Map data processing method, server and storage medium

Abstract

The present application discloses a map data processing method. The processing method includes: obtaining road edge data of a high-precision map to construct a three-dimensional road network; dividing the three-dimensional road network into multiple discrete road cluster grids; dividing the relative height of the road in each road cluster grid into multiple height intervals; compressing the height value of the preset interval segment according to a predetermined rule to adjust the relative height of the road; saving the adjusted relative height data of the road; receiving a request from the vehicle-mounted system to render in an environmental simulation display mode, and using the saved relative height data of the road to complete the rendering on the map of the vehicle-mounted system according to the rendering request. By dividing the road into multiple height intervals and adjusting the height value of each height interval according to a predetermined rule, the relative height of the road in the preset interval segment is dynamically compressed to a reasonable range, thereby enhancing driving safety.

Description

Technical Field

[0001] The present application relates to the technical field of map data processing, and more specifically, to a map data processing method, a server, and a non-volatile computer-readable storage medium for a computer program. Background Art

[0002] When multiple roads are displayed on a map at the same time, the difference in the height values ​​of two roads may be too large, resulting in the situation where the roads occupy the upper and lower ends of the entire ground image with no other objects in the middle. As a result, the user obtains too little effective road condition information, affecting driving safety. Summary of the Invention

[0003] The present application provides a map data processing method, a server, and a non-volatile computer-readable storage medium for a computer program.

[0004] The present application provides a map data processing method, the method comprising:

[0005] Obtain road edge data from high-precision maps and construct a 3D road network;

[0006] Dividing the three-dimensional road network into a plurality of discrete road cluster grids;

[0007] Dividing the relative height of the road of each road cluster grid into a plurality of height intervals;

[0008] Compressing the height value of the preset interval according to a predetermined rule to adjust the relative height of the road;

[0009] Save the relative height data of the adjusted road;

[0010] A request for rendering in an environment simulation display mode is received from the vehicle system, and rendering is completed on a map of the vehicle system using the saved relative height data of the road according to the rendering request.

[0011] In this way, high-precision map road edge data is obtained to construct a full 3D road network. After dividing the full 3D road network into multiple discrete road cluster grids, the relative height of the roads in each road cluster grid is divided into multiple height intervals. Next, the height values ​​of the preset intervals are compressed according to predetermined rules to adjust the relative height of the roads. Finally, the adjusted relative height data of the roads is saved. When a rendering request is received from the vehicle system in an environmental simulation display mode, the saved relative height data of the roads is used to complete the rendering on the vehicle system's map according to the rendering request. By dividing the roads into multiple height intervals and adjusting the height values ​​of each height interval according to predetermined rules, the relative height of the roads in the preset intervals is dynamically compressed to a reasonable range. This ensures that when the rendered 3D road model is displayed on the map, the road does not occupy the upper and lower ends of the entire screen, with no other objects in between. This provides users with more effective road condition information, enhancing driving safety, and the entire 3D road model is positioned in a reasonable position on the map screen, making the map more aesthetically pleasing.

[0012] The step of dividing the entire three-dimensional road network into a plurality of discrete road cluster grids comprises:

[0013] Projecting the entire three-dimensional road network onto a preset two-dimensional plane;

[0014] The three-dimensional roads in the three-dimensional road network that intersect the preset two-dimensional plane are grouped into a road cluster grid, so that the three-dimensional road network is divided into a plurality of discrete road cluster grids.

[0015] In this way, the entire three-dimensional road network is projected onto a preset two-dimensional plane, and then the three-dimensional roads in the entire three-dimensional road network that intersect on the preset two-dimensional plane are grouped into a road cluster grid, so that the entire three-dimensional road network can be divided into multiple discrete road cluster grids.

[0016] After dividing the entire three-dimensional road network into a plurality of discrete road cluster grids, the method includes:

[0017] The accuracy of the relative height values ​​of the road centerline constituent points of the road cluster grid is reduced.

[0018] In this way, the accuracy of the relative height values ​​of the road centerline constituent points of the road cluster grid is reduced, thereby reducing the accuracy of the height values ​​of the three-dimensional road model.

[0019] Dividing the relative height of the roads of each road cluster grid into a plurality of height intervals includes:

[0020] The relative height of the road in each road cluster grid is divided into a plurality of height intervals according to a predetermined height interval.

[0021] In this way, the relative height of the roads in each road cluster grid may be divided into a plurality of height intervals according to the predetermined height intervals.

[0022] The step of compressing the height value of the preset interval according to a predetermined rule to adjust the relative height of the road includes:

[0023] Count the number of points that make up the road centerline within each height interval;

[0024] A compression factor of a first preset value is set for the height interval in which the statistical road centerline constituent points exceed a preset number threshold, so that multiple height intervals are each provided with a corresponding compression factor of the first preset value, so that the reduction amplitude of the height value of the preset interval segment changes sequentially, thereby compressing the relative height of the road in sections.

[0025] In this way, after counting the number of road centerline constituent points within each height interval, a compression factor of a first preset value is set for each height interval where the number of road centerline constituent points exceeds a preset threshold value. This allows each of the multiple height intervals to have a corresponding compression factor of the first preset value, causing the reduction in the height values ​​of the preset intervals to vary sequentially, thereby compressing the relative height of the road in sections. By assigning a compression factor to each height interval based on the number of road constituent points, the relative height of the road within the preset interval can be rapidly reduced while also reasonably compressing the road height, thereby compressing the relative height of the road in sections.

[0026] The height interval includes a cross-pressure interval and a non-cross-pressure interval, and the relative height of each road in the road cluster grid is divided into multiple height intervals, including:

[0027] The relative heights of the roads in each road cluster grid are divided into cross-pressure intervals and non-cross-pressure intervals according to the cross-pressure sections between the roads.

[0028] The cross-pressure intervals with overlapping height difference ranges are merged to obtain a merged cross-pressure interval.

[0029] In this way, the relative heights of the roads in each road cluster grid are divided into cross-pressure intervals and non-cross-pressure intervals according to the cross-pressure segments between the roads, and then the cross-pressure intervals with overlapping height difference ranges are merged to obtain merged cross-pressure intervals.

[0030] The step of compressing the height value of the preset interval according to a predetermined rule to adjust the relative height of the road includes:

[0031] A compression factor of a second preset value is set for the merged cross-pressure interval, and a compression factor of a third preset value is set for the non-cross-pressure interval, so that the reduction amplitude of the height value of the merged cross-pressure interval of the preset interval segment is smaller than the reduction amplitude of the height value of the non-cross-pressure interval, thereby compressing the relative height of the road in sections.

[0032] In this way, a compression factor of a second preset value is set for the combined cross-pressure interval, and a compression factor of a third preset value is set for the non-cross-pressure interval, so that the reduction in the height value of the combined cross-pressure interval of the preset section is smaller than the reduction in the height value of the non-cross-pressure interval, thereby compressing the relative height of the road section by section. By setting a compression factor with a smaller reduction in the height value of the combined cross-pressure interval than the reduction in the height value of the non-cross-pressure interval, the road hierarchy attributes of the cross-pressure section of the preset section are maintained as much as possible, while the height value of the non-cross-pressure interval is compressed.

[0033] The step of compressing the height value of the preset interval according to a predetermined rule to adjust the relative height of the road includes:

[0034] A compression factor equal to 1 is set for the merged cross-pressure interval, and a compression factor of a fourth preset value is set for the non-cross-pressure interval, so that the height value of the merged cross-pressure interval of the preset interval segment remains unchanged and the height value of the non-cross-pressure interval is reduced, thereby compressing the relative height of the road in sections.

[0035] In this way, a compression factor of 1 is set for the combined cross-pressure intervals, and a compression factor of a fourth preset value is set for the non-cross-pressure intervals. This allows the elevation values ​​of the combined cross-pressure intervals of the preset section to remain unchanged while the elevation values ​​of the non-cross-pressure intervals are reduced, thereby compressing the relative elevation of the road segment by segment. This allows the elevation values ​​of the non-cross-pressure intervals to be compressed while maintaining the road hierarchy attributes of the cross-pressure intervals of the preset section.

[0036] The present application also provides a server, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned processing method is implemented.

[0037] The present application also provides a non-volatile computer-readable storage medium for a computer program, which implements the processing method claimed above when the computer program is executed by one or more processors.

[0038] The map data processing method, server, and non-volatile computer-readable storage medium of the present application obtain road edge data from a high-precision map, construct a three-dimensional road network, divide the three-dimensional road network into multiple discrete road cluster grids, and then divide the relative height of the roads in each road cluster grid into multiple height intervals. Then, according to a predetermined rule, the height values ​​of the preset intervals are compressed to adjust the relative height of the roads. Finally, the adjusted relative height data of the roads is saved. When a request for rendering in an environmental simulation display mode is received from an on-board system, the saved relative height data of the roads is used to complete the rendering on the map of the on-board system according to the rendering request. By dividing the roads into multiple height intervals and adjusting the height values ​​of each height interval according to a predetermined rule, the relative height of the roads in the preset intervals is dynamically compressed to a reasonable range. When the rendered three-dimensional road model is displayed on the map, the road does not occupy the upper and lower ends of the entire screen without other objects in the middle. This allows users to obtain more effective road condition information, enhances driving safety, and the entire three-dimensional road model is positioned in a reasonable position on the map screen, making the map screen more beautiful.

[0039] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0041] Figure 1 It is a scenario diagram of the processing method of this application;

[0042] Figure 2 It is a flowchart of the processing method of this application;

[0043] Figure 3 It is a scenario diagram of the processing method of this application;

[0044] Figure 4 It is a flowchart of the processing method of this application;

[0045] Figure 5 It is a flowchart of the processing method of this application;

[0046] Figure 6 It is a flowchart of the processing method of this application;

[0047] Figure 7 It is a flowchart of the processing method of this application;

[0048] Figure 8 It is a flowchart of the processing method of this application;

[0049] Figure 9 It is a scenario diagram of the processing method of this application;

[0050] Figure 10 It is a flowchart of the processing method of this application;

[0051] Figure 11 It is a scenario diagram of the processing method of this application;

[0052] Figure 12 It is a flowchart of the processing method of this application;

[0053] Figure 13 It is a scenario diagram of the processing method of this application;

[0054] Figure 14 This is a schematic diagram of the connection status of the non-volatile computer-readable storage medium and the processor of the present application. DETAILED DESCRIPTION

[0055] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0056] See also Figure 1 , the height of the roads on the map is based on the real altitude, and the real height difference between roads will also be shown on the map. Figure 1 As shown, the actual poster height of the viaduct is 87m, and the actual poster height of the underground tunnel is 25m, with the actual altitude span of the two being 63m. Therefore, when displaying the road conditions near the vehicle on a three-dimensional map, such as a high-precision map, in certain scenarios, such as simultaneously displaying a tunnel deep underground and a road on the city surface, or a vehicle driving on a road in a city with three-dimensional traffic such as an elevated road or an overpass, due to the huge height difference between the roads, the road will occupy the upper and lower ends of the entire screen, with no other objects in the middle. Even after converting the actual altitude of the road to a relative height relative to the ground, when the map displays the road, the road will still occupy the upper and lower ends of the entire screen, with no other objects in the middle. As a result, the user obtains too little effective road condition information, affecting driving safety and making the entire picture unsightly.

[0057] See also Figure 2 , this application provides a map data processing method, comprising the following steps:

[0058] 01: Obtain road edge data from high-precision maps and construct a 3D road network;

[0059] 02: Divide the entire 3D road network into multiple discrete road cluster grids;

[0060] 03: Divide the relative height of each road cluster grid into multiple height intervals;

[0061] 04: Compress the height value of the preset interval according to the predetermined rules to adjust the relative height of the road;

[0062] 05: Save the relative height data of the adjusted road;

[0063] 06: Receive a request from the vehicle system to render in an environment simulation display mode, and use the saved road relative height data to complete the rendering on the map of the vehicle system according to the rendering request.

[0064] The present application also provides a server comprising a memory and a processor. The memory stores a computer program, and the processor is configured to obtain road edge data of a high-precision map, construct a three-dimensional road network, divide the three-dimensional road network into a plurality of discrete road cluster grids, divide the relative height of the road in each road cluster grid into a plurality of height intervals, compress the height values ​​of a preset interval segment according to a predetermined rule to adjust the relative height of the road, save the adjusted relative height data of the road, and receive a request from an in-vehicle system to render in an environmental simulation display mode, and complete rendering on a map of the in-vehicle system using the saved relative height data of the road according to the rendering request.

[0065] Specifically, the height of a road can be determined based on the heights of the points that make up its centerline. This means the relative height of a road can be the relative heights of the points that make up its centerline. A preset interval refers to a road segment for which height adjustment is required and can include one or more height intervals. Roads have cross-over sections, which reflect the three-dimensional hierarchy between roads, specifically which road is located on the upper layer, which road is located on the lower layer, and whether an upper-layer road crosses a certain area of ​​a lower-layer road.

[0066] First, after obtaining road edge data from metadata in the high-precision map, the system uses this data to construct a 3D road network. All constructed 3D roads are then connected to form a complete 3D road network. After converting the original road elevations to relative heights relative to the ground, the 3D roads are segmented into multiple discrete road cluster grids. Next, the road relative heights are divided into multiple height intervals based on certain road height characteristics, such as inter-road spans or predetermined height intervals. The height values ​​in one or more height intervals are compressed according to pre-defined rules to adjust the road relative heights. Finally, the adjusted road relative height data is saved. When the road needs to be displayed on a map later, i.e., when the vehicle system receives a request for rendering in an environmental simulation mode, the saved road relative height data is retrieved and the map is rendered on the vehicle system, displaying the 3D road model.

[0067] See also Figure 3 It can be understood that by dividing the road into multiple height intervals and adjusting the height value of each height interval according to predetermined rules, the relative height of the road in the preset interval segment can be dynamically compressed to a reasonable range, so that when the rendered three-dimensional road model is displayed on the map, for example, when it is displayed on the map in a vehicle environment simulation display (Surrounding Reality, SR) scene, the road will not occupy the upper and lower ends of the entire screen with no other objects in the middle. This allows users to obtain more effective road information, enhances driving safety, and the entire three-dimensional road model is located in a reasonable position on the map screen, making the map screen more beautiful. The schematic diagram of the three-dimensional road on the map after rendering using the relative height data of the road in this application is shown as follows: Figure 3 shown.

[0068] In this way, high-precision map road edge data is obtained to construct a full 3D road network. After dividing the full 3D road network into multiple discrete road cluster grids, the relative height of the roads in each road cluster grid is divided into multiple height intervals. Next, the height values ​​of the preset intervals are compressed according to predetermined rules to adjust the relative height of the roads. Finally, the adjusted relative height data of the roads is saved. When a rendering request is received from the vehicle system in an environmental simulation display mode, the saved relative height data of the roads is used to complete the rendering on the vehicle system's map according to the rendering request. By dividing the roads into multiple height intervals and adjusting the height values ​​of each height interval according to predetermined rules, the relative height of the roads in the preset intervals is dynamically compressed to a reasonable range. This ensures that when the rendered 3D road model is displayed on the map, the road does not occupy the upper and lower ends of the entire screen, with no other objects in between. This provides users with more effective road condition information, enhancing driving safety, and the entire 3D road model is positioned in a reasonable position on the map screen, making the map more aesthetically pleasing.

[0069] See also Figure 4 , step 02 includes:

[0070] 020: Project the entire 3D road network onto a preset 2D plane;

[0071] 021: The three-dimensional roads intersecting in the preset two-dimensional plane in the three-dimensional road network are grouped into a road cluster grid, so that the three-dimensional road network is divided into multiple discrete road cluster grids.

[0072] The processor is used to project the entire three-dimensional road network onto a preset two-dimensional plane, and to group the three-dimensional roads in the entire three-dimensional road network that intersect on the preset two-dimensional plane into a road cluster grid, so that the entire three-dimensional road network is divided into multiple discrete road cluster grids.

[0073] Specifically, the preset two-dimensional plane refers to a two-dimensional plane of a road at a certain height. It is understandable that the road height range on the map is large, so a two-dimensional plane at a certain height in the height range can be selected as the basis for subsequent segmentation of the three-dimensional road network.

[0074] The entire 3D road network is divided into multiple discrete road cluster grids. This involves projecting the constructed 3D road network onto a 2D plane at a certain height. Due to the phenomenon of cross-pressure between roads, the projection of the 3D road network onto the 2D plane at a certain height will result in areas of road intersection. The 3D roads in these intersection areas are then grouped into a single road cluster grid, thus dividing the entire 3D road network into multiple discrete road cluster grids.

[0075] In this way, the entire three-dimensional road network is projected onto a preset two-dimensional plane, and then the three-dimensional roads in the entire three-dimensional road network that intersect on the preset two-dimensional plane are grouped into a road cluster grid, so that the entire three-dimensional road network can be divided into multiple discrete road cluster grids.

[0076] See also Figure 5 , the treatment methods include:

[0077] 07: Reduce the accuracy of the relative height values ​​of the road centerline component points of the road cluster grid.

[0078] The processor is used to reduce the precision of the relative height values ​​of the road centerline constituent points of the road cluster grid.

[0079] Specifically, after dividing the entire three-dimensional road network into multiple discrete road cluster grids, the accuracy of the height value of the three-dimensional road model can be reduced. Since the height of the road can be represented by the height of the points that constitute the road centerline, the accuracy of the height value of the three-dimensional road model can be reduced by reducing the accuracy of the relative heights of the points that constitute the road centerline, for example, converting from centimeter-level units to meter-level units.

[0080] In this way, the accuracy of the relative height values ​​of the road centerline constituent points of the road cluster grid is reduced, thereby reducing the accuracy of the height values ​​of the three-dimensional road model.

[0081] See also Figure 6 , step 03 includes:

[0082] 030: Divide the relative height of the roads in each road cluster grid into multiple height intervals according to a predetermined height interval.

[0083] The processor is configured to divide the relative height of the roads in each road cluster grid into a plurality of height intervals according to predetermined height intervals.

[0084] Specifically, the relative height of each road cluster grid can be divided into multiple height intervals according to predetermined height intervals. The predetermined height intervals can be set by the developer based on actual conditions, for example, the height intervals can be 4m, 5m, and 7m. For example, if the predetermined height interval is 5m, 0 to 5m is a height interval, 5m to 10m is a height interval, 10m to 15m is a height interval, and so on, until the entire height of the 3D road is divided into multiple height intervals.

[0085] In this way, the relative height of the roads in each road cluster grid may be divided into a plurality of height intervals according to the predetermined height intervals.

[0086] See also Figure 7 , step 04 includes:

[0087] 040: Count the number of points that make up the road centerline within each height interval;

[0088] 041: A compression factor of a first preset value is set for the height interval in which the statistical road centerline constituent points exceed a preset number threshold, so that multiple height intervals are each provided with a corresponding compression factor of the first preset value, and the reduction amplitude of the height value of the preset interval segment changes sequentially, thereby compressing the relative height of the road in sections.

[0089] The processor is used to count the number of road centerline constituent points in each height interval, and to set a compression factor of a first preset value for the height interval in which the number of road centerline constituent points after counting exceeds a preset number threshold, so that multiple height intervals are each provided with a corresponding compression factor of the first preset value, so that the reduction amplitude of the height value of the preset interval segment changes sequentially, thereby compressing the relative height of the road in sections.

[0090] Specifically, the relative height of each road cluster grid can be divided into multiple height intervals based on predetermined height intervals. The number of road centerline component points within each height interval is then counted. For example, if the height interval is 0 to 5 meters, 1000 road centerline component points are counted; if the height interval is 5 to 10 meters, 820 road centerline component points are counted; if the height interval is 10 to 15 meters, 700 road centerline component points are counted. This process continues until all road centerline component points for all height intervals are counted.

[0091] It can be understood that there are multiple roads in each altitude interval, and each road has a road centerline, which means that the more points that constitute the road centerlines in the altitude interval, the more roads there are in the altitude interval.

[0092] The first preset value refers to the value of the compression factor set according to the number of centerline component points. The compression factor of the first preset value is set for the height interval where the road centerline component points after statistics exceed the preset number threshold. For example, the compression factor value is set to 0.8 for the height interval 0 to 5m where there are more than 1,000 road centerline component points, the compression factor value is set to 0.2 for the height interval 5m to 10m where there are more than 820 but less than 1,000 road centerline component points, the compression factor value is set to 0.1 for the height interval 10m to 15m where there are more than 700 but less than 820 road centerline component points, and so on. At the same time, the number of road centerline component points after statistics in each height interval can be arranged in descending order according to the rule of most to least, thereby forming the following step-type piecewise function.

[0093]

[0094] Among them, final_height is the relative height value of the preset interval segment after the piecewise function conversion, init_height is the relative height value of the preset interval segment without the piecewise function conversion, and the value of the function is in meters (m).

[0095] It can be understood that height intervals with more road centerline points receive a larger reduction in weight. That is, height intervals with more roads receive a larger reduction in weight. For example, a reduction of 0.8 for a road with 1000 centerline points is greater than a reduction of 0.2 for a road with 820 centerline points. This allows for a faster reduction in the height of the entire three-dimensional road. Furthermore, understanding this function from another perspective, the closer the road height interval is to the ground, the smaller the reduction in weight is needed to maintain the realism of that height interval. The farther the road height interval is from the ground, the larger the reduction in weight is needed. Therefore, height intervals with larger height values ​​receive a larger compression factor. For example, a compression factor of 0.2 for a road with 820 centerline points is greater than a compression factor of 0.8 for a road with 1000 centerline points. In other words, a compression factor of 0.2 for a height interval between 10 and 15 meters is greater than a compression factor of 0.8 for a height interval between 10 and 15 meters. Therefore, by assigning a compression factor corresponding to each height interval according to the number of road component points, the relative height of the road in the preset interval can be quickly reduced while the height value of the road can be reasonably compressed. The descending order can also make the reduction amplitude change sequentially, thereby compressing the relative height of the road in sections.

[0096] In this way, after counting the number of road centerline constituent points within each height interval, a compression factor of a first preset value is set for each height interval where the number of road centerline constituent points exceeds a preset threshold value. This allows each of the multiple height intervals to have a corresponding compression factor of the first preset value, causing the reduction in the height values ​​of the preset intervals to vary sequentially, thereby compressing the relative height of the road in sections. By assigning a compression factor to each height interval based on the number of road constituent points, the relative height of the road within the preset interval can be rapidly reduced while also reasonably compressing the road height, thereby compressing the relative height of the road in sections.

[0097] See also Figure 8 , step 03 includes:

[0098] 031: The relative height of each road cluster grid is divided into a cross-pressure interval and a non-cross-pressure interval according to the cross-pressure sections between the roads.

[0099] 032: Merge the cross-pressure intervals with overlapping height difference ranges to obtain a merged cross-pressure interval.

[0100] The processor is used to divide the relative heights of the roads in each road cluster grid into cross-pressure intervals and non-cross-pressure intervals according to the cross-pressure segments between the roads, and to merge the cross-pressure intervals with overlapping height difference ranges to obtain merged cross-pressure intervals.

[0101] See also Figure 9 Specifically, there will be cross-pressure phenomenon between roads. According to the cross-pressure section between roads, the height interval can be divided into cross-pressure interval and non-cross-pressure interval. That is, the cross-pressure interval refers to the height interval of the cross-pressure section, and the non-cross-pressure section interval refers to the height interval of the non-cross-pressure section. In the entire three-dimensional road, there will be multiple cross-pressure intervals, each of which has its own height difference range. For example, Figure 9 In the road cluster grid shown, there are three cross-pressure sections, namely P1 to P2, P3 to P4 and P5 to P6. The relative height value of point P1 is 6m, the relative height value of point P2 is 10m, the relative height value of point P3 is 2m, the relative height value of point P4 is 8m, the relative height value of point P5 is 11m, and the relative height value of point P6 is 14m. It can be obtained that the height intervals of the three cross-pressure sections are 6 to 10m for section P1 to P2, 2 to 8m for section P3 to P4, and 11 to 14m for section P5 to P6.

[0102] To prevent duplicate calculations of altitude intervals during subsequent calculations of preset intervals, overlapping altitude intervals are merged to form a merged altitude interval. For example, if the altitude intervals of the P1 to P2 segment are 6 to 10 meters and the altitude intervals of the P3 to P4 segment are 2 to 8 meters, there is an overlapping altitude interval of 6 to 8 meters. Therefore, the altitude intervals of the P1 to P2 segment and the P3 to P4 segment are merged to form a merged altitude interval of 2 to 10 meters. The merged altitude intervals are called merged altitude intervals, i.e., the merged altitude intervals are 2 to 10 meters and 11 to 14 meters.

[0103] In this way, the relative heights of the roads in each road cluster grid are divided into cross-pressure intervals and non-cross-pressure intervals according to the cross-pressure segments between the roads, and then the cross-pressure intervals with overlapping height difference ranges are merged to obtain merged cross-pressure intervals.

[0104] See also Figure 10 , step 04 includes:

[0105] 042: A compression factor of a second preset value is set for the merged cross-pressure interval, and a compression factor of a third preset value is set for the non-cross-pressure interval, so that the reduction in the height value of the merged cross-pressure interval of the preset interval segment is smaller than the reduction in the height value of the non-cross-pressure interval, thereby compressing the relative height of the road in sections.

[0106] The processor is used to set a compression factor of a second preset value for the merged cross-pressure interval and a compression factor of a third preset value for the non-cross-pressure interval, so that the reduction amplitude of the height value of the merged cross-pressure interval of the preset interval segment is smaller than the reduction amplitude of the height value of the non-cross-pressure interval, thereby compressing the relative height of the road in sections.

[0107] Specifically, the second preset compression factor is a compression factor that enables the reduction in the height value of the combined cross-pressure interval to be smaller than the reduction in the height value of the non-cross-pressure interval. The third preset compression factor is a compression factor that enables the reduction in the height value of the combined cross-pressure interval to be larger than the reduction in the height value of the non-cross-pressure interval.

[0108] For example, the second preset value is set to 0.9, the third preset value is set to 0.07, and the cross-pressure interval and the non-cross-pressure interval are arranged from low to high, thereby forming the following step-type piecewise function.

[0109]

[0110] Among them, final_height is the relative height value of the preset interval segment after the piecewise function conversion, init_height is the relative height value of the preset interval segment without the piecewise function conversion, and the value of the function is in meters (m).

[0111] See also Figure 11 It can be understood that there is a three-dimensional road hierarchy between roads in the cross-pressure section, that is, which road is located in the upper layer and which road is located in the lower layer, and the upper layer road crosses a certain area of ​​the lower layer road. Therefore, it is necessary to maintain the relative height of the area as much as possible to avoid the failure to reflect the three-dimensional road hierarchy between the roads in the cross-pressure section after excessive compression, for example Figure 11 As shown in the figure, if the original relative height of 4m is directly compressed to 2.2m, the map will appear overly flat, hindering users from understanding road conditions. Furthermore, to avoid the undesirable effect of vehicles crashing into the culverts in animations due to insufficient height depiction after the height compression of the culvert, a compression factor is set for the merged culvert intervals, with a smaller reduction than the reduction in the height of the non-culvert intervals. This minimizes the road hierarchy of the culvert intervals while compressing the height of the non-culvert intervals.

[0112] In this way, a compression factor of a second preset value is set for the combined cross-pressure interval, and a compression factor of a third preset value is set for the non-cross-pressure interval, so that the reduction in the height value of the combined cross-pressure interval of the preset section is smaller than the reduction in the height value of the non-cross-pressure interval, thereby compressing the relative height of the road section by section. By setting a compression factor with a smaller reduction in the height value of the combined cross-pressure interval than the reduction in the height value of the non-cross-pressure interval, the road hierarchy attributes of the cross-pressure section of the preset section are maintained as much as possible, while the height value of the non-cross-pressure interval is compressed.

[0113] See also Figure 12 , step 04 includes:

[0114] 043: A compression factor of 1 is set for the merged cross-pressure interval, and a compression factor of a fourth preset value is set for the non-cross-pressure interval, so that the height value of the merged cross-pressure interval of the preset interval segment remains unchanged and the height value of the non-cross-pressure interval is reduced, thereby compressing the relative height of the road in sections.

[0115] The processor is used to set a compression factor equal to 1 for the merged cross-pressure interval and a compression factor of a fourth preset value for the non-cross-pressure interval, so that the height value of the merged cross-pressure interval of the preset interval segment remains unchanged and the height value of the non-cross-pressure interval is reduced, thereby compressing the relative height of the road in sections.

[0116] Specifically, the compression factor of the fourth preset value refers to when the compression factor of the cross-pressure interval is set to 1, the compression factor of the non-cross-pressure interval is set to a value less than 1, for example 0.05. The cross-pressure interval and the non-cross-pressure interval are arranged from low to high according to the rule of height, thereby forming the following step-type piecewise function.

[0117]

[0118] Among them, final_height is the relative height value of the preset interval segment after the piecewise function conversion, init_height is the relative height value of the preset interval segment without the piecewise function conversion, and the value of the function is in meters (m).

[0119] See also Figure 13 It can be understood that setting a compression factor of 1 for the merged cross-pressure interval and a compression factor of less than 1 for the non-cross-pressure interval can maintain the road layer attributes of the cross-pressure interval in the preset interval while compressing the height value of the non-cross-pressure interval. This makes the road distribution in the rendered map more uniform, the height is reasonable, and the structure expression of the cross-pressure is clearer, achieving a better visual experience. For example, Figure 13At the same time, using the road's own specificity of different cross-pressure heights to create road data not only effectively reduces the relative height of the road in the predetermined section, but also avoids compressing the road with the same parameters, thereby losing the uniqueness of the road cross-pressure section and requiring the relative height of the cross-pressure section to be adjusted later.

[0120] In this way, a compression factor of 1 is set for the combined cross-pressure intervals, and a compression factor of a fourth preset value is set for the non-cross-pressure intervals. This allows the elevation values ​​of the combined cross-pressure intervals of the preset section to remain unchanged while the elevation values ​​of the non-cross-pressure intervals are reduced, thereby compressing the relative elevation of the road segment by segment. This allows the elevation values ​​of the non-cross-pressure intervals to be compressed while maintaining the road hierarchy attributes of the cross-pressure intervals of the preset section.

[0121] See also Figure 14 The present application also provides a non-volatile computer-readable storage medium 100 including a computer program 101. When the computer program 101 is executed by one or more processors 200, the one or more processors 200 execute the processing method of any of the above embodiments.

[0122] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are mutually inconsistent.

[0123] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0124] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A map data processing method, characterized in that: The method comprises: Obtain road edge data from high-precision maps and construct a 3D road network; Dividing the three-dimensional road network into a plurality of discrete road cluster grids; Dividing the relative height of the road of each road cluster grid into a plurality of height intervals; Compressing the height value of the preset interval according to a predetermined rule to adjust the relative height of the road; Save the relative height data of the adjusted road; Receiving a request from the vehicle system to render in an environment simulation display mode, and completing the rendering on a map of the vehicle system using the stored relative height data of the road according to the rendering request; The height interval includes a cross-pressure interval and a non-cross-pressure interval, and the relative height of each road in the road cluster grid is divided into multiple height intervals, including: Dividing the relative height of the roads in each road cluster grid into a cross-pressure interval and a non-cross-pressure interval according to the cross-pressure sections between the roads; Merge the cross-pressure intervals with overlapping height difference ranges to obtain a merged cross-pressure interval; The step of compressing the height value of the preset interval according to a predetermined rule to adjust the relative height of the road includes: A compression factor of a second preset value is set for the combined cross-pressure interval, and a compression factor of a third preset value is set for the non-cross-pressure interval, so that the reduction range of the height value of the combined cross-pressure interval of the preset interval segment is smaller than the reduction range of the height value of the non-cross-pressure interval, thereby compressing the relative height of the road in sections; or A compression factor equal to 1 is set for the merged cross-pressure interval, and a compression factor of a fourth preset value is set for the non-cross-pressure interval, so that the height value of the merged cross-pressure interval of the preset interval segment remains unchanged and the height value of the non-cross-pressure interval is reduced, thereby compressing the relative height of the road in sections.

2. The processing method according to claim 1, characterized in that The step of dividing the entire three-dimensional road network into a plurality of discrete road cluster grids includes: Projecting the entire three-dimensional road network onto a preset two-dimensional plane; The three-dimensional roads in the three-dimensional road network that intersect the preset two-dimensional plane are grouped into a road cluster grid, so that the three-dimensional road network is divided into a plurality of discrete road cluster grids.

3. The processing method according to claim 1, characterized in that After dividing the entire three-dimensional road network into a plurality of discrete road cluster grids, the method includes: The accuracy of the relative height values ​​of the road centerline constituent points of the road cluster grid is reduced.

4. A server, characterized in that: The server includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processing method according to any one of claims 1 to 3 is implemented.

5. A non-volatile computer-readable storage medium comprising a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the processing method according to any one of claims 1 to 3.

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