Method, device, electronic device, and storage medium for processing front guide lines of vehicles

Abstract

This application discloses a method, device, electronic device, and storage medium for processing vehicle guide lines. The method, when applied to high-precision map navigation, includes obtaining the initial position information of a target vehicle in real time; obtaining vehicle guide line data; and, before rendering the target vehicle and the vehicle guide line data, deleting the vehicle guide line data that appears behind the target vehicle based on the distance traveled by the target vehicle, so that the vehicle guide line data remains in front of the target vehicle after rendering. The distance traveled by the target vehicle includes the distance traveled by the vehicle's initial position information at a preset speed. This application enables dynamic deletion of vehicle guide lines, improving user experience.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and storage medium for processing a front guide line of a vehicle. Background Art

[0002] High-precision map navigation can accurately display information about the autonomous driving vehicle, other vehicles, and other environments.

[0003] Front guide lines can be used to guide a vehicle's direction of travel. Typically, these lines need to be located in front of the vehicle to provide guidance. However, due to incompatibilities between the vehicle's positioning information and the refresh rate of the front guide lines, the front guide lines can easily appear behind the vehicle, impacting the user experience. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, electronic device, and storage medium for processing a guide line in front of a vehicle, so as to dynamically process and display the guide line in front of the vehicle in high-precision navigation.

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

[0006] In a first aspect, an embodiment of the present application provides a method for processing a vehicle front guide line, wherein the method is applied to high-precision map navigation, and the method includes:

[0007] Obtain the target vehicle's initial position information in real time;

[0008] Obtain the vehicle front guide line data;

[0009] Before rendering the target vehicle and the front guide line data, the front guide line data that appears behind the target vehicle is deleted based on the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle after rendering. The distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed.

[0010] In some embodiments, the method further comprises:

[0011] Obtain the initial speed corresponding to the initial position information of the target vehicle;

[0012] An initial distance traveled by the target vehicle within an initial time period is determined according to an initial speed of the target vehicle, wherein both the initial speed and the initial distance are 0.

[0013] In some embodiments, before rendering the target vehicle and the front guide line data, deleting the front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle, includes:

[0014] When rendering the first frame of data, determining a first distance traveled by the target vehicle within a first time period according to the first speed of the target vehicle;

[0015] The vehicle front guide line data appearing behind the target vehicle is deleted according to the first distance length.

[0016] In some embodiments, before rendering the target vehicle and the front guide line data, deleting the front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle, includes:

[0017] When rendering the second frame data, determining a second distance traveled by the target vehicle in a second time period according to the second speed and the first speed of the target vehicle, and determining a current acceleration by combining the second speed and the first speed;

[0018] The vehicle front guide line data appearing behind the target vehicle is deleted according to the second distance length.

[0019] In some embodiments, deleting the vehicle front guide line data appearing behind the target vehicle includes:

[0020] Obtaining the head to tail of the vehicle front guide line data according to the time when the vehicle front guide line data is generated;

[0021] Deletion starts from the head of the vehicle front guide line data.

[0022] In some embodiments, the method further includes: obtaining the length of the data to be deleted through dynamic configuration, and before rendering the target vehicle and the front guide line data, intercepting the front guide line data appearing behind the target vehicle based on the distance traveled by the target vehicle and the length of the data to be deleted, so that the front guide line data is always located in front of the target vehicle.

[0023] In some embodiments, obtaining the target vehicle's initial position information in real time includes:

[0024] Through the vehicle positioning module, the initial position information of the target vehicle is obtained in real time;

[0025] Obtain vehicle front guide line data, including:

[0026] The vehicle front guide line data is obtained through the vehicle's navigation planning module.

[0027] In the second aspect, an embodiment of the present application also provides a vehicle front guide line processing device, which is applied to high-precision map navigation, and the device includes: a first processing module for obtaining the initial position information of the target vehicle in real time; a second processing module for obtaining vehicle front guide line data; a rendering module for rendering the target vehicle and the vehicle front guide line data, and deleting the vehicle front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle before rendering, so that the vehicle front guide line data is always located in front of the target vehicle after rendering, and the distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed.

[0028] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor; and a memory arranged to store computer-executable instructions, wherein the executable instructions, when executed, cause the processor to execute any of the aforementioned methods.

[0029] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple applications, the electronic device executes any of the aforementioned methods.

[0030] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0031] By acquiring the target vehicle's initial position information in real time and obtaining the vehicle's front guide line data in a preset manner, and then deleting the vehicle's front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle before rendering the target vehicle and the vehicle's front guide line data, the technical effect of ensuring that the vehicle's front guide line data is always located in front of the target vehicle after rendering is achieved, and the user experience of high-precision map navigation is improved through dynamic configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0033] Figure 1 This is a flow chart of a method for processing a vehicle front guide line in an embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of the rendering effect of the method for processing the front guide line of the vehicle in the embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of the implementation flow of the method for processing the front guide line of the vehicle in the embodiment of the present application;

[0036] Figure 4 This is a schematic structural diagram of a vehicle front guide line processing device in an embodiment of the present application;

[0037] Figure 5 This is a structural diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0039] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0040] The embodiment of the present application provides a method for processing a vehicle front guide line, such as Figure 1 As shown, a flow chart of a method for processing a vehicle front guide line in an embodiment of the present application is provided, and the method at least includes the following steps S110 to S140:

[0041] Step S110: Acquire the initial position information of the target vehicle in real time.

[0042] Since high-precision map navigation is required, it is necessary to obtain the initial position information of the target vehicle in real time. It should be noted that the initial position information of the target vehicle here at least includes the initial position of the ego vehicle.

[0043] In some embodiments, the initial position information of the target vehicle is obtained in real time through the vehicle's position positioning module. The position positioning module can optionally use an IMU+RTK position combination positioning module.

[0044] It is understandable that the initial position information of the other vehicle and the surrounding environment information can also be obtained through sensors.

[0045] Step S120: obtaining the vehicle front guide line data.

[0046] The vehicle guide line data may be obtained by using a navigation planning module of the vehicle. It should be noted that the navigation planning module may be a planning module of the autonomous vehicle or a navigation planning module of a cloud platform service, and the vehicle guide line data may be obtained using data in the navigation planning module.

[0047] It is understandable that these front guide line data need to be rendered before they can be used on the high-precision map.

[0048] Step S130, before rendering the target vehicle and the front guide line data, delete the front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle after rendering, and the distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed.

[0049] Before rendering the target vehicle and the guide line data, it is necessary to delete or filter out data that does not meet the requirements. Specifically, the guide line data that appears behind the target vehicle is deleted based on the distance traveled by the target vehicle.

[0050] It is understood that the distance length traveled by the target vehicle is the distance traveled by the vehicle on the map. This distance length will be generated as long as the target vehicle is traveling. At this time, the front guide line data that appears behind the target vehicle is deleted according to the distance length.

[0051] It should be noted that the rear of the target vehicle refers to the rear of the vehicle tail in the vehicle travel direction. After deletion, the vehicle front guide line data after rendering is always located in front of the target vehicle.

[0052] Figure 2 This is a diagram of the rendering effect of the vehicle guide line processing method. b represents the tail of the vehicle guide line, a represents the head of the vehicle guide line, and c represents the generated vehicle guide line. As can be seen, if the redundant vehicle guide lines are not deleted before rendering, too many vehicle guide lines will appear behind the vehicle, resulting in poor HD map navigation. Only vehicle guide lines that appear in front of the vehicle meet rendering requirements. Deleting the guide lines behind the vehicle also saves rendering memory.

[0053] In one embodiment of the present application, the method further includes: obtaining an initial speed corresponding to the initial position information of the target vehicle; and determining an initial distance traveled by the target vehicle within an initial time period based on the initial speed of the target vehicle.

[0054] When implementing it specifically, Figure 3 As shown, data 1 corresponds to time t and includes the vehicle front guide line data data1 and the vehicle's current speed V1.

[0055] At time t1, the initial speed corresponding to the initial position information of the target vehicle is obtained, and the initial speed is 0 at this time, that is, the current speed V1 of the vehicle.

[0056] At time t2, the initial distance d traveled by the target vehicle in the initial time period is determined according to the initial speed of the target vehicle. At this time, the length of the initial distance d is 0.

[0057] In one embodiment of the present application, before rendering the target vehicle and the front guide line data, the front guide line data appearing behind the target vehicle is deleted according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle, including: when rendering the first frame data, determining the first distance traveled by the target vehicle in a first time period according to the first speed of the target vehicle; and deleting the front guide line data appearing behind the target vehicle according to the first distance.

[0058] When implementing it specifically, Figure 3 As shown, in data 1 corresponding to time t2, it includes the front guide line data data1 and the current vehicle speed V1.

[0059] At time t2, a first speed V2 corresponding to the initial position information of the target vehicle is obtained. When rendering the first frame of data, a first distance d1 traveled by the target vehicle in the first time period (t2-t1) is determined based on the first speed V2 of the target vehicle.

[0060] Then, before rendering, the vehicle front guide line data appearing behind the target vehicle is deleted according to the first distance length d1.

[0061] In one embodiment of the present application, before rendering the target vehicle and the front guide line data, the front guide line data appearing behind the target vehicle is deleted based on the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle, including: when rendering the second frame data, determining the second distance traveled by the target vehicle in the second time period based on the second speed and the first speed of the target vehicle, and determining the current acceleration with the second speed and the first speed; and deleting the front guide line data appearing behind the target vehicle based on the second distance.

[0062] When implementing it specifically, Figure 3As shown, in data 2 corresponding to time t3, the vehicle front guide line data data2 and the vehicle's current speed V2 are included as the initial speed.

[0063] At time t4, when rendering the second frame of data, the second distance d2 traveled by the target vehicle during the second time period (t1-t) is determined based on the target vehicle's second speed and first speed V2. The acceleration a2 calculated based on the relationship between the speeds at different times is used, and the second speed is determined based on the acceleration a2.

[0064] It should be noted that the second speed and the first speed V2 determine the current acceleration a1 within the time interval (t3-t).

[0065] Then, the vehicle front guide line data appearing behind the target vehicle is deleted according to the second distance length d2.

[0066] In one embodiment of the present application, deleting the front guide line data appearing behind the target vehicle includes: obtaining the head to tail of the front guide line data according to the time when the front guide line data is generated; and deleting starting from the head of the front guide line data.

[0067] like Figure 2 As shown, b represents the tail of the front guide line, a represents the head of the front guide line, and c represents the generated front guide line. The head b to the tail a of the front guide line data are obtained according to the time when the front guide line data is generated, and then the data is deleted starting from the head b.

[0068] In one embodiment of the present application, the method further includes: obtaining the length of the data to be deleted through dynamic configuration, and before rendering the target vehicle and the front guide line data, intercepting the front guide line data appearing behind the target vehicle based on the distance traveled by the target vehicle and the length of the data to be deleted, so that the front guide line data is always located in front of the target vehicle.

[0069] In specific implementations, the processing of the vehicle guide lines can be dynamically configured. This dynamically configured process determines the adjustable length of the data to be deleted. Before rendering the target vehicle and the vehicle guide line data, the target vehicle and the vehicle guide line data are calculated based on the distance traveled by the target vehicle and the length of the data to be deleted. The vehicle guide line data that appears behind the target vehicle is then truncated (partially deleted).

[0070] The embodiment of the present application also provides a vehicle front guide line processing device 400, such as Figure 4, a schematic structural diagram of a vehicle front guide line processing device in an embodiment of the present application is provided. The vehicle front guide line processing device 400 includes at least: a first processing module 410, a second processing module 420, and a rendering module 430, wherein:

[0071] In one embodiment of the present application, the acquisition module 410 is specifically used to obtain the initial position information of the target vehicle in real time.

[0072] Since high-precision map navigation is required, it is necessary to obtain the initial position information of the target vehicle in real time. It should be noted that the initial position information of the target vehicle here at least includes the initial position of the ego vehicle.

[0073] In some embodiments, the initial position information of the target vehicle is obtained in real time through the vehicle's position positioning module. The position positioning module selects an IMU+RTK position combination positioning module.

[0074] It is understandable that the initial position information of the other vehicle and the surrounding environment information can also be obtained through sensors.

[0075] In one embodiment of the present application, the second processing module 420 is specifically used to obtain vehicle front guide line data.

[0076] The vehicle guide line data may be obtained by using a navigation planning module of the vehicle. It should be noted that the navigation planning module may be a planning module of the autonomous vehicle or a navigation planning module of a cloud platform service, and the vehicle guide line data may be obtained using data in the navigation planning module.

[0077] It is understandable that these front guide line data need to be rendered before they can be used on the high-precision map.

[0078] In one embodiment of the present application, the rendering module 430 is specifically used to: before rendering the target vehicle and the front guide line data, delete the front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle after rendering, and the distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed.

[0079] Before rendering the target vehicle and the guide line data, it is necessary to delete or filter out the data that does not meet the requirements. Specifically, the guide line data that appears behind the target vehicle is deleted according to the distance traveled by the target vehicle.

[0080] It is understood that the distance length traveled by the target vehicle is the distance traveled by the vehicle on the map. This distance length will be generated as long as the target vehicle is traveling. At this time, the front guide line data that appears behind the target vehicle is deleted according to the distance length.

[0081] It should be noted that the rear of the target vehicle refers to the rear of the vehicle tail. After deletion, the front guide line data are rendered to always be located in front of the target vehicle.

[0082] like Figure 2 The figure below shows the rendering effect of the front guide line processing method. b represents the tail of the front guide line, a represents the head of the front guide line, and c represents the generated front guide line. As can be seen, if redundant front guide lines are not deleted before rendering, excessive front guide lines will appear behind the vehicle, resulting in poor HD map navigation performance. Only front guide lines that appear in front of the vehicle meet rendering requirements, which also saves rendering memory.

[0083] It can be understood that the above-mentioned vehicle front guide line processing device can implement each step of the vehicle front guide line processing method provided in the above-mentioned embodiment. The relevant explanations about the vehicle front guide line processing method are applicable to the vehicle front guide line processing device and will not be repeated here.

[0084] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 5 At the hardware level, the electronic device includes a processor and, optionally, an internal bus, a network interface, and memory. The memory may include internal memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for its services.

[0085] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 5Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0086] The memory is used to store programs. Specifically, the program may include program code, which includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0087] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs it, forming a vehicle front guide line processing device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0088] Obtain the target vehicle's initial position information in real time;

[0089] Obtain the vehicle front guide line data;

[0090] Before rendering the target vehicle and the front guide line data, the front guide line data that appears behind the target vehicle is deleted based on the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle after rendering. The distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed.

[0091] The above application Figure 1The method performed by the vehicle front guide line processing device disclosed in the illustrated embodiment can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits within the processor or by software instructions. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0092] The electronic device may also perform Figure 1 The method of executing the vehicle front guide line processing device and realizing the vehicle front guide line processing device in Figure 1 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0093] The embodiment of the present application also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, can enable the electronic device to execute Figure 1 The method executed by the vehicle front guide line processing device in the embodiment shown is specifically used to perform:

[0094] Obtain the target vehicle's initial position information in real time;

[0095] Obtain the vehicle front guide line data;

[0096] Before rendering the target vehicle and the front guide line data, the front guide line data that appears behind the target vehicle is deleted based on the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle after rendering. The distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed.

[0097] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0101] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0102] Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0103] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0105] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for processing a front guide line of a vehicle, wherein: Applied to high-precision map navigation, the method includes: Use the IMU+RTK combined positioning module to obtain the initial position information of the target vehicle in real time; Obtain the front guide line data of the vehicle through the data in the navigation planning module; The refresh frequency of the vehicle initial position information and the vehicle front guide line data are different; Before rendering the target vehicle and the front guide line data, deleting the front guide line data that appears behind the target vehicle based on the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle after rendering, and the distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed; The method further comprises: Obtain the initial speed corresponding to the initial position information of the target vehicle; Determining an initial distance traveled by the target vehicle within an initial time period according to an initial speed of the target vehicle; Before rendering the target vehicle and the front guide line data, deleting the front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle, including: When rendering the first frame of data, determining a first distance traveled by the target vehicle within a first time period according to the first speed of the target vehicle; Deleting the vehicle front guide line data appearing behind the target vehicle according to the first distance length; Alternatively, when rendering the second frame data, the current acceleration of the target vehicle is determined according to the second speed and the first speed of the target vehicle, thereby determining the second distance traveled by the target vehicle in the second time period; The vehicle front guide line data appearing behind the target vehicle is deleted according to the second distance length.

2. The method according to claim 1, wherein: The deleting of the vehicle front guide line data appearing behind the target vehicle includes: Obtaining the head to tail of the vehicle front guide line data according to the time when the vehicle front guide line data is generated; Deletion starts from the head of the vehicle front guide line data.

3. The method according to claim 1, wherein: The method further comprises: The length of the data to be deleted is obtained through dynamic configuration. Before rendering the target vehicle and the front guide line data, the front guide line data appearing behind the target vehicle is intercepted according to the distance traveled by the target vehicle and the length of the data to be deleted, so that the front guide line data is always located in front of the target vehicle.

4. A vehicle front guide line processing device, wherein: Applied to high-precision map navigation, the device includes: The first processing module is used to use the IMU+RTK position combination positioning module to obtain the initial position information of the target vehicle in real time; The second processing module is used to obtain the front guide line data of the vehicle through the data in the navigation planning module; The refresh frequency of the vehicle initial position information and the vehicle front guide line data are different; a rendering module, configured to delete the vehicle front guide line data that appears behind the target vehicle before rendering the target vehicle and the vehicle front guide line data, based on the distance traveled by the target vehicle, so that the vehicle front guide line data is always located in front of the target vehicle after rendering, wherein the distance traveled by the target vehicle includes the distance traveled by the initial position information of the vehicle at a preset speed; Also includes: Obtain the initial speed corresponding to the initial position information of the target vehicle; Determining an initial distance traveled by the target vehicle within an initial time period according to an initial speed of the target vehicle; Before rendering the target vehicle and the front guide line data, deleting the front guide line data that appears behind the target vehicle according to the distance traveled by the target vehicle, so that the front guide line data is always located in front of the target vehicle, including: When rendering the first frame of data, determining a first distance traveled by the target vehicle within a first time period according to the first speed of the target vehicle; Deleting the vehicle front guide line data appearing behind the target vehicle according to the first distance length; Alternatively, when rendering the second frame data, the current acceleration of the target vehicle is determined according to the second speed and the first speed of the target vehicle, thereby determining the second distance traveled by the target vehicle in the second time period; The vehicle front guide line data appearing behind the target vehicle is deleted according to the second distance length.

5. An electronic device comprising: processor; as well as A memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 3.

6. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to execute the method according to any one of claims 1 to 3.

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