present application, a plurality of edge point data in the edge point dataset is fitted in a preset manner to obtain a fitting curve. The obtained fitting curve is then used to determine whether the distance between any two adjacent points is greater than a first preset threshold. In other words, it is determined whether the distance between any two adjacent points (edge points) is too large or too small.

[0048] Furthermore, if it is determined that the distance between any two adjacent points is greater than a first preset threshold, interpolation processing is performed on the fitting curve, that is, the distance is not too small or too large, and interpolation processing is performed.

[0049] In a specific embodiment of the present application, the rendered green belt is obtained according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt, including: determining the corresponding first MESH parameter type according to the first shape of the green belt, wherein the first shape includes the case where the edge point data in the green belt is discontinuous; determining the corresponding second MESH parameter type according to the second shape of the green belt, wherein the second shape includes the case where the edge point data in the green belt is continuous and dense; rendering the MESH data based on the second MESH parameter type to obtain a rendered green belt, so that the green belt in the updated high-precision map data is displayed smoothly.

[0050] In the embodiment of the present application, when the edge point data in the green belt is discontinuous, the corresponding first MESH parameter type is determined according to the first shape of the green belt. If the edge point data is too scattered and the distance interval is large, the smoothing effect cannot be achieved.

[0051] If the edge point data in the green belt is continuous and dense, a corresponding second MESH parameter type is determined based on the second shape of the green belt. The MESH data is then rendered based on the second MESH parameter type to obtain a rendered green belt, so that the green belt in the updated high-precision map data is displayed smoothly.

[0052] It should be noted that the first MESH parameter type and the second MESH parameter type are different ways of drawing triangular facets using MESH parameters, and are mainly determined based on whether the edge point data in the green belt is discontinuous or continuous and dense.

[0053] In a specific embodiment of the present application, after obtaining the edge point dataset of the green belt in the high-precision map data, it includes: determining whether the distance between two adjacent edge points of the edge point dataset is less than a second preset threshold; if it is determined that the distance is less than the second preset threshold, deleting the edge points of the edge point dataset whose distance is less than the second preset threshold.

[0054] In an embodiment of the present application, it is further determined whether the distance between any two adjacent edge points in the edge point data set is less than a second preset threshold. If the distance is less than the second preset threshold, it is considered that the distance is too close, and the edge points whose distance is less than the second preset threshold are deleted.

[0055] In a specific embodiment of the present application, the edge point dataset includes at least multiple edge point data on two relatively positioned green belts, and the green belt is a closed figure obtained by connecting multiple edge points in sequence, including: an edge point dataset composed of green belts on both sides of the road in the high-precision map data; the edge point dataset includes multiple edge point data on two relatively positioned green belts.

[0056] In an embodiment of the present application, in order to meet the requirement that the green belts on both sides of the road are rendered, the green belts on both sides of the road in the high-precision map data constitute an edge point dataset, and the edge point dataset includes multiple edge point data on two relatively positioned green belts.

[0057] In a specific embodiment of the present application, fitting multiple edge point data in the edge point data set to obtain a fitting curve includes: performing Bezier curve fitting on the multiple edge point data in the edge point data set to obtain a Bezier fitting curve; rendering according to the MESH data in the fitting curve to obtain a rendered green belt includes: rendering the MESH data in the fitting curve based on OpenGL 3D to obtain a rendered green belt.

[0058] In the embodiment of the present application, Bezier curve fitting is used in conjunction with OpenGL 3D to perform Bezier curve fitting on multiple edge point data in the edge point data set, and then OpenGL 3D is used to render the MESH data in the fitting curve to obtain the rendered green belt. Figure 4 The following is the display effect before rendering. Figure 5 The figure shows the smoothing effect of the green belt after Bezier curve fitting and OpenGL 3D processing.

[0059] Bezier curve fitting, specifically, refers to the Bezier fitting method. The following is only an example and is not intended to limit the specific implementation of the Bezier curve fitting in this application.

[0060] Bezier curve fitting includes, but is not limited to, a second-order Bezier curve and a third-order Bezier curve.

[0061] First, select 3 points (A / B / C) on different lines in the plane and connect them with line segments in sequence.

[0062] Next, find points D and E on line segments AB and BC such that AD / AB = BE / BC

[0063] Then, connect DE and find a point F on DE such that DF / DE=AD / AB=BE / BC

[0064] Finally, based on the knowledge of limits, let the selected point D move from the starting point A to the end point B on the first line segment, find all points F, and connect them.

[0065] Example 2

[0066] In an embodiment of the present application, a green belt processing device for a high-precision map is provided, wherein Figure 3 As shown, the device includes:

[0067] An acquisition module 310 is configured to acquire, during an update of high-precision map data, an edge point dataset of a green belt in the high-precision map data, wherein the edge point dataset includes at least a plurality of edge point data on the green belt, and the green belt is a closed graph formed by sequentially connecting the plurality of edge points;

[0068] A fitting module 320 is configured to fit a plurality of edge point data in the edge point data set to obtain a fitting curve;

[0069] The rendering module 330 is used to render the rendered green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt.

[0070] In the process of updating the high-precision map data, the acquisition module 310 of the embodiment of the present application will obtain the edge point dataset of the green belt in the high-precision map data.

[0071] In a specific implementation, the edge point dataset includes at least a plurality of edge point data on two opposite green belts.

[0072] It can be understood that green belts are usually arranged on both sides of the road, so the green belt also includes the green belts on both sides of the road, or in other words, at least includes the green belt on one side of the road.

[0073] In a specific embodiment, the green belt is a closed figure formed by sequentially connecting a plurality of edge points. Considering the shape of the green belt, the closed figure formed by sequentially connecting a plurality of edge points is included.

[0074] In the fitting module 320 of the embodiment of the present application, a plurality of edge point data meeting certain preset conditions in the edge point data set are fitted to obtain a fitting curve.

[0075] In a specific implementation, the preset condition may include, but is not limited to, the distance between any two edge points.

[0076] In a specific implementation, some edge points that are too close to each other are deleted during the fitting process.

[0077] The rendering module 330 in the embodiment of the present application renders the rendered green belt according to the MESH data in the fitting curve to update the high-precision map data.

[0078] In a specific implementation, the MESH data, namely triangular facets, can be used as the smallest unit used in the rendering process.

[0079] In a specific embodiment, the MESH data determines corresponding MESH parameter types according to different shapes of the green belts. Considering that green belts have different sizes, shapes, or sparseness, it is necessary to determine corresponding MESH parameter types according to different shapes to achieve the best rendering effect.

[0080] It can be understood that the above-mentioned green belt processing device for high-precision maps can implement the various steps of the green belt processing method for high-precision maps provided in the aforementioned embodiments. The relevant explanations of the green belt processing method for high-precision maps are applicable to the green belt processing device for high-precision maps and will not be repeated here.

[0081] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 6 At the hardware level, the electronic device includes a processor and, optionally, an internal bus, a network interface, and memory. The memory may include internal memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for its services.

[0082] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0083] The memory is used to store programs. Specifically, the program may include program code, which includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0084] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs it, forming a green belt processing device for high-precision maps at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0085] In the process of updating the high-precision map data, obtaining an edge point dataset of a green belt in the high-precision map data, wherein the edge point dataset includes at least a plurality of edge point data on the green belt, and the green belt is a closed graph formed by sequentially connecting the plurality of edge points;

[0086] Fitting a plurality of edge point data in the edge point data set to obtain a fitting curve;

[0087] The rendered green belt is obtained by rendering according to the MESH data in the fitting curve, so that the high-precision map data is updated, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt.

[0088] The above application Figure 2The method performed by the green belt processing device for high-precision maps disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor or by software instructions. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0089] The electronic device may also perform Figure 2 A method for executing a green belt processing device for a high-precision map, and realizing a green belt processing device for a high-precision map Figure 2 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0090] The embodiment of the present application also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, can enable the electronic device to execute Figure 2 The method performed by the green belt processing device for high-precision maps in the illustrated embodiment is specifically used to perform:

[0091] In the process of updating the high-precision map data, obtaining an edge point dataset of a green belt in the high-precision map data, wherein the edge point dataset includes at least a plurality of edge point data on the green belt, and the green belt is a closed graph formed by sequentially connecting the plurality of edge points;

[0092] Fitting a plurality of edge point data in the edge point data set to obtain a fitting curve;

[0093] The rendered green belt is obtained by rendering according to the MESH data in the fitting curve, so that the high-precision map data is updated, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt.

[0094] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0095] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0099] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0100] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A green belt processing method for high-precision maps, wherein: The method comprises: In a process of updating high-precision map data, obtaining an edge point dataset of a green belt in the high-precision map data, wherein the edge point dataset includes at least a plurality of edge point data on the green belt, and the green belt is a closed graph formed by sequentially connecting the plurality of edge points; The process of updating high-precision map data also includes: In response to a green belt smoothing instruction, planning a green belt area to be displayed in the current scene of the high-precision map; In the case where the green area to be displayed is a three-dimensional scene, the three-dimensional graphic of the green belt is converted into a two-dimensional plane graphic according to a preset rule; In the case where the green area to be displayed is a two-dimensional plane graphic of a non-three-dimensional scene, screening out a green belt border according to the green area to be displayed of the non-three-dimensional scene; Fitting a plurality of edge point data in the edge point data set to obtain a fitting curve; Rendering the green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt; The rendering of the rendered green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt, including: Determining a corresponding first MESH parameter type according to a first shape of the green belt, wherein the first shape includes a case where edge point data in the green belt is discontinuous; Determining a corresponding second MESH parameter type according to a second shape of the green belt, wherein the second shape includes a situation where edge point data in the green belt is continuous and dense; Rendering the MESH data based on the second MESH parameter type to obtain a rendered green belt, so that the green belt in the updated high-precision map data is displayed smoothly; The first MESH parameter type and the second MESH parameter type are both different ways of drawing triangular facets using MESH parameters, and are mainly determined based on whether the edge point data in the green belt is discontinuous or continuous and dense.

2. The method according to claim 1, wherein: After fitting the plurality of edge point data in the edge point data set to obtain a fitting curve, the method further comprises: Fitting a plurality of edge point data in the edge point data set, and determining whether a distance between any two adjacent points in the obtained fitting curve is greater than a first preset threshold; If it is determined that the distance between any two adjacent points is greater than a first preset threshold, interpolation processing is performed on the fitting curve.

3. The method according to claim 1, wherein: After obtaining the edge point dataset of the green belt in the high-precision map data, the method includes: Determine whether the distance between any two adjacent edge points of the edge point data set is less than a second preset threshold; If it is determined that the distance is less than the second preset threshold, edge points of the edge point data set whose distance is less than the second preset threshold are deleted.

4. The method according to claim 1, wherein: The edge point data set includes at least a plurality of edge point data on two opposite green belts. The two green belts are each a closed figure formed by sequentially connecting a plurality of edge points, including: An edge point dataset consisting of green belts on both sides of the road in the high-precision map data; The edge point data set includes a plurality of edge point data on two oppositely located green belts.

5. The method according to claim 1, wherein: The step of fitting the plurality of edge point data in the edge point data set to obtain a fitting curve includes: Performing Bezier curve fitting on a plurality of edge point data in the edge point data set to obtain a Bezier fitting curve; The step of rendering the green belt according to the MESH data in the fitting curve includes: The MESH data in the fitting curve is rendered based on OpenGL 3D to obtain a rendered green belt.

6. A green belt processing device for high-precision maps, wherein: The device comprises: an acquisition module, configured to acquire, during an update of high-precision map data, an edge point dataset of a green belt in the high-precision map data, wherein the edge point dataset comprises at least a plurality of edge point data on the green belt, each of the green belts being a closed graph formed by sequentially connecting the plurality of edge points; The process of updating high-precision map data also includes: In response to a green belt smoothing instruction, planning a green belt area to be displayed in the current scene of the high-precision map; In the case where the green area to be displayed is a three-dimensional scene, the three-dimensional graphic of the green belt is converted into a two-dimensional plane graphic according to a preset rule; In the case where the green area to be displayed is a two-dimensional plane graphic of a non-three-dimensional scene, screening out a green belt border according to the green area to be displayed of the non-three-dimensional scene; A fitting module, configured to fit a plurality of edge point data in the edge point data set to obtain a fitting curve; A rendering module, configured to render a rendered green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines a corresponding MESH parameter type according to different shapes of the green belt; The rendering of the rendered green belt according to the MESH data in the fitting curve to update the high-precision map data, wherein the MESH data determines the corresponding MESH parameter type according to the different shapes of the green belt, including: Determining a corresponding first MESH parameter type according to a first shape of the green belt, wherein the first shape includes a case where edge point data in the green belt is discontinuous; Determining a corresponding second MESH parameter type according to a second shape of the green belt, wherein the second shape includes a situation where edge point data in the green belt is continuous and dense; Rendering the MESH data based on the second MESH parameter type to obtain a rendered green belt, so that the green belt in the updated high-precision map data is displayed smoothly; The first MESH parameter type and the second MESH parameter type are both different ways of drawing triangular facets using MESH parameters, and are mainly determined based on whether the edge point data in the green belt is discontinuous or continuous and dense.

7. An electronic device comprising: processor; as well as A memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 5.

8. A computer-readable storage medium storing one or more programs, wherein when the one or more programs are executed by an electronic device including a plurality of application programs, the electronic device executes the method according to any one of claims 1 to 5.

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