Method, device and equipment for generating map intersection surface elements

Abstract

The present application relates to a method, device and equipment for generating map intersection surface elements. The method comprises: obtaining a plurality of intersection lane lines in an intersection group corresponding to one of the intersection surfaces in the map; selecting the rightmost intersection lane line as the boundary lane line among the plurality of intersection lane lines with the same driving direction, and obtaining a plurality of boundary lane lines representing different driving directions; generating intersection surface elements according to each of the boundary lane lines. The solution provided by the present application can automatically generate intersection surface elements, improve the drawing efficiency of high-precision maps, and optimize the navigation experience.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a method, device and equipment for generating map intersection surface elements. Background Art

[0002] With the development of technologies such as artificial intelligence and autonomous driving, building smart transportation has also become a research hotspot, and high-precision maps are an indispensable part of building smart transportation data. The area where roads intersect in real traffic is called an intersection. For high-precision maps, intersection surface elements are a type of surface element among the various map elements that constitute high-precision maps. The production of high-precision maps requires the generation of intersection surface elements, which can provide data support for navigation in application scenarios such as autonomous driving.

[0003] However, there is no reliable solution in the related art for how to automatically generate intersection surface features in a map. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related technology, the present application provides a method, device and equipment for generating map intersection surface elements, which can automatically generate intersection surface elements, improve the drawing efficiency of high-precision maps, and optimize the navigation experience.

[0005] The first aspect of the present application provides a method for generating a map intersection face element, comprising:

[0006] Get multiple intersection lane lines in the intersection group corresponding to one of the intersection faces in the map;

[0007] Among the plurality of intersection lane lines with the same driving direction, the rightmost intersection lane line is selected as the boundary lane line, so as to obtain a plurality of boundary lane lines representing different driving directions respectively;

[0008] Generate intersection surface elements based on each of the boundary lane lines.

[0009] In one embodiment, before obtaining a plurality of intersection lane lines in an intersection group corresponding to one of the intersection faces in the map, the method further includes:

[0010] Get multiple lane lines of intersections generated in the map;

[0011] The intersection lane lines belonging to the same intersection surface are divided into the same intersection group to obtain multiple different intersection groups.

[0012] In one implementation, the step of obtaining a plurality of lane lines at intersections generated in a map includes:

[0013] According to the attribute information of the lane lines at the intersection in the map, a plurality of lane lines at the intersection generated in the map are obtained.

[0014] In one implementation, dividing the intersection lane lines belonging to the same intersection surface into the same intersection group to obtain a plurality of different intersection groups includes:

[0015] According to the division rule of the adjacent intersection lane lines belonging to the same intersection surface, the intersection lane lines belonging to the same intersection surface are divided into the same intersection group to obtain multiple different intersection groups.

[0016] In one implementation, selecting the rightmost lane line of the intersection as the boundary lane line from among the plurality of lane lines of the intersection having the same driving direction includes:

[0017] Among the multiple intersection lane lines with the same driving direction, the left and right positions of any two intersection lane lines are determined by using the vector cross product operation rule, and the rightmost intersection lane line is selected as the boundary lane line.

[0018] In one implementation, generating the intersection face element according to each of the boundary lane lines includes:

[0019] According to each of the boundary lane lines and the endpoints at both ends of each of the boundary lane lines, a bounding box surrounding the intersection surface is determined to generate an intersection surface element.

[0020] A second aspect of the present application provides a device for generating map intersection surface elements, comprising:

[0021] A first acquisition module is used to acquire a plurality of intersection lane lines in an intersection group corresponding to one of the intersection faces in the map;

[0022] A selection module, configured to select a rightmost lane line at the intersection from among a plurality of lane lines at the intersection acquired by the first acquisition module with the same driving direction as a boundary lane line, to obtain a plurality of boundary lane lines representing different driving directions respectively;

[0023] The generation module is used to generate intersection surface elements according to the boundary lane lines selected by the selection modules.

[0024] In one embodiment, the device for generating the map intersection face element further includes:

[0025] The second acquisition module is used to acquire multiple lane lines of intersections generated in the map;

[0026] The division module is used to divide the intersection lane lines acquired by the second acquisition module belonging to the same intersection surface into the same intersection group to obtain multiple different intersection groups.

[0027] A third aspect of the present application provides an electronic device, including:

[0028] Processor; and

[0029] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0030] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0031] The technical solution provided by this application may have the following beneficial effects:

[0032] The method provided by the present application obtains multiple intersection lane lines in the intersection group corresponding to one of the intersection faces in the map, and selects the rightmost intersection lane line as the boundary lane line among the multiple intersection lane lines with the same driving direction, thereby obtaining multiple boundary lane lines representing different driving directions, and then generating intersection face elements according to each boundary lane line. In this way, intersection face elements can be automatically generated in the map, which is conducive to improving the drawing efficiency of high-precision maps and optimizing the navigation experience.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0035] Figure 1 It is a flowchart of a method for generating map intersection surface elements shown in an embodiment of the present application;

[0036] Figure 2 It is another flowchart of the method for generating map intersection surface elements shown in the embodiment of the present application;

[0037] Figure 3 It is a schematic diagram of two intersection surfaces in a map in the method for generating map intersection surface elements shown in an embodiment of the present application;

[0038] Figure 4 It is a schematic diagram of one of the intersection surfaces in the map in the method for generating the map intersection surface element shown in the embodiment of the present application;

[0039] Figure 5It is a schematic diagram of the processing process of the preset clustering algorithm in the method for generating map intersection surface elements shown in the embodiment of the present application;

[0040] Figure 6 It is another schematic diagram of the processing process of the preset clustering algorithm in the method for generating map intersection surface elements shown in the embodiment of the present application;

[0041] Figure 7 is another schematic diagram of one of the intersection surfaces in the map in the method for generating a map intersection surface element shown in the embodiment of the present application;

[0042] Figure 8 is another schematic diagram of one of the intersection surfaces in the map in the method for generating a map intersection surface element shown in the embodiment of the present application;

[0043] Fig. 9 is a schematic diagram of a lane line shown in an embodiment of the present application;

[0044] Fig.10 is another schematic diagram of one of the intersection surfaces in the map in the method for generating a map intersection surface element shown in the embodiment of the present application;

[0045] Fig.11 It is a schematic diagram of the intersection surface element generated in the method for generating the map intersection surface element shown in the embodiment of the present application;

[0046] Fig.12 It is a structural schematic diagram of a device for generating map intersection surface elements shown in an embodiment of the present application;

[0047] Fig.13 It is another structural schematic diagram of the device for generating map intersection surface elements shown in the embodiment of the present application;

[0048] Fig.14 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0050] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the related art, there is no reliable solution on how to automatically generate intersection surface elements in a map.

[0053] In response to the above problems, an embodiment of the present application provides a method for generating map intersection surface elements, which can automatically generate intersection surface elements, improve the drawing efficiency of high-precision maps, and optimize the navigation experience.

[0054] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0055] Figure 1 It is a flowchart of a method for generating map intersection surface elements shown in an embodiment of the present application.

[0056] See also Figure 1 , the method comprising:

[0057] Step S101, obtaining a plurality of intersection lane lines in an intersection group corresponding to one of the intersection faces in a map.

[0058] The map may be an electronic map, and further, the electronic map may be a high-precision map.

[0059] Among them, the intersection face is the area where roads in the map intersect, and the intersection group includes multiple intersection lane lines. Multiple intersection lane lines belonging to the same intersection face form an intersection group, and one intersection face corresponds to one intersection group. There can be multiple different intersection faces in the map, and each intersection face can correspond to multiple intersection road lines in an intersection group.

[0060] Step S102: Among multiple intersection lane lines with the same driving direction, select the rightmost intersection lane line as the boundary lane line to obtain multiple boundary lane lines representing different driving directions.

[0061] It can be understood that the intersection surface is the area where roads intersect in the map. Since the intersection surface is formed by the intersection of multiple roads from different directions, the multiple intersection lane lines on the intersection surface have different driving directions.

[0062] In this step, among multiple intersection lane lines with the same driving direction, that is, for multiple intersection lane lines with the same driving direction, the vector cross product operation rule can be used to determine the left and right positions of any two intersection lane lines, and the rightmost intersection lane line is selected as the boundary lane line. In this way, multiple boundary lane lines representing different driving directions can be obtained.

[0063] Step S103: Generate intersection surface elements according to each lane boundary line.

[0064] In this step, a bounding box surrounding the intersection surface can be determined based on each boundary lane line and the endpoints at both ends of each boundary lane line to generate an intersection surface element.

[0065] It can be seen from this embodiment that the method provided in the embodiment of the present application obtains multiple intersection lane lines in the intersection group corresponding to one of the intersection faces in the map, and selects the rightmost intersection lane line as the boundary lane line among the multiple intersection lane lines with the same driving direction, thereby obtaining multiple boundary lane lines representing different driving directions, and then generating intersection face elements according to each boundary lane line. In this way, intersection face elements can be automatically generated in the map, which is conducive to improving the drawing efficiency of high-precision maps and optimizing the navigation experience.

[0066] Figure 2 It is another flowchart diagram of the method for generating map intersection surface elements shown in an embodiment of the present application. Figure 2 relatively Figure 1 The scheme of the present application is described in more detail.

[0067] See also Figure 2 , the method comprising:

[0068] Step S201, obtaining multiple intersection lane lines generated in the map.

[0069] The map may be an electronic map, and further, the electronic map may be a high-precision map.

[0070] In this step, multiple lane lines at intersections generated in the map can be obtained based on the attribute information of the lane lines at intersections in the map. It should be noted that the lane lines in the map (such as high-precision maps) have attribute information, and the type of the lane lines can be determined based on the attribute information of the lane lines. This application obtains multiple lane lines at intersections generated in the map based on the attribute information of the lane lines.

[0071] The obtained multiple intersection lane lines may be intersection lane lines on different intersection surfaces in the map. There may be multiple different intersection surfaces in the map, and the intersection surface is the area where roads in the map intersect, and each intersection surface may correspond to multiple intersection road lines.

[0072] See also Figure 3 , Figure 3 The bold lane lines shown on the left are the lane lines on one of the intersections in the map. Figure 3 The bold lane lines shown on the right side of the middle are the lane lines on another intersection surface in the map. Figure 4 The intersection shown is Figure 3 The enlarged schematic diagram of the intersection surface shown on the left side of the figure. In step S201, the present application may obtain Figure 3 Multiple intersection lane lines on two different intersection surfaces.

[0073] Step S202: divide the intersection lane lines belonging to the same intersection surface into the same intersection group to obtain multiple different intersection groups.

[0074] In the embodiment of the present application, an intersection face corresponds to an intersection group, and the intersection group includes multiple intersection lane lines, and multiple intersection lane lines belonging to the same intersection face constitute an intersection group. There can be multiple different intersection faces in the map, and each intersection face can correspond to multiple intersection road lines in an intersection group.

[0075] It can be understood that the multiple intersection lane lines obtained in step S201 may be intersection lane lines from different intersection surfaces, and the multiple intersection lane lines obtained may not belong to the same intersection surface, and may respectively belong to intersection lane lines on different intersection surfaces in the map.

[0076] In order to facilitate the division of the multiple intersection lane lines obtained in step S201, in one embodiment, the intersection lane lines belonging to the same intersection surface can be divided into the same intersection group according to the division rule that the intersection lane lines belonging to the same intersection surface are adjacent, thereby obtaining multiple different intersection groups. Further, in a specific embodiment, the following two methods (1) and (2) can be included to realize the division of the intersection lane lines belonging to the same intersection surface into the same intersection group.

[0077] (1) According to a preset clustering algorithm, the lane lines of the intersections belonging to the same intersection surface are divided into the same intersection group, thereby obtaining a plurality of different intersection groups.

[0078] In one embodiment, the step may include:

[0079] Step A-1: ​​In the map area where the multiple lane lines at the intersections are located, randomly initialize and generate k center points for clustering. Where k is the number of intersection faces to which the multiple lane lines at the intersections belong respectively; the positions of the k center points are randomly generated. Wherein, each lane line at the intersection can be represented by a feature point on the lane line at the intersection, and the feature point can be any point on the lane line at the intersection, for example, an endpoint on the lane line at the intersection can be used to represent the lane line at the intersection.

[0080] For easier understanding, see Figure 5 .like Figure 5 As shown, Figure 5 The multiple dots in represent multiple lane lines at intersections. Figure 5 The multiple intersection lane lines shown belong to two intersection surfaces respectively. Figure 5 The two cross icons in the figure represent two center points used for clustering, and the positions of the two center points are randomly generated.

[0081] Step A-2: Calculate the distance from each lane line at the intersection to each center point in turn, and match each lane line at the intersection with the center point that is closest to it.

[0082] like Figure 5 As shown, Figure 5 The distance between the dot marked by the arrow (the dot represents a lane line at an intersection) Figure 5 If the cross icon in the upper left corner (the cross icon represents one of the center points) is closest, the lane line of the intersection represented by the circle matches the center point represented by the cross icon. Figure 5 The remaining dots are closest to another cross icon, that is, the multiple lane lines of the intersections represented by the remaining dots match the center point represented by another cross icon.

[0083] Step A-3: According to the positions of the multiple lane lines at the intersection corresponding to each center point, determine the center of the area where the corresponding multiple lane lines at the intersection are located, and adjust the position of the corresponding center point.

[0084] See also Figure 6 , Figure 6 for Figure 5 Schematic diagram after the positions of the two center points are adjusted. Figure 5The center point represented by the cross icon in the upper left corner only matches the lane line of the intersection represented by the dot marked by the arrow, so the adjusted position of the center point represented by the cross icon overlaps with the dot. Figure 5 The cross icon on the lower left side of the image is adjusted according to the center of the area where the other matching dots are located. The final position is as follows: Figure 6 as indicated by the cross icon on the right side of the

[0085] Step A-4: loop through steps A-2 and A-3 until the positions of the center points remain unchanged.

[0086] It can be understood that by cyclically executing step A-2 and step A-3, k (k is the number of intersection surfaces to which the multiple intersection lane lines respectively belong) center points whose positions no longer change can be obtained.

[0087] Step A-5: Divide the multiple intersection lane lines corresponding to each center point into the same intersection group to obtain multiple different intersection groups.

[0088] It can be found that the implementation of the preset clustering algorithm is based on the division rule of the adjacent intersection lane lines belonging to the same intersection surface. In this way, the division of the multiple intersection lane lines obtained in step S201 is realized, so that the intersection lane lines belonging to the same intersection surface are divided into the same intersection group, thereby obtaining multiple different intersection groups.

[0089] (2) According to a preset depth-first search algorithm, the intersection lane lines belonging to the same intersection surface are divided into the same intersection group to obtain multiple different intersection groups.

[0090] In one embodiment, the step may include:

[0091] Step B-1, construct a list W for storing multiple intersection lane lines, and initialize an empty group N and an empty list M for storing intersection lane lines that have been used.

[0092] For example, assume that three intersection lane lines A, B, and C belong to one intersection surface, and three intersection lane lines D, E, and F belong to another intersection surface; if six intersection lane lines A, B, C, D, E, and F are obtained, then list W = {A, B, C, D, E, F}, group N = {}, and list M = {}.

[0093] Step B-2, randomly select an intersection lane line in list W that is not in list M, and put it into N, then traverse all the intersection lane lines in list W in turn, and each time an intersection lane line is selected, determine whether there is at least one intersection lane line in N whose distance to the selected intersection lane line is within a preset length range; if so, put the selected intersection lane line into N.

[0094] For example, for the list W = {A, B, C, D, E, F} in the above example, group N = {}, list M = {}. Randomly select a lane line C at an intersection, then N = {C}, list M = {C}. Traverse all the lane lines at the intersections in the list W in turn, and each time an intersection lane line is selected, determine whether there is at least one lane line at N that is within a preset length range from the selected lane line; if so, put the selected lane line at the intersection into N. At this time, N = {C, A, B}, list M = {C, A, B}.

[0095] It should be noted that the intersection lane lines placed in group N are the intersection lane lines that are taken, and list M is used to store the intersection lane lines that have been taken, that is, the intersection lane lines placed in group N.

[0096] Among them, if the judgment result is yes, that is, the distance between at least one intersection lane line in N and the selected intersection lane line is within the preset length range. In other words, for the selected intersection lane line, at least one intersection lane line can be found in the N group and the distance between it and the selected intersection lane line is within the preset length range. For example, when N = {C, A}, for the selected intersection lane line B, if the distance between intersection lane line B and intersection lane line C (or intersection lane line A) is within the preset length range, then the intersection lane line B is placed in group N, and N = {C, A, B} is obtained.

[0097] In this embodiment, the distance between two lane lines at the intersection may refer to the distance between the first points of the two lane lines at the intersection, the distance between the last points of the two lane lines at the intersection, or the distance between the midpoints of the two lane lines at the intersection. The preset length range may be five meters.

[0098] Step B-3: divide all the lane lines of the intersections in the N groups into the same intersection group. After the N groups are cleared, return to execute step B-2 to divide another intersection group.

[0099] For example, in the above example, N = {C, A, B}, list M = {C, A, B}. After clearing the N group, N = {}, list M = {C, A, B}. Then after executing step B-2, we can get N = {D, E, F}, list M = {C, A, B, D, E, F}, thus dividing another intersection group. In this way, the division of the six intersection lane lines A, B, C, D, E, F is realized.

[0100] It can be found that the implementation of the preset depth-first search algorithm is based on the division rule of the adjacent intersection lane lines belonging to the same intersection surface. In this way, the division of the multiple intersection lane lines obtained in step S201 is realized, so that the intersection lane lines belonging to the same intersection surface are divided into the same intersection group, thereby obtaining multiple different intersection groups.

[0101] Step S203: Acquire multiple intersection lane lines in an intersection group corresponding to one of the intersection faces in the map.

[0102] For this step, please refer to the description in step S101 and will not be repeated here.

[0103] Step S204: Among multiple intersection lane lines with the same driving direction, select the rightmost intersection lane line as the boundary lane line to obtain multiple boundary lane lines representing different driving directions respectively.

[0104] It can be understood that the intersection surface is the area where roads intersect in the map. Since the intersection surface is formed by the intersection of multiple roads from different directions, the multiple intersection lane lines on the intersection surface have different driving directions.

[0105] Among multiple intersection lane lines with the same driving direction, the vector cross product operation rule can be used to determine the left and right positions of any two intersection lane lines, and the rightmost intersection lane line can be selected as the boundary lane line.

[0106] See also Figure 7 , Figure 7 for Figure 4 The intersection shown is a schematic diagram with arrows marking the direction of travel. Figure 7 The driving directions of the multiple lane lines in the intersection surface shown include: left, downward and upward (if Figure 7 In the above description, up, down, left, and right represent north, south, west, and east respectively, and left, down, and up represent west, south, and north respectively). It should be noted that the driving direction of the lane line at the intersection is determined by the direction of the final destination of the lane line at the intersection. Figure 7In the "T"-shaped intersection shown in the figure, the straight intersection lane line from top to bottom and the curved intersection lane line from left to right and then turning downward both end up going downward, so both belong to the intersection lane lines with the same driving direction. Figure 7 The "T"-shaped intersection shown does not have an intersection lane line in the right (eastward) driving direction.

[0107] See also Figure 8 ,exist Figure 8 In the illustrated embodiment, a plurality of lane lines at intersections in the left driving direction are used as an example for description. For the plurality of lane lines at intersections in the left driving direction, in order to determine the left and right positions of any two lane lines at intersections, for example Figure 8 The two bold lane lines at the intersection can be calculated using the vector cross product operation rule.

[0108] In one implementation, one of the lane lines at the intersection may be set as l1, and the other lane line at the intersection may be set as l2. It should be noted that the lane line at the intersection is one lane line. Fig. 9 The lane line is a directional broken line. The lane line is composed of multiple unit line segments connected end to end. There are multiple feature points on the lane line. Two adjacent feature points constitute a unit line segment. A unit line segment is a straight line segment. The first feature point of the lane line is the first point s, and the last feature point of the lane line is the last point e. Assuming that a lane line has n (n is a positive integer) feature points, the nth feature point is the last point. For the unit line segment composed of the k-1th feature point and the kth (k is a positive integer and less than or equal to n) feature point, its direction is from the k-1th feature point to the kth feature point.

[0109] It can be understood that the intersection lane line l1 is composed of multiple unit lane lines. In this embodiment, each unit lane line in the intersection lane line l1 is composed of a vector group V1. In other words, in this embodiment, the first feature point (i.e., the first point) and the second feature point in the intersection lane line l1 are composed of a vector group V1. 1.1 , vector v 1.1 The direction is from the first feature point (i.e. the first point) to the second feature point; the second feature point and the third feature point in the lane line l1 of the intersection form a vector v 1.2 , vector v 1.2 The direction is from the second feature point to the third feature point; and so on, until the n-1th feature point in the intersection lane line l1 and the nth feature point (i.e., the tail point) form a vector v 1.n-1 , vector v 1.n-1 The direction is from the n-1th feature point to the nth feature point (i.e. the tail point); the vector v 1.1 , vector v 1.2, ..., vector v 1.n-1 Form a vector group V1.

[0110] All feature points except the tail point of the intersection lane line l1 and the multiple vectors formed by the mass points of the intersection lane line l2 together form a vector group V2. In other words, the vector group V2 includes the vector v 2.1 , vector v 2.2 , ..., vector v 2.n-1 . The particle is the center point of the length of the lane line l2 at the intersection. The vector v in the vector group V2 2.1 and vector v in vector set V1 1.1 Correspondingly, the two have a common starting endpoint; and so on, the vector v 2.n-1 With vector v 1.n-1 Correspondingly, the two have a common starting endpoint.

[0111] Using the vector cross product operation rule, in this embodiment, if the directions of the vectors obtained by cross product of each vector in vector group V2 with the corresponding vector in vector group V1 are all positive, it is determined that the intersection lane line l2 is on the right side of the intersection lane line l1.

[0112] It can be seen that, for multiple lane lines at the intersection in the left driving direction, the rightmost lane line can be selected as the boundary lane line by comparing the two lane lines. Similarly, for multiple lane lines at the intersection in other driving directions, the rightmost lane line can also be selected as the boundary lane line. Figure 7 In the embodiment, two boundary lane lines can be selected from the multiple lane lines at the intersections in the downward driving direction and the multiple lane lines at the intersections in the upward driving direction. Figure 7 The intersection surface shown in the embodiment can obtain three boundary lane lines representing the three driving directions of left, downward and upward. Fig.10 , Fig.10 The three bold lane lines at the intersection are Figure 4 Three lane boundary lines in the embodiment.

[0113] Step S205: Generate intersection surface elements according to each boundary lane line.

[0114] In this step, a bounding box surrounding the intersection surface can be determined based on each boundary lane line and the endpoints at both ends of each boundary lane line to generate an intersection surface element, wherein the bounding box surrounds each intersection lane line.

[0115] See also Fig.11 , Fig.11The generated intersection face element for one of the intersection faces in the map is shown. In the embodiment of the present application, the intersection face element is a type of face element in the map, and may refer to a face determined by a bounding box surrounding the intersection face.

[0116] It can be seen from this embodiment that the method provided in the embodiment of the present application can automatically generate intersection surface elements in the map, which is beneficial to improving the drawing efficiency of high-precision maps and optimizing the navigation experience.

[0117] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a map intersection surface element generation device, electronic device and corresponding embodiments.

[0118] Fig.12 It is a structural schematic diagram of a device for generating map intersection surface elements shown in an embodiment of the present application.

[0119] See also Fig.12 A device 1200 for generating map intersection surface elements includes: a first acquisition module 1210, a selection module 1220, and a generation module 1230.

[0120] The first acquisition module 1210 is used to acquire multiple intersection lane lines in an intersection group corresponding to one of the intersection faces in the map.

[0121] The selection module 1220 is used to select the rightmost intersection lane line as the boundary lane line among the multiple intersection lane lines with the same driving direction obtained by the first acquisition module 1210, so as to obtain multiple boundary lane lines representing different driving directions respectively.

[0122] The generation module 1230 is used to generate the intersection surface elements according to the boundary lane lines selected by the selection module 1220.

[0123] It can be seen from this embodiment that the device 1200 provided in the embodiment of the present application can automatically generate intersection surface elements in the map, which is beneficial to improving the drawing efficiency of high-precision maps and optimizing the navigation experience.

[0124] Fig.13 It is another structural schematic diagram of the device for generating map intersection surface elements shown in the embodiment of the present application;

[0125] See also Fig.13 A device 1200 for generating map intersection surface elements includes: a first acquisition module 1210, a selection module 1220, a generation module 1230, a second acquisition module 1240, and a division module 1250.

[0126] The functions of the first acquisition module 1210, the selection module 1220, and the generation module 1230 can be found in Fig.12The description in will not be repeated here.

[0127] The second acquisition module 1240 is used to acquire multiple intersection lane lines generated in the map.

[0128] The division module 1250 is used to divide the intersection lane lines obtained by the second acquisition module 1240 belonging to the same intersection surface into the same intersection group to obtain multiple different intersection groups.

[0129] Regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0130] Fig.14 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0131] See also Fig.14 , the electronic device 1400 includes a memory 1410 and a processor 1420.

[0132] The processor 1420 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0133] The memory 1410 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1420 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, an optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 1410 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1410 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0134] The memory 1410 stores executable codes, and when the executable codes are processed by the processor 1420 , the processor 1420 may execute part or all of the above-mentioned methods.

[0135] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0136] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0137] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating map intersection surface elements, characterized in that: include: Get multiple intersection lane lines in the intersection group corresponding to one of the intersection faces in the map; Among the plurality of intersection lane lines with the same driving direction, the rightmost intersection lane line is selected as the boundary lane line, so as to obtain a plurality of boundary lane lines representing different driving directions respectively; Generate intersection surface elements based on each of the boundary lane lines.

2. The method according to claim 1, characterized in that Before obtaining a plurality of intersection lane lines in an intersection group corresponding to one of the intersection faces in the map, the method further includes: Get multiple lane lines of intersections generated in the map; The intersection lane lines belonging to the same intersection surface are divided into the same intersection group to obtain multiple different intersection groups.

3. The method according to claim 2, characterized in that The step of obtaining a plurality of lane lines at intersections generated in the map includes: According to the attribute information of the lane lines at the intersection in the map, a plurality of lane lines at the intersection generated in the map are obtained.

4. The method according to claim 2, characterized in that: The lane lines of the intersections belonging to the same intersection face are divided into the same intersection group to obtain a plurality of different intersection groups, including: According to the division rule of the adjacent intersection lane lines belonging to the same intersection surface, the intersection lane lines belonging to the same intersection surface are divided into the same intersection group to obtain multiple different intersection groups.

5. The method according to claim 1, characterized in that: The step of selecting the rightmost lane line of the intersection as the boundary lane line from among the plurality of lane lines of the intersection with the same driving direction includes: Among the multiple intersection lane lines with the same driving direction, the left and right positions of any two intersection lane lines are determined by using the vector cross product operation rule, and the rightmost intersection lane line is selected as the boundary lane line.

6. The method according to claim 1, characterized in that The step of generating intersection surface elements according to each of the boundary lane lines includes: According to each of the boundary lane lines and the endpoints at both ends of each of the boundary lane lines, a bounding box surrounding the intersection surface is determined to generate an intersection surface element.

7. A device for generating map intersection surface elements, characterized in that: include: A first acquisition module is used to acquire a plurality of intersection lane lines in an intersection group corresponding to one of the intersection faces in the map; A selection module, configured to select a rightmost lane line at the intersection from among a plurality of lane lines at the intersection acquired by the first acquisition module with the same driving direction as a boundary lane line, to obtain a plurality of boundary lane lines representing different driving directions respectively; The generation module is used to generate intersection surface elements according to the boundary lane lines selected by the selection modules.

8. The device according to claim 7, characterized in that The device also includes: The second acquisition module is used to acquire multiple lane lines of intersections generated in the map; The division module is used to divide the intersection lane lines acquired by the second acquisition module belonging to the same intersection surface into the same intersection group to obtain multiple different intersection groups.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 6.

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