Map data processing method, server, and storage medium

Abstract

The application discloses a map data processing method. The processing method comprises the following steps: acquiring lane lines with a guide strip attribute according to acquired map data of a high-precision map; processing the acquired lane lines according to a guide strip edge line identification algorithm to obtain edge line data of all guide strips; performing matching processing on the edge line data of all guide strips according to a preset matching algorithm to obtain paired data of two edges of a guide strip; judging the type of the guide strip according to a preset design specification, and then manufacturing a guide strip shape according to a judgment result; saving guide strip data comprising the type of the guide strip and the guide strip shape; receiving a rendering request of a vehicle environment simulation display, and rendering a map of a vehicle-mounted system according to the rendering request and using the saved guide strip data. The paired data of two edges of the guide strip is determined through the preset matching algorithm, and finally, the guide strip shape data prepared according to the paired data can draw the overall area of guide strips of different types.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of map data processing, and more particularly to a map data processing method, a server and a nonvolatile computer readable storage medium. BACKGROUND

[0002] The road guide belt is a relatively important ground feature in a high-precision map, and plays an important guiding role in vehicle flow. In particular, in the scene of high-speed vehicle driving, the features of the guide belt to be displayed need to be more obvious. At present, if the guide belt is directly prepared through the lane line with the guide belt attribute in the high-precision map data, a large number of guide belts will be missed, and the overall area of each guide belt cannot be completely drawn. SUMMARY

[0003] The present application provides a map data processing method, a server and a nonvolatile computer readable storage medium.

[0004] The present application provides a map data processing method, which comprises:

[0005] According to the map data of the high-precision map obtained, the lane line with the guide belt attribute is obtained;

[0006] According to the guide belt edge line recognition algorithm, the obtained lane line is processed to obtain the edge line data of all guide belts;

[0007] According to a preset matching algorithm, the edge line data of all guide belts is matched and processed to obtain paired data which can constitute two edges of a guide belt;

[0008] According to a preset design specification, the type of the guide belt is first judged, and then the guide belt shape is made according to the judgment result;

[0009] The guide belt data including the type of the guide belt and the guide belt shape is saved;

[0010] A rendering request of vehicle environment simulation display is received, and the saved guide belt data is used to complete rendering on the map of the vehicle-mounted system according to the rendering request.

[0011] Thus, according to the map data of the high-precision map obtained, lane lines with the attribute of guide strips are obtained, the lane lines obtained are processed according to a guide strip edge line recognition algorithm, and edge line data of all guide strips is obtained. Then, the edge line data of all guide strips is matched according to a preset matching algorithm, and paired data of two edges that can constitute a guide strip is obtained. Then, according to a preset design specification, the type of the guide strip is first judged, and then the guide strip shape is made according to the judgment result. Finally, guide strip data including the type of the guide strip and the guide strip shape is saved. When a rendering request of a vehicle environment simulation display is received, the saved guide strip data is used to complete rendering on a map of a vehicle-mounted system according to the rendering request. The missing edge line data of the guide strip is filled in through the preset recognition algorithm, the paired data of two edges of the guide strip is determined through the preset matching algorithm, and finally the guide strip shape data prepared according to the paired data can draw the overall area of different types of guide strips.

[0012] The obtained lane lines include road edges, and the lane lines obtained are processed according to a guide strip edge line recognition algorithm to obtain edge line data of all guide strips, including:

[0013] The road edges at the road junction are determined according to the road network topological relationship;

[0014] The road edges are combined according to a preset relationship to obtain a road edge combination;

[0015] The road edge combination that meets the preset guide strip specification is determined as the edge line of the guide strip, so as to obtain the edge line data of all guide strips.

[0016] Thus, the road edges at the road junction are determined according to the road network topological relationship, the road edges are combined according to a preset relationship to obtain a road edge combination, and the road edge combination that meets the preset guide strip specification is determined as the edge line of the guide strip, so as to obtain the edge line data of all guide strips. The recall rate of the edge line data of the guide strip obtained based on the topological relationship of the road network is higher, and more missing edge line data of the guide strip can be made up.

[0017] The edge line data of all guide strips is matched according to a preset matching algorithm to obtain paired data of two edges that can constitute a guide strip, including:

[0018] The edge line data of all guide strips is matched according to the topological relationship and distance relationship between the edges, so as to obtain paired data of two edges that can constitute a guide strip.

[0019] Thus, the edge line data of all guide strips can be matched according to the topological relationship and distance relationship between the edges, so as to obtain paired data of two edges that can constitute a guide strip.

[0020] The type of the flow guide band is first judged according to the preset design specification, and then the shape of the flow guide band is manufactured according to the judgment result.

[0021] The type of the flow guide band is first judged according to the driving direction of the two edges of the flow guide band, the arrow specification, and / or the direction formed by the narrow end and the wide end composed of the two edges of the flow guide band, and then the shape of the flow guide band is manufactured according to the judgment result.

[0022] In this way, the type of the flow guide band is first judged according to the driving direction of the two edges of the flow guide band, the arrow specification, and / or the direction formed by the narrow end and the wide end composed of the two edges of the flow guide band, and then the shape of the flow guide band is manufactured according to the judgment result.

[0023] The type of the flow guide band is first judged according to the preset design specification, and then the shape of the flow guide band is manufactured according to the judgment result.

[0024] The type of the flow guide band is first judged according to the driving direction of the two edges of the flow guide band, the arrow specification, and / or the direction formed by the narrow end and the wide end composed of the two edges of the flow guide band, and then the shape of the flow guide band is manufactured according to the judgment result.

[0025] In this way, the type of the flow guide band is first judged according to the driving direction of the two edges of the flow guide band, the arrow specification, and / or the direction formed by the narrow end and the wide end composed of the two edges of the flow guide band, and then the shape of the flow guide band is manufactured according to the judgment result.

[0026] The type of the flow guide band is first judged according to the preset design specification, and then the shape of the flow guide band is manufactured according to the judgment result.

[0027] The type of the flow guide band is first judged according to the driving direction of the two edges of the flow guide band, the arrow specification, and / or the direction formed by the narrow end and the wide end composed of the two edges of the flow guide band, and then the shape of the flow guide band is manufactured according to the judgment result.

[0028] Thus, according to the consistent driving direction of the two edges of the guide strip, and the consistent driving direction of the two edges of the guide strip and the direction from the wide end to the narrow end formed by the two edges of the guide strip, the guide strip is first determined to be of the second type, and then the center line is simulated according to the shape of the two edges of the guide strip of the second type, and the starting point of the arrow is determined according to the center line and the two edges of the guide strip, so as to complete the shape making of the guide strip of the merging type

[0029] The determining of the starting point of the arrow according to the center line and the two edges of the guide strip comprises:

[0030] When the straight line formed by the point on the center line and the edge of the guide strip in the preset driving direction forms an angle of a preset angle with the center line, the point is determined as the starting point of the arrow.

[0031] Thus, when the straight line formed by the point on the center line and the edge of the guide strip in the preset driving direction forms an angle of a preset angle with the center line, the point can be determined as the starting point of the arrow.

[0032] The method for making the shape of the guide strip according to the preset design specification, and first determining the type of the guide strip, and then making the shape of the guide strip according to the determination result, comprises:

[0033] According to the inconsistent driving direction of the two edges of the guide strip, the guide strip is first determined to be of the third type, and then the shape of the guide strip of the third type is completed according to the shape of the two edges of the guide strip of the third type.

[0034] Thus, according to the inconsistent driving direction of the two edges of the guide strip, the guide strip is first determined to be of the third type, and then the shape of the guide strip of the third type is completed according to the shape of the two edges of the guide strip of the third type.

[0035] The method for making the shape of the guide strip according to the preset design specification, and first determining the type of the guide strip, and then making the shape of the guide strip according to the determination result, comprises:

[0036] According to the consistent driving direction of the two edges of the guide strip, and the consistent driving direction of the two edges of the guide strip and the direction from the wide end to the narrow end formed by the two edges of the guide strip, the guide strip is first determined to be of the second type, and then the center line is simulated according to the shape of the two edges of the guide strip of the second type, and the starting point of the arrow is determined according to the center line and the two edges of the guide strip, so as to complete the shape making of the guide strip of the merging type

[0037] Thus, according to the consistent driving direction of the two edges of the guide strip, and the consistent driving direction of the two edges of the guide strip and the direction from the wide end to the narrow end formed by the two edges of the guide strip, the guide strip is first determined to be of the second type, and then the center line is simulated according to the shape of the two edges of the guide strip of the second type, and the starting point of the arrow is determined according to the center line and the two edges of the guide strip, so as to complete the shape making of the guide strip of the merging type

[0038] The application also provides a server comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the processing method.

[0039] The application further provides a nonvolatile computer-readable storage medium of a computer program, which implements the processing method when the computer program is executed by one or more processors.

[0040] The map data processing method, the server and the nonvolatile computer-readable storage medium of the application obtain lane lines with a guide strip attribute according to obtained map data of a high-precision map, process the obtained lane lines according to a guide strip edge line identification algorithm to obtain edge line data of all guide strips. Then, the edge line data of all guide strips is processed according to a preset matching algorithm to obtain paired data that can form two edges of a guide strip. Then, according to a preset design specification, the type of the guide strip is first determined, and then the guide strip shape is made according to the determination result. Finally, the guide strip data including the type of the guide strip and the guide strip shape is saved. When a rendering request of a vehicle environment simulation display is received, the saved guide strip data is used to complete rendering on a map of a vehicle-mounted system according to the rendering request. The missing edge line data of the guide strip is filled in through the preset identification algorithm, the paired data of the two edges of the guide strip is determined through the preset matching algorithm, and finally the guide strip shape data prepared according to the paired data can draw the overall area of guide strips of different types.

[0041] Additional aspects and advantages of the embodiments of the application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0043] Figure 1 is a flowchart of the processing method of the application;

[0044] Figure 2 is one of the scene schematic diagrams of the processing method of the application;

[0045] Figure 3 is a flowchart of the processing method of the application;

[0046] Figure 4 is a flowchart of the processing method of the application;

[0047] Figure 5 is a flowchart of the processing method of the application;

[0048] Figure 6 is the second scene schematic diagram of the processing method of the application;

[0049] Figure 7 is the third scene schematic diagram of the processing method of the application;

[0050] Figure 8 Fig. 4 is a schematic diagram of a scenario of the processing method of the present application;

[0051] Figure 9 Fig. 5 is a schematic diagram of a flow of the processing method of the present application;

[0052] Figure 10 Fig. 6 is a schematic diagram of a scenario of the processing method of the present application;

[0053] Figure 11 Fig. 7 is a schematic diagram of a flow of the processing method of the present application;

[0054] Figure 12 Fig. 8 is a schematic diagram of a scenario of the processing method of the present application;

[0055] Figure 13 Fig. 9 is a schematic diagram of a flow of the processing method of the present application;

[0056] Figure 14 Fig. 10 is a schematic diagram of a flow of the processing method of the present application;

[0057] Figure 15 Fig. 11 is a schematic diagram of a scenario of the processing method of the present application;

[0058] Figure 16 Fig. 12 is a schematic diagram of a flow of the processing method of the present application;

[0059] Figure 17 Fig. 13 is a schematic diagram of a scenario of the processing method of the present application;

[0060] Figure 18 Fig. 14 is a schematic diagram of a connection state of the non-volatile computer readable storage medium and the processor of the present application. DETAILED DESCRIPTION

[0061] Embodiments of the present application are described in detail below with reference to the accompanying drawings. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals are used throughout to designate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are examples only, and are used only to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0062] The road recognition algorithm includes perspective processing of a road image to obtain road surface element features, and matching the road surface element features with the analyzed road surface elements, thereby determining the guide strip region. The edge line data of the guide strip is obtained by selecting a contour growth point in the region and segment fitting.

[0063] Referring to Figure 1 The map data processing method of the present application includes the following steps:

[0064] 01: Obtain lane lines with a guide strip attribute according to the obtained map data of a high-precision map;

[0065] 02: Process the obtained lane lines according to a guide strip edge line recognition algorithm to obtain edge line data of all guide strips;

[0066] 03: Perform matching processing on the edge line data of all guide strips according to a preset matching algorithm to obtain paired data that can form two edges of a guide strip;

[0067] 04: According to a preset design specification, first determine the type of the guide strip, and then manufacture a guide strip shape according to the determination result;

[0068] 05: Save guide strip data including the type of the guide strip and the guide strip shape;

[0069] 06: Receive a rendering request of a vehicle environment simulation display, and perform rendering on a map of a vehicle-mounted system according to the rendering request using the saved guide strip data.

[0070] The application also provides a server including a memory and a processor. The memory stores a computer program, and the processor is configured to obtain lane lines with a guide strip attribute according to the obtained map data of a high-precision map, and to process the obtained lane lines according to a guide strip edge line recognition algorithm to obtain edge line data of all guide strips, and to perform matching processing on the edge line data of all guide strips according to a preset matching algorithm to obtain paired data that can form two edges of a guide strip, and to first determine the type of the guide strip according to a preset design specification, and then manufacture a guide strip shape according to the determination result, and to save guide strip data including the type of the guide strip and the guide strip shape, and to receive a rendering request of a vehicle environment simulation display, and to perform rendering on a map of a vehicle-mounted system according to the rendering request using the saved guide strip data.

[0071] Specifically, the map data includes data representing a road network in a high-precision map, such as data representing a road, a lane in the road, a lane edge line on the lane, a lane center line, and data representing three-dimensional spatial information at a lane level, such as data representing grouping and topological relationships among the road, the lane, and the lane center line. That is, the data processed by the application can come from the map data.

[0072] The guide strip mainly appears at a relatively complex intersection and is one of lane edge lines, and is used for marking that a vehicle cannot cross a line to another lane, and the guide strip is represented by a ground area on an entire lane, specifically, an edge line formed by two edges, and an internal area formed by the edge line has arrow patterns or horizontal stripe patterns.

[0073] Lane lines refer to the lines on both sides of the lane, and lane lines with the attribute of guide strips refer to a set of lane lines with guide strips.

[0074] The guide strip recognition algorithm of the present application is specifically as follows: first, all fork roads are found according to the topological relationship of the road network, and then the edges of all fork roads are combined. If the shape of the combined road edge meets the specifications of the guide strip, it can be determined that the edge data of the road can be used as the edge data of the guide strip.

[0075] Referring to Figure 2 , the actual effect diagram of the area of the guide strip edge data found by the guide strip recognition algorithm of the present application is shown in Figure 2 , and the part enclosed by the dashed line is the area of the guide strip edge data obtained from the high-precision map. The part enclosed by the solid line is the area of the guide strip edge data found by the guide strip recognition algorithm of the present application.

[0076] It can be understood that the edge data of the guide strip can be obtained from the high-precision map, but the obtained edge data of the guide strip is missing and cannot be used to prepare all the guide strips on the map. Therefore, the guide strip recognition algorithm is needed to fill in the missing edge data of the guide strip.

[0077] The preset matching algorithm is specifically as follows: the edge data of the guide strip obtained from the high-precision map and the edge data of the guide strip obtained by the guide strip recognition algorithm are matched according to the existing correlation between the edges to obtain paired data that can form two edges of a guide strip.

[0078] It can be understood that a guide strip is actually composed of two edges, so the relationship between the two edges that form the edge of the guide strip can be used to match all the obtained edge data to determine the required edge data of the guide strip. After the edge data of the guide strip obtained based on the guide strip edge recognition algorithm is supplemented with the missing edge data of the guide strip, all the edge data is further matched by the preset matching algorithm, and paired data that can form two edges of a guide strip can be determined.

[0079] The specifications of the guide strip can be designed in advance by the developer according to relevant information, for example, the actual guide strip can be referred to for design. There are various types of guide strips, such as diverging guide strips, converging guide strips, diverging and converging guide strips, and other guide strip types.

[0080] Each guide strip has specific characteristics, for example, the edge data of each guide strip can be assigned specific driving direction information, the two edges can form two ends with specific shapes, and there are specific stripes in the area of the guide strip, etc. Therefore, the guide strip type can be determined by designing the driving direction of the two edges, the width and narrowness of the two ends, the direction of forming the two ends, the specifications of the arrow and the specifications of the horizontal grid, etc.

[0081] After obtaining the pair data that can form two edges of a guide strip, the specific guide strip type is prepared. First, according to the preset design specification, it is determined that the two edges of the pair can form a guide strip type, and after determining the guide strip type, the guide strip shape data is made according to the specific type. The guide strip shape data produced can include the shape of the two edges of the guide strip and / or the baseline of the arrow, that is, the center line simulated according to the two edges. Some guide strip types can produce two edge shape data of the guide strip, and some guide strip types can produce two edge shape data and one center line data of the guide strip, that is, three edge data. According to the guide strip shape produced, the overall area of the guide strip can be completely described. Finally, the guide strip shape data and the guide strip type data are saved in the database or other storage system.

[0082] When receiving the rendering request of the vehicle environment simulation display, the data saved in the database or other storage system is called out according to the rendering request, and the rendering of the map is completed. For example, when there is a split guide strip around the vehicle, the vehicle sends a rendering request of the vehicle environment simulation display, the shape data and type data used to make the split guide strip in the data are called out, the split guide strip is made and rendered, and then displayed on the map. The user can see the simulation guide strip of the split guide strip type from the map.

[0083] It can be understood that the present application designs various types of guide strips, and according to the two to three lines finally produced according to different types of guide strips, the overall area of different types of guide strips can be drawn when rendered to the map later. That is, after receiving the request of the vehicle environment simulation display, the specific type of guide strip shape data corresponding to the real vehicle surrounding environment can be directly called out, so as to make the overall area of the guide strip and display it in the vehicle environment simulation display (Surrounding Reality, SR) scene.

[0084] Thus, according to the map data of the high-precision map obtained, lane lines with the attribute of guide strips are obtained, the lane lines obtained are processed according to a guide strip edge line recognition algorithm, and edge line data of all guide strips is obtained. Then, the edge line data of all guide strips is matched according to a preset matching algorithm, and paired data of two edges of a guide strip is obtained. Then, according to a preset design specification, the type of the guide strip is first judged, and then the guide strip shape is made according to the judgment result. Finally, guide strip data including the type of the guide strip and the guide strip shape is saved. When a rendering request of a vehicle environment simulation display is received, the saved guide strip data is used to complete rendering on a map of a vehicle-mounted system according to the rendering request. The missing edge line data of the guide strip is filled in through the preset recognition algorithm, the paired data of the two edges of the guide strip is determined through the preset matching algorithm, and finally the guide strip shape data prepared according to the paired data can draw the overall area of guide strips of different types.

[0085] Please refer to Figure 3 , step 02 includes:

[0086] 020: determining road edge lines at road junctions according to road network topological relations;

[0087] 021: combining road edge lines to obtain road edge line combinations according to a preset relationship;

[0088] 022: determining road edge line combinations satisfying a preset guide strip specification as edge lines of guide strips, thereby obtaining edge line data of all guide strips.

[0089] The processor is configured to determine road edge lines at road junctions according to road network topological relations, combine road edge lines to obtain road edge line combinations according to a preset relationship, and determine road edge line combinations satisfying a preset guide strip specification as edge lines of guide strips, thereby obtaining edge line data of all guide strips.

[0090] Specifically, the guide strip edge line recognition algorithm includes determining road edge lines at road junctions according to road network topological relations. Road edge lines are combined according to a preset spatial relationship of two edges of a guide strip, and a combination of road edge lines satisfying a preset guide strip specification is obtained. The combination can be determined as edge lines of guide strips, and in combination with existing edge lines of guide strips obtained from map data, edge line data of all guide strips to be matched subsequently can be obtained.

[0091] It can be understood that, compared with the method of obtaining edge line data by perspective processing of road images, the recall rate of edge line data of guide strips obtained based on the topological relationship of the road network is higher.

[0092] Thus, the road edge lines at road junctions are determined according to the topological relationship of the road network, the road edge line combinations are obtained by combining the road edge lines according to the preset relationship, the edge lines of the guide lane that meet the preset guide lane specification are determined as the edge lines of the guide lane, and thus the edge line data of all guide lanes is obtained. The recall rate of the edge line data of the guide lane obtained based on the topological relationship of the road network is higher, and more missing edge line data of the guide lane can be made up.

[0093] Please refer to Figure 4 , step 03 includes:

[0094] 030: Match all edge line data of the guide lane according to the topological relationship and distance relationship between the edge lines, so as to obtain paired data that can constitute two edges of a guide lane.

[0095] The processor is configured to match all edge line data of the guide lane according to the topological relationship and distance relationship between the edge lines, so as to obtain paired data that can constitute two edges of a guide lane.

[0096] Specifically, the matching factors of the preset matching algorithm can be the topological relationship and the distance relationship. That is, all edge line data of the guide lane is matched according to the topological relationship and distance relationship between the edge lines, so as to obtain paired data that can constitute two edges of a guide lane. The code for matching according to the topological relationship and distance relationship between the edge lines can be as follows:

[0097]

[0098] Among them, the input data includes an edge line list (lineList) and an edge line and related edge line list (relMap), wherein the edge line and the related edge line refer to the guide lane edge lines of the same road junction. The output data includes index information of paired data that can constitute two edges of a guide lane.

[0099] Thus, all edge line data of the guide lane can be matched according to the topological relationship and distance relationship between the edge lines, so as to obtain paired data that can constitute two edges of a guide lane.

[0100] Please refer to Figure 5 , step 04 includes:

[0101] 040: First, determine whether the guide lane belongs to the first type, the second type, the third type or the fourth type according to the driving direction of the two edges of the guide lane, the arrow specification and / or the direction formed by the narrow end and the wide end formed by the two edges of the guide lane, and then make the guide lane shape according to the determination result.

[0102] The processor is configured to determine the type of the guide strip according to the driving direction of the two edges of the guide strip, the arrow specification of the guide strip, and / or the direction formed by the narrow end and the wide end formed by the two edges of the guide strip, and then manufacture the shape of the guide strip according to the determination result.

[0103] Referring to Figures 6 to 8 , specifically, the first type refers to a split type, as shown in Figure 6 , the guide strip of the split type is a guide strip at a split intersection, the guide strip of the split type is provided with an arrow inside the region of the guide strip, the direction of the arrow points to the driving direction of the vehicle, and can be used to guide the vehicle flow to split from one lane to multiple lanes. As shown in Figure 7 , the second type refers to a merging type, the guide strip of the merging type is a guide strip at a road merging intersection, the guide strip of the merging type is provided with an arrow inside the region of the guide strip, the direction of the arrow points to the driving direction of the vehicle, and can be used to guide the vehicle flow on two lanes in the same direction to merge into one lane. As shown in Figure 8 , the third type refers to a split-merge type, the guide strip of the split-merge type is at a split-merge intersection. The fourth type refers to other types, i.e., other types are the remaining guide strip types that do not belong to the split type, the merging type, and the split-merge type. The functions of the split-merge guide strip and the other guide strips are designed according to actual conditions.

[0104] It can be understood that the edge data of each guide strip is provided with a driving direction, which can be calculated from the traffic direction data of other associated lanes. The two edges form two ends, the width and the direction of the two ends formed by the two edges are related to the type of the guide strip. In addition to the two edges, the guide strip also forms an arrow pattern or a horizontal grid pattern in the region formed by the two edges, so the arrow specification or the horizontal grid specification of the arrow pattern can be designed in advance. Therefore, the guide strip specification of the driving direction of the two edges, the width of the two ends, the direction of the two ends formed by the two edges, and the arrow specification are designed in advance to determine the type of the guide strip.

[0105] In this way, the type of the guide strip can be determined according to the driving direction of the two edges of the guide strip, the arrow specification of the guide strip, and / or the direction formed by the narrow end and the wide end formed by the two edges of the guide strip, and then the shape of the guide strip is manufactured according to the determination result.

[0106] Referring to Figure 9 , step 040 includes:

[0107] 0400: According to the consistent running direction of the two sides of the guide belt, and the running direction of the two sides of the guide belt is consistent with the direction from the narrow end to the wide end of the two sides of the guide belt, first determine that the guide belt belongs to the first type, and then simulate the center line according to the shape of the two sides of the first type of guide belt. Determine the starting point of the arrow based on the center line and the two sides of the guide belt to complete the shape production of the first type of guide belt.

[0108] The processor is used to determine that the guide belt belongs to the first type according to the consistent running direction of the two sides of the guide belt, and the running direction of the two sides of the guide belt is consistent with the direction from the narrow end to the wide end formed by the two sides of the guide belt. Then, according to the shape of the two sides of the first type of guide belt, the center line is simulated, and the starting point of the arrow is determined according to the center line and the two sides of the guide belt to complete the shape production of the first type of guide belt.

[0109] See also Figure 10 Specifically, the method for preparing the diversion type guide strip shape data is as follows: first, after obtaining the paired data of the two sides of a guide strip, the driving directions of the two paired sides are obtained, such as Figure 10 As shown in a, when it is determined that the vehicles on the two sides are traveling in the same direction, and the direction from the narrow end to the wide end of the two sides is the same as the vehicle's traveling direction, it can be determined that the guide strip type of the two paired sides is a diversion type. Then, based on the shape of the two side lines of the guide strip, the center line is simulated as the baseline of the arrow. The starting point of the arrow can be found on this baseline, so that the shape data of the guide strip of the diversion type can be prepared, that is, the shape data of the two side lines and the center line data, for example Figure 10 Lines 1, 2, and 3 in c.

[0110] When drawing the diversion type of guide belt in the subsequent process, the data changes in the order of 10a, 10b and 10c. Figure 10 As mentioned in c, first, find the starting point of the arrow at the second point of the center line through the arrow specifications. Then, the line sequence is drawn from right to left in the direction of the arrow, where the point sequence of line 1 is counterclockwise. The point sequence is drawn in the direction of the arrow. Line sequence and point sequence are concepts that simulate arrow drawing. Line sequence refers to the line sequence of the arrow, and point sequence refers to the point sequence of the arrow. When drawing an arrow, follow Figure 10 Draw the arrowheads in c. Finally, apply a road surface texture to the head of the guide strip, a white stripe to the arrowhead, and a pure white texture to the tail of the guide strip.

[0111] Thus, according to the consistent driving direction of the two edges of the guide strip and the consistent driving direction of the two edges of the guide strip from the wide end to the narrow end, it is first determined that the guide strip belongs to the first type, and then the center line is simulated according to the shape of the two edges of the guide strip of the first type, and the starting point of the arrow is determined according to the center line and the two edges of the guide strip, so that the shape of the guide strip of the first type can be completed.

[0112] Referring to Figure 11 , step 040 comprises:

[0113] 0401: According to the consistent driving direction of the two edges of the guide strip and the consistent driving direction of the two edges of the guide strip from the wide end to the narrow end, it is first determined that the guide strip belongs to the second type, and then the center line is simulated according to the shape of the two edges of the guide strip of the second type, and the starting point of the arrow is determined according to the center line and the two edges of the guide strip, so that the shape of the guide strip of the second type can be completed.

[0114] The processor is configured to determine that the guide strip belongs to the second type according to the consistent driving direction of the two edges of the guide strip and the consistent driving direction of the two edges of the guide strip from the wide end to the narrow end, and then simulate a center line according to the shape of the two edges of the guide strip of the second type, and determine the starting point of the arrow according to the center line and the two edges of the guide strip, so that the shape of the guide strip of the second type can be completed.

[0115] Referring to Figure 12 , specifically, the method for preparing the guide strip shape data of the merging type is that, after obtaining the pairing data of the two edges of a guide strip, the driving direction of the paired two edges is obtained, as shown in Figure 12 a, it is determined that the driving direction of the two edges of the vehicle is consistent, and the wide end to the narrow end direction formed by the two edges is the same as the driving direction of the vehicle, so that it can be determined that the guide strip type of the paired two edges belongs to the merging type. Then, the center line is simulated as the baseline of the arrow according to the shape of the two edge lines of the guide strip, and the starting point of the arrow can be found on the baseline, so that the guide strip shape data of the merging type, that is, the two edge line shape data and the center line data, can be prepared. For example Figure 12 the line 1, line 2 and line 3 in

[0116] As shown in Figure 12 a, 12b and 12c, in subsequent drawing of the guide strip of the merging type, the preparation process principle is consistent with that of the diverging type guide strip.

[0117] Thus, according to the consistent driving directions of the two edges of the guide strip and the consistent driving directions of the two edges of the guide strip from the wide end to the narrow end, the guide strip is first determined to be of the second type, and then the center line is simulated according to the shapes of the two edges of the guide strip of the second type, and the starting point of the arrow is determined according to the center line and the two edges of the guide strip, so as to complete the shape making of the guide strip of the merging type

[0118] Please refer to Figure 13 , in steps 0400 and 0401, the step of determining the starting point of the arrow according to the center line and the two edges of the guide strip includes:

[0119] 07: When the straight line formed by the point on the center line to the edge of the preset driving direction of the guide strip and the center line forms a preset angle, the point is determined as the starting point of the arrow.

[0120] The processor is configured to determine the starting point of the arrow when the straight line formed by the point on the center line to the edge of the preset driving direction of the guide strip and the center line forms a preset angle.

[0121] Please refer to Figure 10 c, specifically, the arrow specification includes that the angle formed by one of the two edges of the arrow and the center line is a preset angle, that is, when the straight line formed by the point on the center line to the edge of the preset driving direction of the guide strip and the center line forms a preset angle, the point can be determined as the starting point of the arrow. The preset angle can be about 75°, such as 60°, 75° and 83°, etc. The preset driving direction can be driving to the right.

[0122] Thus, when the straight line formed by the point on the center line to the edge of the preset driving direction of the guide strip and the center line forms a preset angle, the point can be determined as the starting point of the arrow.

[0123] Please refer to Figure 14 , step 040 includes:

[0124] 0402: According to the inconsistent driving directions of the two edges of the guide strip, the guide strip is first determined to be of the third type, and then the shape making of the guide strip of the third type is completed according to the shapes of the two edges of the guide strip of the third type.

[0125] The processor is configured to determine the guide strip to be of the third type according to the inconsistent driving directions of the two edges of the guide strip, and then complete the shape making of the guide strip of the third type according to the shapes of the two edges of the guide strip of the third type.

[0126] Please refer to Figure 15 , specifically, the method for making the shape data of the guide strip of the merging and separating type is that, first, after obtaining the pairing data of the two edges of a guide strip, the driving directions of the paired two edges are obtained, such as Figure 15As shown in FIG. 1a, when it is determined that the driving directions of the two edges of the vehicle are inconsistent, it can be determined that the types of the guide strips of the two edges belong to the split-merge type, the center line can not be simulated, and thus the shape data of the guide strips of the split-merge type, i.e., the shape data of the two edges, can be prepared.

[0127] As shown in FIG. 1a, when it is determined that the driving directions of the two edges of the vehicle are inconsistent, it can be determined that the types of the guide strips of the two edges belong to the split-merge type, the center line can not be simulated, and thus the shape data of the guide strips of the split-merge type, i.e., the shape data of the two edges, can be prepared. Figure 15 a, 15b and 15c, when the guide strips of the split-merge type are subsequently drawn, the cross points are obtained according to the shape data of the two edges, and the texture is pasted along the cross points.

[0128] Thus, according to the inconsistent driving directions of the two edges of the guide strip, it is first determined that the guide strip belongs to the third type, and then the shape of the guide strip of the third type is completed according to the shapes of the two edges of the guide strip of the third type.

[0129] As shown in FIG. 1a, when it is determined that the driving directions of the two edges of the vehicle are inconsistent, it can be determined that the types of the guide strips of the two edges belong to the split-merge type, the center line can not be simulated, and thus the shape data of the guide strips of the split-merge type, i.e., the shape data of the two edges, can be prepared. Figure 16 , step 040 comprises:

[0130] 0403: According to the consistent driving directions of the two edges of the guide strip and the fact that the arrow specification is not met, it is first determined that the guide strip belongs to the fourth type, and then the shape of the guide strip of the fourth type is completed according to the shapes of the two edges of the guide strip of the fourth type.

[0131] The processor is configured to determine, according to the consistent driving directions of the two edges of the guide strip and the fact that the arrow specification is not met, that the guide strip belongs to the fourth type, and then complete the shape of the guide strip of the fourth type according to the shapes of the two edges of the guide strip of the fourth type.

[0132] As shown in FIG. 1a, when it is determined that the driving directions of the two edges of the vehicle are inconsistent, it can be determined that the types of the guide strips of the two edges belong to the split-merge type, the center line can not be simulated, and thus the shape data of the guide strips of the split-merge type, i.e., the shape data of the two edges, can be prepared. Figure 17 Specifically, the method for preparing the shape data of the guide strip of other types is as follows: first, after obtaining the pairing data of the two edges of a guide strip, the driving directions of the paired two edges are obtained, as shown in FIG. 1a. Figure 17 As shown in FIG. 1a, when it is determined that the driving directions of the two edges of the vehicle are inconsistent, it can be determined that the types of the guide strips of the two edges belong to the split-merge type, the center line can not be simulated, and thus the shape data of the guide strips of the split-merge type, i.e., the shape data of the two edges, can be prepared.

[0133] As shown in FIG. 1a, when it is determined that the driving directions of the two edges of the vehicle are inconsistent, it can be determined that the types of the guide strips of the two edges belong to the split-merge type, the center line can not be simulated, and thus the shape data of the guide strips of the split-merge type, i.e., the shape data of the two edges, can be prepared. Figure 17 a, 15b and 15c, when the guide strips of the split-merge type are subsequently drawn, the cross points are obtained according to the shape data of the two edges, and the texture is pasted along the cross points.

[0134] Thus, according to the inconsistent driving directions of the two edges of the guide strip, it is first determined that the guide strip belongs to the third type, and then the shape of the guide strip of the third type is completed according to the shapes of the two edges of the guide strip of the third type. Thus, according to the inconsistent driving directions of the two edges of the guide strip, it is first determined that the guide strip belongs to the third type, and then the shape of the guide strip of the third type is completed according to the shapes of the two edges of the guide strip of the third type.

[0135] Please refer to Figure 18 The application also provides a non-volatile computer readable storage medium 100 containing the computer program 101. When the computer program 101 is executed by one or more processors 200, the one or more processors 200 execute the interactive method of any of the above embodiments.

[0136] In the description of the present specification, the description referring to the terms "certain embodiments", "in one example", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by the person skilled in the art without contradiction.

[0137] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing specific logic functions or steps in the process. The various embodiments of the application can include additional or fewer steps or processes in addition to or other than those of the right illustrated in the figures and described herein. The various embodiments of the application can also include program instructions stored in memory, which are arranged to execute on one or more processors to perform the steps described in the various embodiments of the application as described in the figures and above.

[0138] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A map data processing method characterized by comprising: The method comprises: According to the map data of the obtained high-precision map, a lane line with a guide strip attribute is obtained; According to a guide strip edge line recognition algorithm, the obtained lane line is processed to obtain edge line data of all guide strips; According to a preset matching algorithm, the edge line data of all guide strips is matched to obtain paired data of two edges that can form a guide strip; According to a preset design specification, the type of the guide strip is first determined, and then the guide strip shape is made according to the determination result. Save the guide strip data including the type of the guide strip and the guide strip shape. Receive a rendering request of a vehicle environment simulation display, and use the saved guide strip data to complete rendering on a map of a vehicle-mounted system according to the rendering request. According to the preset design specification, the type of the guide strip is first determined, and then the guide strip shape is made according to the determination result, which comprises: According to the driving direction of the two edges of the guide strip, the arrow specification and / or the direction formed by the narrow end and the wide end composed of the two edges of the guide strip, the guide strip is first determined to belong to the first type, the second type, the third type or the fourth type, and then the guide strip shape is made according to the determination result.

2. The map data processing method according to claim 1, characterized by, The obtained lane line includes road edge lines, and the edge line data of all guide strips is obtained by processing the obtained lane line according to a guide strip edge line recognition algorithm, which comprises: According to the road network topological relationship, the road edge lines at the road junction are determined; According to a preset relationship, the road edge lines are combined to obtain a road edge line combination; The road edge line combination that meets the preset guide strip specification is determined as the edge line of the guide strip, so as to obtain the edge line data of all guide strips.

3. The map data processing method according to claim 1, characterized by, According to the preset matching algorithm, the edge line data of all guide strips is matched to obtain paired data of two edges that can form a guide strip, which comprises: According to the topological relationship and distance relationship between the edge lines, the edge line data of all guide strips is matched to obtain paired data of two edges that can form a guide strip.

4. The map data processing method according to claim 1, characterized by, According to the preset design specification, the type of the guide strip is first determined, and then the guide strip shape is made according to the determination result, which comprises: According to the consistent driving direction of the two edges of the guide strip, and the consistent driving direction of the two edges of the guide strip and the direction from the narrow end to the wide end composed of the two edges of the guide strip, the guide strip is first determined to belong to the first type, and then the center line is simulated according to the shape of the two edges of the guide strip of the first type, and the arrow starting point is determined according to the center line and the two edges of the guide strip, so as to complete the guide strip shape making of the first type.

5. The map data processing method according to claim 1, characterized by, According to the preset design specification, the type of the guide strip is first determined, and then the guide strip shape is made according to the determination result, which comprises: According to the consistent driving direction of the two edges of the guide strip, and the consistent driving direction of the two edges of the guide strip and the direction from the wide end to the narrow end composed of the two edges of the guide strip, the guide strip is first determined to belong to the second type, and then the center line is simulated according to the shape of the two edges of the guide strip of the second type, and the arrow starting point is determined according to the center line and the two edges of the guide strip, so as to complete the guide strip shape making of the second type.

6. A treatment method according to any of claims 4 or 5, characterised in that, According to the center line and the two edges of the guide strip, the arrow starting point is determined, which comprises: When the point on the center line forms a straight line with the edge of the preset driving direction of the guide strip, and the straight line forms a preset angle with the center line, the point is determined as the arrow starting point.

7. The map data processing method according to claim 1, characterized by, The method comprises the following steps: judging the type of the flow guide band according to the preset design specification, and manufacturing the shape of the flow guide band according to the judgment result. According to the inconsistent driving directions of the two edges of the flow guide band, it is firstly judged that the flow guide band belongs to the third type, and then the shape of the flow guide band of the third type is manufactured according to the shape of the two edges of the flow guide band of the third type.

8. The map data processing method according to claim 1, characterized by, The method comprises the following steps: judging the type of the flow guide band according to the preset design specification, and manufacturing the shape of the flow guide band according to the judgment result. According to the consistent driving directions of the two edges of the flow guide band and the fact that the flow guide band does not satisfy the arrow specification, it is firstly judged that the flow guide band belongs to the fourth type, and then the shape of the flow guide band of the fourth type is manufactured according to the shape of the two edges of the flow guide band of the fourth type.

9. A server, characterized by The server comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to realize the processing method in any one of claims 1-8.

10. A non-transitory computer readable storage medium of a computer program, characterized in that, When the computer program is executed by one or more processors, the processing method in any one of claims 1-8 is realized.

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