Electronic map generation method, device and electronic equipment

Abstract

The present disclosure provides an electronic map generation method, device and electronic device, which relate to the field of artificial intelligence technology, and in particular to the field of computer vision and autonomous driving simulation technology in artificial intelligence. A specific implementation scheme includes: obtaining rendering data corresponding to each of M elements to be rendered, wherein at least part of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer; rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, to generate an electronic map.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, in particular to the field of computer vision and autonomous driving simulation technology in artificial intelligence, and specifically to an electronic map generation method, device and electronic equipment. Background Art

[0002] With the continuous development of artificial intelligence technology, electronic maps are increasingly used in people's lives. Figure 1 It can generally be used in simulation or virtual games. Currently, artificial modeling is usually used to build electronic maps. Summary of the invention

[0003] The present disclosure provides a method, device and electronic device for generating an electronic map.

[0004] According to a first aspect of the present disclosure, there is provided a method for generating an electronic map, comprising:

[0005] Obtain rendering data corresponding to each of M elements to be rendered, wherein at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer;

[0006] The corresponding elements to be rendered are rendered according to the rendering data corresponding to each element to generate an electronic map.

[0007] According to a second aspect of the present disclosure, there is provided an electronic map generating device, comprising:

[0008] An acquisition module, used for acquiring rendering data corresponding to each of M elements to be rendered, wherein at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer;

[0009] The rendering module is used to render the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate an electronic map.

[0010] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0011] at least one processor; and

[0012] a memory communicatively connected to at least one processor; wherein,

[0013] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any method in the first aspect.

[0014] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute any one of the methods in the first aspect.

[0015] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program, which implements any one of the methods in the first aspect when executed by a processor.

[0016] In the disclosed embodiment, the corresponding elements to be rendered can be rendered according to the rendering data corresponding to each element to generate an electronic map. In this way, there is no need to adopt manual modeling, thereby improving the efficiency of electronic map generation and reducing the cost of electronic map generation.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flowchart of an electronic map generation method provided by an embodiment of the present disclosure;

[0019] Figure 2a is a schematic diagram of the architecture between different generators provided in an embodiment of the present disclosure;

[0020] Figure 2b is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0021] Figure 2c This is one of the structural schematic diagrams of the electronic map generating device provided by the embodiment of the present disclosure;

[0022] Figure 3 This is the second structural schematic diagram of the electronic map generating device provided by the embodiment of the present disclosure;

[0023] Figure 4 This is the third structural diagram of the electronic map generating device provided by the embodiment of the present disclosure;

[0024] Figure 5 is a schematic block diagram of an example electronic device for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0026] See also Figure 1 , Figure 1 A flowchart of a method for generating an electronic map provided in an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the electronic map generation method includes the following steps:

[0027] Step S101: Obtain rendering data corresponding to each of M elements to be rendered, wherein at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer.

[0028] The M elements to be rendered may refer to the elements to be rendered in the electronic map to be constructed, and after the elements to be rendered are rendered, the obtained rendered elements may constitute a part of the electronic map, and the types of any two elements to be rendered among the M elements to be rendered may be different.

[0029] For example, the M elements to be rendered may include at least one of elements such as roads, rivers, railways, and buildings.

[0030] In addition, at least part of the rendering data corresponding to the M elements to be rendered has different precisions, that is, at least part of the rendering data corresponding to the M elements to be rendered has different precisions, and the source of the rendering data is not limited here.

[0031] As an optional implementation, the rendering data corresponding to the above-mentioned M elements to be rendered can be obtained from data sources of different precisions, so that the source of the rendering data corresponding to the above-mentioned M elements to be rendered is relatively wide, while also reducing the precision requirements for the data source, thereby reducing the generation cost of the electronic map.

[0032] For example, the data sources of different precisions may include at least one of a high-precision map, a standard-precision map, and a rendered map, respectively, and the precision of the high-precision map may be higher than that of the standard-precision map, and the precision of the standard-precision map may be higher than that of the rendered map. It should be noted that when the rendering data is obtained from different maps, the rendering data may also be referred to as the map annotation data.

[0033] In addition, high-precision maps have the advantage of accurate data, standard-precision maps have the advantages of wide regional coverage and a full range of elements, and rendered maps have the advantages of preprocessing data (which can be understood as rendering data) and wireless mesh network (Mesh) level description, see Figure 2b After obtaining the data of the high-precision map, the standard-precision map and the rendered map, the above-obtained data can be fused, and then the fused data can be extracted according to different elements to be rendered and rendered separately.

[0034] Alternatively, the data obtained above may be classified and then rendered separately to generate an electronic map, and the specific method is not limited here.

[0035] For example: when the elements to be rendered include road elements, the high-precision map can include logical descriptions and coordinate annotations of dozens of road elements, and contain accurate road elevation information, which can accurately restore the road structure and topology; the standard-precision map has the main characteristics of high coverage and rich element types, and can provide element descriptions for non-precise modeling needs beyond the road topology of the high-precision map, such as: houses, green parks, rivers and lakes, etc., which can improve the richness of static scenes; the rendering map is obtained through secondary processing and data abstraction based on the high-precision map and the standard-precision map. The rendering map data structure is organized in the form of a wireless mesh network (Mesh), including geometric grids and texture coordinates, and provides model-level descriptions for complex model structures such as ramps, overpasses, and piers, which can supplement the post-processing strategy for restoring static scenes.

[0036] As another optional implementation, rendering data corresponding to some of the M elements to be rendered may be acquired from the same data source, and the precision of the rendering data corresponding to some of the M elements to be rendered may be the same or different.

[0037] In this way, since the rendering data corresponding to some elements can be obtained from the same data source, the requirement on the number of data sources is reduced, and the generation cost of the electronic map can also be reduced.

[0038] As an optional implementation manner, the M elements to be rendered include weather elements.

[0039] In the embodiments of the present disclosure, the generated electronic map may include weather elements, that is, the weather conditions may be reflected on the electronic map, thereby making the display content of the electronic map more diverse.

[0040] In addition, rendering data corresponding to different weather elements can be obtained for rendering, so that the generated electronic map can include multiple weather elements, and the electronic map can present different weather elements as needed, thereby making the electronic map more widely used.

[0041] For example, when an electronic map is used in a game, the electronic map can present different weather elements as needed, thereby providing different usage scenarios and enhancing the simulation effect of the electronic map on the scene.

[0042] As an optional implementation manner, the M elements to be rendered include a first element to be rendered and N second elements to be rendered, where N is a positive integer less than M;

[0043] The obtaining rendering data corresponding to each of the M elements to be rendered includes:

[0044] Rendering data corresponding to the first element to be rendered is obtained, and rendering data of the N second elements to be rendered are obtained, wherein precision of the rendering data corresponding to the first element to be rendered is higher than precision of the rendering data of the N second elements to be rendered.

[0045] Among them, the first element to be rendered and the N second elements to be rendered are different elements, and since the accuracy of the rendering data corresponding to the first element to be rendered is higher than the accuracy of the rendering data of the N second elements to be rendered, it can be considered that the importance of the first element to be rendered in the electronic map is higher than that of the N second elements to be rendered.

[0046] Therefore, in order to ensure the accuracy and clarity of the first element to be rendered in the electronic map, it is necessary to obtain high-precision rendering data to render the first element to be rendered, while the accuracy and clarity requirements of the N second elements to be rendered are lower than the accuracy and clarity requirements of the first element to be rendered, so lower-precision rendering data can be obtained to render the N second elements to be rendered.

[0047] It should be noted that the specific contents of the first element to be rendered and the second element to be rendered are not limited here. For example, when the electronic map is applied to autonomous driving simulation, the first element to be rendered may be a road, and the second element to be rendered may be a building, a river or vegetation.

[0048] It should be noted that when conducting an autonomous driving simulation test based on the above-mentioned electronic map, the road accuracy of the electronic map is relatively high, so that the autonomous driving simulation effect can be made more reliable.

[0049] For another example, when the electronic map is applied to a game, the first element to be rendered may be a character, and the second element to be rendered may be an environmental element, such as a road, a building, a river, or vegetation.

[0050] In the disclosed embodiment, the precision of the rendering data corresponding to the first element to be rendered is higher than the precision of the rendering data of the N second elements to be rendered. In this way, the rendering data with higher precision can be obtained for the first element to be rendered with higher importance, and the rendering data with relatively lower precision can be obtained for the second element to be rendered with relatively lower importance. As a result, the rendering elements corresponding to the first element to be rendered with higher importance in the finally generated electronic map have higher accuracy and clarity, which ensures better performance of the electronic map. At the same time, each rendering element in the electronic map does not need to be rendered using rendering data with higher precision, thereby reducing the generation cost of the electronic map.

[0051] It should be noted that the types of the first element to be rendered and the second element to be rendered are not limited herein.

[0052] As an optional implementation, the first element to be rendered is a basic road network, and the N second elements to be rendered include at least one of the following: a highway road network environment, an urban road network environment, terrain vegetation, an environmental style, and a community.

[0053] In this way, since the accuracy of the rendering data of the basic road network is higher than that of the rendering data corresponding to the highway network environment, urban road network environment, terrain vegetation, environmental style and community, the accuracy and clarity of the basic road network in the electronic map are relatively high, and thus when the autonomous driving vehicle conducts an autonomous driving simulation test based on the basic road network of the above-mentioned electronic map, the simulation test results are more accurate.

[0054] Among them, the basic road network can refer to the various elements included in the main roads. For example, the road network composed of roads with a traffic volume greater than a preset threshold within a certain period of time can be called the basic road network or the main roads. The various elements included in the main roads can include at least one of the elements such as lane line elements, intersection elements, pedestrian crossing elements, lane pavement elements and stop line elements. For details, please refer to Table 1.

[0055] Table 1

[0056]

[0057] Among them, the lane line elements include: at least one of a white single solid line, a white double solid line, a white single dashed line, a white dashed and solid line, a white double dashed line, a yellow single solid line, a yellow double solid line, a yellow single dashed line, a yellow dashed and solid line, a yellow double dashed line, a thick solid line, a thick dashed line, a fish scale line and a guide strip.

[0058] The lane pavement elements include at least one of a normal lane, an emergency lane, a bus lane, and a bicycle lane.

[0059] It should be noted that when using the rendering elements corresponding to the basic road network for rendering, linear interpolation, B-spline curve interpolation, Delaunay triangulation, surface subdivision, projection texture mapping and other technical means can be used to automatically and programmatically generate the basic elements of the basic road network, and the model obtained after rendering the rendering data corresponding to the basic road network can be used as the basic model of the rendering data corresponding to the highway road network environment or the urban road network environment (that is, the rendering data corresponding to the highway road network environment or the urban road network environment is input on the basis of the basic model for rendering).

[0060] Among them, the expressway network environment may refer to the environmental elements on the roadside of the expressway, and may specifically include at least one of the elements in Table 2, see Table 2.

[0061] Table 2

[0062]

[0063] As an optional implementation manner, the N second elements to be rendered include a highway network environment; and the step of rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map includes:

[0064] Acquire boundary elements of the highway network environment and modify the boundary elements, wherein the modified boundary elements include at least one reference point;

[0065] The type of model generated at the position of the boundary element in the electronic map is determined according to the parameter information of the reference point.

[0066] In the disclosed embodiment, the type of model generated at the boundary element position is determined by the parameter information of the reference point. Thus, since the type of the generated model corresponds one-to-one with the parameter information of the reference point, the accuracy of the generated model can be higher.

[0067] The boundary elements may include at least one of the following elements: stone piers, fences, wall elements, isolation zones, anti-glare panels and other elements.

[0068] Among them, at least one of the type of boundary element and the position of the boundary may be modified, for example: the merging section in the boundary element may be deleted; or the boundary position may be moved in a certain direction by a preset distance.

[0069] The parameter information of the reference point is not limited here. For example, the parameter information of the reference point may be the height of the reference point, or whether the reference point collides with the projection light.

[0070] Among them, when the boundary elements include bollards, fences, and wall elements, the bollards, fences, and wall elements are distributed on the first side of the highway road, playing a role of shielding and isolation. The generation scheme can be referred to the following description:

[0071] Step 1: Extract the boundary on the first side of the highway (equivalent to obtaining boundary elements), and exclude about 5m at the intersection of the access ramp (equivalent to correcting boundary elements);

[0072] Step 2: Extend the boundary on the first side by 0.5m (equivalent to correcting boundary elements);

[0073] Step 3: Redifferentiate the extended boundary according to the width of the bollard, fence, and wall models to generate reference points;

[0074] Step 4: Set height threshold A and height threshold B, and B > A. Separately calculate the height value H of the reference points. If H < A, a fence model is generated at the reference point; if A < H < B, a bollard model is generated at the reference point; if H > B, a wall model is generated at the reference point (equivalent to determining the model type according to the parameter information of the reference point, and the parameter information of the reference point is height information).

[0075] Among them, when the boundary elements include median strips and anti-glare panels, the median strips and anti-glare panels are distributed on the second side of the highway road, playing a role of isolation and protection. The generation scheme can be referred to the following description:

[0076] Step 1: Extract the boundary on the second side of the highway (equivalent to obtaining boundary elements);

[0077] Step 2: Redifferentiate the boundary according to the width of the median strip and anti-glare panel models to generate reference points (equivalent to correcting the boundary elements to obtain reference points);

[0078] Step 3: Set the distance step T, and perform ray casting collision detection step by step to the second side of each reference point, and record all the reference points that have collisions and the step T;

[0079] Step 4: Extend the distance F to the second side for each collision reference point, and generate a median strip base segment (equivalent to determining the model type according to the parameter information of the reference point, and the parameter information of the reference point includes whether it collides with the projected light);

[0080] Step 5: Perform Boolean operations on all median strip bases to obtain the overall median strip;

[0081] Step 6: Extend the distance F / 2 to the left for each collision reference point to generate anti-glare panel reference points;

[0082] Step 7: Smooth all anti-glare panel reference points into a spline curve;

[0083] Step 8: Generate the anti-glare board model as a whole along the curve and combine it with the isolation belt model as a whole.

[0084] It should be noted that the expressway network elements may also include a main driving road and a ramp merging road, and ramp guide lines may be generated based on the main driving road and the ramp merging road.

[0085] As an optional implementation manner, the N second elements to be rendered include a highway network environment, and the highway network environment includes a main driving road and a ramp merging road; and the corresponding elements to be rendered are rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map, including:

[0086] Acquire a first intersection point between the main driving road and the ramp merging road;

[0087] Acquire a second intersection point of a first road in the main driving road and a second road in the ramp merging road, wherein the first road and the second road are adjacently arranged;

[0088] constructing a triangle based on the first intersection point and the second intersection point, wherein the triangle includes an angle bisector;

[0089] Extending the pre-acquired guide lane line model along the angle bisector;

[0090] According to the expanded guide line lane line model and the triangle Boolean operation, a ramp guide area in the electronic map is generated.

[0091] There may be multiple second intersection points.

[0092] In the disclosed embodiment, a ramp guide area is generated based on the expanded guide line lane line model and the triangular Boolean operation, so that the generated ramp guide line can be more accurate and does not require manual construction, thereby improving the intelligence of the ramp guide line generation method.

[0093] Among them, the ramp guide line is a sign line element for the entrance and exit area of ​​the highway ramp. Its generation scheme can be seen in the following description:

[0094] Step 1: Obtain the intersection point of the main road and the ramp (neighbor node>3) as the end point of the diversion area (equivalent to the first intersection point);

[0095] Step 2: Get the first lane A on the inner side of the entry and exit ramp and the lane B on the adjacent main road, where A and B have a common intersection in step 1;

[0096] Step 3, obtain the inner boundary endpoints of A and B, and select another point other than the common intersection point in step 1 as the two starting points of the diversion area (equivalent to the second intersection point);

[0097] Step 4: Use the starting point and the end point to construct the triangular area S, and calculate the angle bisector as the reference line L;

[0098] Step 5: Use the guide lane model to extend along the reference line L;

[0099] Step 6: Perform Boolean operation on the expanded guide line model and the triangular area S to generate the final ramp guide area.

[0100] Compared with ordinary roads, elevated interchanges often have pier structures. The generation scheme can be found in the following description:

[0101] Step 1, mark the area of ​​the elevated disc bridge on the map;

[0102] Step 2: Traverse every road in the area, project it downward, and mark the overlapping areas;

[0103] Step 3: Calculate the centerline of the road through the boundaries on both sides of the road, remove the overlapping areas by Boolean operation, and resample them as a reference point sequence;

[0104] Step 4: Project the reference points onto the terrain surface and connect them with the corresponding original reference points to form a reference line sequence;

[0105] Step 5: Use the preset bridge pier model to expand along the reference line to form an elevated interchange area without overlapping or obstructing the view.

[0106] Among them, the urban road network environment may refer to the environmental elements on the roadside of each road in the city, and may specifically include at least one of the elements in Table 3. For details, please refer to Table 3.

[0107] Table 3

[0108]

[0109] It should be noted that the elements of the urban road network environment can refer to the rendering method of the elements of the highway network environment. The main difference between the urban road network environment and the highway network environment lies in the building complex elements. The generation of the building complex has two main nodes, namely the metadata construction stage and the building volume construction stage.

[0110] Among them, the concept of metadata construction is equivalent to the generation of ecological communities. With the help of UV layout points in 3D computer graphics applications, physical dispersion is placed, and it can be ensured that they do not overlap each other. At the same time, the industry's filler spreader (Packing Scatterer) tool can be used. He measures the longest side of each separate area as a direction reference, and then combines the biological communities in the best possible way. Not only that, but also different modes and angles can be selected.

[0111] Among them, when the metadata of the building volume is constructed, a building programmatic modeling pipeline based on a three-dimensional computer graphics application engine can be used.

[0112] Among them, terrain vegetation can refer to: the terrain where the basic road network, expressway network environment and urban road network environment are located and the vegetation growing on the terrain. Specifically, the altitude of the constructed basic road network is used as a benchmark to fit the terrain to the road surface of the basic road network.

[0113] As an optional implementation manner, the N second elements to be rendered include a basic road network, and the corresponding elements to be rendered are rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map, including:

[0114] Dividing the basic road network into a plurality of spatial tiles, and marking parameter information of the spatial tiles;

[0115] Tiling the target terrain on the spatial tile;

[0116] Projecting the parameter information of the spatial tile onto the target terrain to obtain a projection area and a projection distance;

[0117] The elevation of the projection area is increased by the projection distance, and a Boolean operation is performed on the projection area and the basic road network to obtain a terrain structure;

[0118] adding noise parameters to the target terrain in the terrain structure;

[0119] Connect the terrain structures corresponding to multiple spatial tiles in a preset order to obtain the overall terrain;

[0120] The overall terrain is instantiated to generate an electronic map.

[0121] In the disclosed embodiment, terrain vegetation can be rendered based on the basic road, so that the display effect of the finally generated electronic map is better. At the same time, there is no need to manually build the electronic map, thereby further improving the intelligence level of the electronic map generation.

[0122] The rendering method of terrain vegetation can be seen in the following description:

[0123] Step 1: Set two-dimensional parameters, divide the road network (i.e., basic road network) into spatial tiles, and mark them;

[0124] Step 2: For each spatial tile [m, n] (m and n represent parameter information, i.e., the parameter information may be coordinate information), set a sea area threshold H, and tile a flat terrain t (i.e., target terrain) covering the spatial tile so that its altitude = the lowest altitude of the spatial tile - H;

[0125] Step 3: Project the road of [m,n] to t, and mark the projection area and projection distance;

[0126] Step 4: Raise the elevation of the projection area by the corresponding projection distance, perform Boolean operation with the road structure to extract the overlapping area, and form a stepped terrain structure (i.e., terrain structure);

[0127] Step 5: Smooth the projection area and add random parameter noise (i.e., noise parameter) to t, and the [m,n] basic terrain is constructed;

[0128] Step 6: Arrange all spatial tiles in order, and smoothly link their edges in sequence (i.e., connect them in a preset order, which may be the order of coordinate positions) to form a unified overall terrain structure T (i.e., the overall terrain);

[0129] Step 7: Layer extraction, using a 3D computer graphics application to divide the mask range based on terrain height, slope, direction, etc.

[0130] Step 8: Instantiate the model according to Layer (i.e., instantiate the entire terrain), use a 3D computer graphics application to scatter points and copy the corresponding model (for example, different vegetation models can be copied), thereby generating an electronic map.

[0131] Among them, environmental style and community refer to the style effects of different scenes in the electronic map, for example, whether the whole scene is brand new, worn or stained; and community refers to the configuration of shopping malls, factories, residences, mountains, snow, forests, rivers and other communities. For example, the configuration location and number of shopping malls, factories, residences, mountains, snow, forests, rivers and other communities.

[0132] It should be noted that the accuracy of the rendering data of the N second elements to be rendered is not limited herein. As an optional implementation, the accuracy of the rendering data of the N second elements to be rendered can be the same, that is, the rendering data of the N second elements to be rendered can be obtained from the same data source, thereby reducing the acquisition cost of the rendering data of the N second elements to be rendered.

[0133] It should be noted that the specific numerical values ​​in this embodiment are only exemplary and do not constitute specific limitations.

[0134] As another optional implementation, the above method further includes:

[0135] Determining the first element to be rendered;

[0136] Determine the N second elements to be rendered according to the distance from the first element to be rendered;

[0137] The N second elements to be rendered are distributed in order from near to far according to their distance from the first element to be rendered, and the precision of the rendering data of the N second elements to be rendered decreases in order.

[0138] Among them, the importance of the first element to be rendered can be considered to be the highest, so the accuracy of the rendering data of the first element to be rendered can be the highest, and the importance of the second element to be rendered that is closer to the first element to be rendered among the N second elements to be rendered is higher than the importance of the second element to be rendered that is farther from the first element to be rendered among the N second elements to be rendered, that is, the closer the second element to be rendered is to the first element to be rendered, the higher the accuracy of the rendering data. In this way, the accuracy of the first element to be rendered and the second element to be rendered near the first element to be rendered can be made higher, that is, the clarity and accuracy of the rendering element corresponding to the first element to be rendered and the rendering element corresponding to the second element to be rendered near the first element to be rendered in the generated electronic map are both higher.

[0139] In the disclosed embodiment, the N second elements to be rendered are distributed in sequence from near to far according to the distance from the first element to be rendered, and the precision of the rendering data of the N second elements to be rendered decreases in sequence. In this way, the precision of the second elements to be rendered close to the first element to be rendered can be higher, ensuring that the rendering elements corresponding to the second elements to be rendered close to the first element to be rendered in the generated electronic map have good accuracy and clarity. At the same time, there is no need to make the precision of all the second elements to be rendered high, thereby reducing the generation cost of the electronic map.

[0140] Step S102: Render the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, and generate an electronic map.

[0141] The corresponding elements to be rendered are rendered according to the rendering data corresponding to each element to be rendered, and the method of generating the electronic map is not limited here.

[0142] As an optional implementation, rendering data corresponding to each to-be-rendered element may be input into a pre-built generator or a pre-acquired generator for rendering to generate an electronic map.

[0143] Among them, the above-mentioned pre-built generator can refer to a generator pre-generated after obtaining rendering data corresponding to each of the M elements to be rendered. For example, a generator can be constructed using the rendering data corresponding to each of the M elements to be rendered as the same type of data.

[0144] The pre-acquired generator may be downloaded from the server, or the generator may be pre-stored in the local server, or the generator may be a generator sent by other servers.

[0145] As another optional implementation, the above method further includes:

[0146] Constructing a generator corresponding to each of the M elements to be rendered;

[0147] The step of rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map includes:

[0148] The rendering data corresponding to the M elements to be rendered are sequentially input into M generators for rendering to generate an electronic map.

[0149] In the embodiment of the present disclosure, a generator corresponding to each of the M elements to be rendered can be constructed respectively, and then the rendering data corresponding to the M elements to be rendered can be input into the M generators in sequence for rendering to generate an electronic map. In this way, since the generator corresponding to each element to be rendered is used to render the element to be rendered, the matching degree between the generator and the element to be rendered is better, and thus the accuracy and clarity of the generated electronic map are better.

[0150] It should be noted that when rendering the latter rendering data corresponding to the M elements to be rendered, it is necessary to render based on the model output by the previous generator.

[0151] For example: the rendering data corresponding to the basic road network can be input into the generator corresponding to the basic road network for rendering to obtain the model of the basic road network, and then the model of the basic road network and the rendering data corresponding to the road network environment can be input into the generator corresponding to the road network environment for rendering to obtain the model of the road network environment, and then the model of the road network environment and the rendering data corresponding to the terrain and vegetation can be input into the generator corresponding to the terrain and vegetation for rendering to obtain the model of the terrain and vegetation, and then the model of the terrain and vegetation, as well as the rendering data corresponding to the environmental style and community can be input into the generator corresponding to the environmental style and community for rendering to obtain the model of the electronic map, and the above-mentioned model of the electronic map can also be referred to as an electronic map.

[0152] It should be noted that the above-mentioned road network environment may include at least one of the following: a highway road network and an urban road network.

[0153] It should be noted that the accuracy of the rendering data corresponding to the above-mentioned basic road network, road network environment, terrain vegetation, environmental style and community can be reduced in sequence, that is, the rendering data can be input into the corresponding generator for rendering in sequence according to the accuracy of the rendering data from high to low.

[0154] For example: when the M elements to be rendered include a basic road network, a highway network environment, an urban road network environment, terrain vegetation, an environmental style, and a community, the generator corresponding to the basic road network can be called a basic road network generator or a basic road network topology generator, the generator corresponding to the highway network environment can be called a highway network environment generator, the generator corresponding to the urban road network environment can be called an urban road network environment generator, the generator corresponding to the terrain vegetation can be called a terrain vegetation generator, the generator corresponding to the environmental style and community can be called an environmental style and community generator, and the specific framework structure of the above generators can be referred to. Figure 2a shown.

[0155] It should be noted that when the environment style and community generator adjusts the environment style and community of the electronic map, it can adjust the model's material, environment style, community configuration and other parameters through the interfaces of the above-mentioned basic road network topology generator, highway network environment generator, urban road network environment generator and terrain vegetation generator, so that the environment style and community configuration and other parameters of the intersections of the main roads of highways, main roads of expressways, urban trunk roads, secondary urban roads, urban branches and other urban roads in the entire electronic map are unified. It can also be understood that the entire electronic map's main roads of highways, main roads of expressways, urban trunk roads, secondary urban roads, urban branches and other urban road intersections are fully covered in style.

[0156] The accuracy of the rendering data corresponding to the basic road network, highway network environment, urban road network environment, terrain vegetation, environmental style and community can be: the accuracy of the rendering data corresponding to the basic road network is greater than the accuracy of the rendering data corresponding to the highway network environment or the urban road network environment, the accuracy of the rendering data corresponding to the highway network environment or the urban road network environment can be greater than the accuracy of the rendering data corresponding to the terrain and vegetation, and the accuracy of the rendering data corresponding to the terrain and vegetation can be greater than the accuracy of the rendering data corresponding to the environmental style and community.

[0157] In the disclosed embodiment, through steps S101 to S102, the corresponding elements to be rendered can be rendered according to the rendering data corresponding to each element to be rendered, and an electronic map can be generated. In this way, there is no need to adopt manual modeling, thereby improving the efficiency of electronic map generation and reducing the cost of electronic map generation.

[0158] like Figure 2c As shown, the present disclosure provides a structural schematic diagram of an electronic map generating device, such as Figure 2c As shown, the electronic map generating device 200 includes:

[0159] An acquisition module 201 is used to acquire rendering data corresponding to each of M elements to be rendered, wherein at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer;

[0160] The rendering module 202 is used to render the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate an electronic map.

[0161] Optionally, the M elements to be rendered include a first element to be rendered and N second elements to be rendered, where N is a positive integer less than M;

[0162] The acquisition module 201 is further configured to acquire rendering data corresponding to the first element to be rendered, and to acquire rendering data of the N second elements to be rendered, wherein the precision of the rendering data corresponding to the first element to be rendered is higher than the precision of the rendering data of the N second elements to be rendered.

[0163] Alternatively, see Figure 3 , the electronic map generating device 200 further includes:

[0164] A first determining module 203, used to determine the first element to be rendered;

[0165] A second determining module 204, configured to determine the N second elements to be rendered according to the distances from the first element to be rendered;

[0166] The N second elements to be rendered are distributed in order from near to far according to their distance from the first element to be rendered, and the precision of the rendering data of the N second elements to be rendered decreases in order.

[0167] Optionally, the first element to be rendered is a basic road network, and the N second elements to be rendered include at least one of the following: a highway road network environment, an urban road network environment, terrain vegetation, an environmental style, and a community.

[0168] Alternatively, see Figure 4 , the electronic map generating device 200 further includes:

[0169] A construction module 205 is used to construct a generator corresponding to each of the M elements to be rendered;

[0170] The rendering module 202 is further used to input the rendering data corresponding to the M elements to be rendered into M generators in sequence for rendering to generate an electronic map.

[0171] Optionally, the M elements to be rendered include weather elements.

[0172] Optionally, the N second elements to be rendered include a highway network environment; the rendering module 202 includes:

[0173] A first acquisition submodule is used to acquire boundary elements of the highway network environment and to correct the boundary elements, wherein the corrected boundary elements include at least one reference point;

[0174] The first generating submodule is used to determine the type of model generated at the position of the boundary element in the electronic map according to the parameter information of the reference point.

[0175] Optionally, the N second elements to be rendered include a highway network environment, and the highway network environment includes a main driving road and a ramp merging road; the rendering module 202 includes:

[0176] A second acquisition submodule is used to acquire a first intersection point between the main driving road and the ramp merging road;

[0177] A third acquisition submodule is used to acquire a second intersection point of a first road in the main driving road and a second road in the ramp merging road, wherein the first road and the second road are adjacently arranged;

[0178] A construction submodule, configured to construct a triangle according to the first intersection point and the second intersection point, wherein the triangle includes an angle bisector;

[0179] An extension submodule, used to extend the pre-acquired guide line lane line model along the angle bisector;

[0180] The second generation submodule is used to generate a ramp diversion area in the electronic map according to the expanded diversion line lane line model and the triangle Boolean operation.

[0181] Optionally, the N second elements to be rendered include a basic road network, and the rendering module 202 includes:

[0182] A division submodule, used for dividing the basic road network into a plurality of spatial tiles, and marking parameter information of the spatial tiles;

[0183] A tiling submodule, used for tiling the target terrain on the spatial tile;

[0184] A projection submodule, used for projecting the parameter information of the spatial tile onto the target terrain to obtain a projection area and a projection distance;

[0185] An operation submodule, used for increasing the altitude of the projection area by the projection distance, and performing a Boolean operation with the basic road network to obtain a terrain structure;

[0186] A noise processing submodule, used for adding noise parameters to the target terrain in the terrain structure;

[0187] A connection submodule, used to connect the terrain structures corresponding to multiple spatial tiles in a preset order to obtain the overall terrain;

[0188] The third generation submodule is used to instantiate the overall terrain and generate an electronic map.

[0189] The electronic map generating device 200 provided in the present disclosure can implement each process implemented in the electronic map generating method embodiment and can achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0190] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0191] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0192] like Figure 5 As shown, the device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0193] A number of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0194] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as the electronic map generation method. For example, in some embodiments, the electronic map generation method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the electronic map generation method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the electronic map generation method in any other appropriate manner (e.g., by means of firmware).

[0195] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0196] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0197] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0198] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0199] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0200] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0201] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0202] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for generating an electronic map, comprising: Obtain rendering data corresponding to each of M elements to be rendered, wherein at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer; Rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, to generate an electronic map; The step of rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map includes: Divide the basic road network into multiple spatial tiles, and mark parameter information of the spatial tiles; Tiling the target terrain on the spatial tile; Projecting the parameter information of the spatial tile onto the target terrain to obtain a projection area and a projection distance; The elevation of the projection area is increased by the projection distance, and a Boolean operation is performed on the projection area and the basic road network to obtain a terrain structure; adding noise parameters to the target terrain in the terrain structure; Connect the terrain structures corresponding to multiple spatial tiles in a preset order to obtain the overall terrain; The overall terrain is instantiated to generate an electronic map.

2. The method according to claim 1, wherein: The M elements to be rendered include a first element to be rendered and N second elements to be rendered, where N is a positive integer less than M; The obtaining rendering data corresponding to each of the M elements to be rendered includes: Rendering data corresponding to the first element to be rendered is obtained, and rendering data of the N second elements to be rendered are obtained, wherein precision of the rendering data corresponding to the first element to be rendered is higher than precision of the rendering data of the N second elements to be rendered.

3. The method according to claim 2, further comprising: Determining the first element to be rendered; Determine the N second elements to be rendered according to the distance from the first element to be rendered; The N second elements to be rendered are distributed in order from near to far according to their distance from the first element to be rendered, and the precision of the rendering data of the N second elements to be rendered decreases in order.

4. The method according to claim 2, wherein: The first element to be rendered is a basic road network, and the N second elements to be rendered include at least one of the following: a highway road network environment, an urban road network environment, terrain vegetation, an environmental style, and a community.

5. The method according to any one of claims 1 to 4, further comprising: Constructing a generator corresponding to each of the M elements to be rendered; The step of rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map includes: The rendering data corresponding to the M elements to be rendered are sequentially input into M generators for rendering to generate an electronic map.

6. The method according to claim 1, wherein: The M elements to be rendered include weather elements.

7. The method according to claim 4, wherein: The N second elements to be rendered include a highway network environment; and the corresponding elements to be rendered are rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map, including: Acquire boundary elements of the highway network environment and modify the boundary elements, wherein the modified boundary elements include at least one reference point; The type of model generated at the position of the boundary element in the electronic map is determined according to the parameter information of the reference point.

8. The method according to claim 4, wherein: The N second elements to be rendered include a highway network environment, and the highway network environment includes a main driving road and a ramp merging road; The step of rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered to generate an electronic map includes: Acquire a first intersection point between the main driving road and the ramp merging road; Acquire a second intersection point of a first road in the main driving road and a second road in the ramp merging road, wherein the first road and the second road are adjacently arranged; constructing a triangle based on the first intersection point and the second intersection point, wherein the triangle includes an angle bisector; Extending the pre-acquired guide lane line model along the angle bisector; According to the expanded guide line lane line model and the triangle Boolean operation, a ramp guide area in the electronic map is generated.

9. The method according to claim 4, wherein: The N second elements to be rendered include the basic road network.

10. An electronic map generating device, comprising: An acquisition module, used for acquiring rendering data corresponding to each of M elements to be rendered, wherein at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer; A rendering module, used to render the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate an electronic map; The rendering module includes: A division submodule, used to divide the basic road network into a plurality of spatial tiles and mark parameter information of the spatial tiles; A tiling submodule, used for tiling the target terrain on the spatial tile; A projection submodule, used for projecting the parameter information of the spatial tile onto the target terrain to obtain a projection area and a projection distance; An operation submodule, used for increasing the altitude of the projection area by the projection distance, and performing a Boolean operation with the basic road network to obtain a terrain structure; A noise processing submodule, used for adding noise parameters to the target terrain in the terrain structure; A connection submodule, used to connect the terrain structures corresponding to multiple spatial tiles in a preset order to obtain the overall terrain; The third generation submodule is used to instantiate the overall terrain and generate an electronic map.

11. The device according to claim 10, wherein: The M elements to be rendered include a first element to be rendered and N second elements to be rendered, where N is a positive integer less than M; The acquisition module is further used to acquire rendering data corresponding to the first element to be rendered, and to acquire rendering data of the N second elements to be rendered, wherein precision of the rendering data corresponding to the first element to be rendered is higher than precision of the rendering data of the N second elements to be rendered.

12. The device according to claim 11, wherein the electronic map generating device further comprises: A first determining module, used to determine the first element to be rendered; A second determining module, configured to determine the N second elements to be rendered according to distances from the first element to be rendered; The N second elements to be rendered are distributed in order from near to far according to their distance from the first element to be rendered, and the precision of the rendering data of the N second elements to be rendered decreases in order.

13. The device according to claim 11, wherein: The first element to be rendered is a basic road network, and the N second elements to be rendered include at least one of the following: a highway road network environment, an urban road network environment, terrain vegetation, an environmental style, and a community.

14. The device according to any one of claims 10 to 13, wherein the electronic map generating device further comprises: A construction module, used to construct a generator corresponding to each of the M elements to be rendered; The rendering module is further used to input the rendering data corresponding to the M elements to be rendered into the M generators in sequence for rendering to generate an electronic map.

15. The device according to claim 10, wherein: The M elements to be rendered include weather elements.

16. The device according to claim 13, wherein: The N second elements to be rendered include a highway network environment; The rendering module includes: A first acquisition submodule is used to acquire boundary elements of the highway network environment and to correct the boundary elements, wherein the corrected boundary elements include at least one reference point; The first generating submodule is used to determine the type of model generated at the position of the boundary element in the electronic map according to the parameter information of the reference point.

17. The device according to claim 13, wherein: The N second elements to be rendered include a highway network environment, and the highway network environment includes a main driving road and a ramp merging road; The rendering module includes: A second acquisition submodule is used to acquire a first intersection point between the main driving road and the ramp merging road; A third acquisition submodule is used to acquire a second intersection point of a first road in the main driving road and a second road in the ramp merging road, wherein the first road and the second road are adjacently arranged; A construction submodule, configured to construct a triangle according to the first intersection point and the second intersection point, wherein the triangle includes an angle bisector; An extension submodule, used to extend the pre-acquired guide line lane line model along the angle bisector; The second generation submodule is used to generate a ramp diversion area in the electronic map according to the expanded diversion line lane line model and the triangle Boolean operation.

18. The device according to claim 13, wherein: The N second elements to be rendered include the basic road network.

19. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

20. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

21. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 9.

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