Control method for vehicle on-board system environment simulation display, vehicle and storage medium

Abstract

The application discloses a control method for vehicle-mounted system environment simulation display. The control method comprises the following steps: obtaining metadata including road boundary lines to construct a three-dimensional road; generating a first cross-pressure point of the three-dimensional road; completing road grouping according to the first cross-pressure point, and generating a relative cross-pressure height difference section in each group of roads; calculating the relative height of a road-type point of a relative virtual ground according to the relative cross-pressure height difference section to obtain road data; and in response to an operation when a vehicle starts a navigation auxiliary driving function, fusing vehicle automatic driving perception information, positioning information and high-precision map data including the road data to form environment simulation display content and display the environment simulation display content on a current interface of a vehicle-mounted system. The original elevation difference between the road-type point and the virtual ground can be converted into the relative height of the three-dimensional road suitable for forming the environment simulation display content, the cross-pressure point of the three-dimensional road is taken as the center to group and calculate the relative height, and the fluctuation trend state of a complex road section can be effectively maintained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of map data processing, and more particularly to a control method for environment simulation display of a vehicle-mounted system, a vehicle, and a nonvolatile computer-readable storage medium of a computer program. BACKGROUND

[0002] In a surrounding reality (SR) scene, road information has an important influence on safe driving. The height data of the three-dimensional road in the SR scene is derived from original elevation data, which causes the height span between the constructed roads to be too large. Due to the too large height span between the roads and the fact that the ground road and the underground tunnel cannot be displayed on the same user interface, the three-dimensional road in the SR scene is only used for position positioning and cannot provide effective road height and road space information for users, such as the situation of other roads adjacent to the road where the vehicle is located. SUMMARY

[0003] The present application provides a control method for environment simulation display of a vehicle-mounted system, a vehicle, and a nonvolatile computer-readable storage medium of a computer program.

[0004] The present application provides a control method for environment simulation display of a vehicle-mounted system, which comprises the following steps.

[0005] Obtaining metadata including road edges to construct a three-dimensional road;

[0006] Generating a first cross-pressure point of the three-dimensional road;

[0007] Completing road grouping according to the first cross-pressure point and generating a relative cross-pressure height difference section in each group of roads;

[0008] Calculating the relative height of the road-type point of the relative virtual ground according to the relative cross-pressure height difference section to obtain road data;

[0009] In response to an operation when the vehicle starts a navigation auxiliary driving function, fusing vehicle automatic driving perception information, positioning information, and high-precision map including the road data to form environment simulation display content and display the content on the current interface of the vehicle-mounted system.

[0010] Thus, after obtaining the metadata including the road edge lines and constructing the three-dimensional road, the first cross-pressure points of the three-dimensional road are generated, then the road grouping is completed according to the first cross-pressure points, the relative cross-pressure height difference sections are generated in each group of roads, the relative height of the road-type points of the relative virtual ground is calculated according to the relative cross-pressure height difference sections to obtain the road data, and finally, in response to the operation when the vehicle starts the navigation auxiliary driving function, the vehicle automatic driving perception information, the positioning information, and the high-precision map including the road data are fused to form the environment simulation display content and display on the current interface of the vehicle-mounted system. The original elevation difference between the road-type points and the virtual ground can be converted into the relative height of the three-dimensional road suitable for forming the environment simulation display content, the cross-pressure points of the three-dimensional road are taken as the center to calculate the relative height, different levels of roads can be displayed on the current interface of the vehicle-mounted system at the same time, and the undulating trend state of the road of a complex road section can be more effectively maintained, so that the user can obtain effective road space and road height information.

[0011] The first cross-pressure point of the three-dimensional road is generated by:

[0012] Projecting the three-dimensional road onto a preset two-dimensional plane;

[0013] Determining the first cross-pressure point of the three-dimensional road according to the intersecting road planes on the preset two-dimensional plane.

[0014] Thus, the three-dimensional road is projected onto a preset two-dimensional plane, and the first cross-pressure point of the three-dimensional road can be determined according to the intersecting road planes on the preset two-dimensional plane.

[0015] The road grouping is completed according to the first cross-pressure point, and the relative cross-pressure height difference sections are generated in each group of roads by:

[0016] Defining the high-level road of the cross-pressure interval by using the road level attribute of the first cross-pressure point;

[0017] Defining the road of the non-cross-pressure interval as a high-level road according to the high-level road of the cross-pressure interval to obtain all high-level roads;

[0018] Projecting the three-dimensional road including all high-level roads onto a preset two-dimensional plane to determine the second cross-pressure point;

[0019] Dividing the three-dimensional road including all high-level roads into multiple groups of roads according to the connectivity between the roads, the distance between the second cross-pressure points and the intra-cluster cross-pressure points of the road clusters;

[0020] Determining the virtual ground according to the cross-pressure points in each group of roads, and generating the relative cross-pressure height difference sections in each group of roads according to the virtual ground.

[0021] Thus, after the high-level road of the cross-pressure interval is defined by using the road level attribute of the first cross-pressure point, the road in the non-cross-pressure interval is defined as the high-level road according to the high-level road of the cross-pressure interval, so as to obtain all the high-level roads, the three-dimensional road including all the high-level roads is projected onto a preset two-dimensional plane to determine a second cross-pressure point, the three-dimensional road including all the high-level roads is divided into multiple groups of roads according to the connectivity between the roads, the distance between the second cross-pressure point and the cross-pressure points in the road cluster, and finally the virtual ground is determined according to the cross-pressure points in each group of roads, and the relative cross-pressure height difference section is generated in each group of roads according to the virtual ground.

[0022] According to the connectivity between the roads, the distance between the second cross-pressure point and the cross-pressure points in the road cluster, the three-dimensional road including all the high-level roads is divided into multiple groups of roads.

[0023] The first road in the non-cross-pressure interval between the high-level roads of the cross-pressure interval within a preset range is defined as the high-level road according to the depth-first search algorithm, so as to obtain the connected high-level roads.

[0024] The second road in the non-cross-pressure interval is defined as the high-level road according to the preset rule, so as to maintain the spatial position relationship between the connected high-level roads and the second road in the non-cross-pressure interval.

[0025] All the high-level roads are obtained according to the high-level roads of the cross-pressure interval and the high-level roads of the non-cross-pressure interval.

[0026] Thus, the first road in the non-cross-pressure interval between the high-level roads of the cross-pressure interval within a preset range is defined as the high-level road according to the depth-first search algorithm, so as to obtain the connected high-level roads, and the second road in the non-cross-pressure interval is defined as the high-level road according to the preset rule, so as to maintain the spatial position relationship between the connected high-level roads and the second road in the non-cross-pressure interval, thereby obtaining all the high-level roads according to the high-level roads of the cross-pressure interval and the high-level roads of the non-cross-pressure interval. The path between two cross-pressure intervals is found by the depth-first search algorithm, and the path is defined as the high-level road, so that the high-level road between the high-level roads of the cross-pressure interval can be obtained as the path, thereby forming a connected graph of the high-level road, and after the road in the non-cross-pressure interval and having the associated spatial position relationship with the connected high-level road is lifted, the consistency between the three-dimensional road and the real road can be enhanced, the driving safety can be enhanced, and the appearance can be more beautiful.

[0027] The three-dimensional road including all the high-level roads is divided into multiple groups of roads according to the connectivity between the roads, the distance between the second cross-pressure point and the cross-pressure points in the road cluster.

[0028] The three-dimensional road including all the high-level roads is clustered according to the connectivity between the second cross-pressure point and the roads, to obtain multiple road clusters.

[0029] The road clusters are merged according to the distance between the cross-pressure points in the road clusters to obtain a plurality of groups of roads.

[0030] Thus, after clustering the three-dimensional roads including all high-level roads according to the connectivity between the second cross-pressure points and the roads to obtain a plurality of road clusters, the road clusters are merged according to the distance between the cross-pressure points in the road clusters to obtain a plurality of groups of roads. After clustering the three-dimensional roads into a road cluster according to the connectivity and the second cross-pressure points, the relative heights of the road-type points of roads at different levels in subsequent calculations can be considered as a whole in the road cluster. The cross-pressure points with the lowest original altitudes between the cross-pressure points in adjacent road clusters are merged into one, the height values of the cross-pressure points with the lowest original altitudes are unified, and the trend of the three-dimensional roads is consistent with the trend of the real roads.

[0031] The step of merging the road clusters according to the distance between the cross-pressure points in the road clusters to obtain a plurality of groups of roads comprises:

[0032] In the case that the distance between the cross-pressure points in adjacent road clusters is less than a preset threshold, the adjacent road clusters are merged to obtain a plurality of groups of roads.

[0033] Thus, in the case that the distance between the cross-pressure points in adjacent road clusters is less than a preset threshold, the adjacent road clusters are merged to obtain a plurality of groups of roads. Whether to merge the adjacent road clusters can be determined by setting the preset threshold of the distance between the cross-pressure points in the adjacent road clusters.

[0034] The step of obtaining the road data according to the relative heights of the road-type points of the high-level roads calculated according to the relative cross-pressure height difference segments comprises:

[0035] Adjusting the relative heights of the high-level roads relative to the virtual ground according to the relative cross-pressure height difference segments;

[0036] Determining the relative heights of the slope roads according to the relative heights of the high-level roads to obtain the relative heights of the road-type points.

[0037] Thus, adjusting the relative heights of the high-level roads relative to the virtual ground according to the relative cross-pressure height difference segments can compress the relative heights of the high-level roads in the non-cross-pressure interval to a reasonable range while keeping the relative heights of the high-level roads in the relative cross-pressure height difference segments unchanged to maintain the hierarchical relationship of the roads and the real trend, which is conducive to displaying the roads in the non-cross-pressure interval in the same picture. Then, determining the relative heights of the slope roads according to the relative heights of the high-level roads can obtain the relative heights of the road-type points to obtain the road data.

[0038] After the step of obtaining the road data according to the relative heights of the road-type points of the high-level roads determined according to the relative cross-pressure height difference segments, the method further comprises:

[0039] Interpolation and smoothing are performed on the road data.

[0040] In this way, the road data is homogenized and smoothed, so that the road plane constructed using the road data is more even, etc.

[0041] The application also provides a vehicle comprising a processor and a memory having stored therein a computer program which, when executed by the processor, implements the control method described above.

[0042] The application also provides a non-volatile computer-readable storage medium of a computer program which, when executed by one or more processors, implements the control method described above.

[0043] The control method for vehicle on-board system environment simulation display, vehicle and non-volatile computer-readable storage medium of a computer program of the application obtain metadata including road edges, construct a three-dimensional road, generate a first cross-pressure point of the three-dimensional road, then complete road grouping according to the first cross-pressure point, generate a relative cross-pressure difference section in each group of roads, calculate the relative height of the road-type point of the relative virtual ground according to the relative cross-pressure difference section to obtain road data, and finally, in response to an operation when the vehicle starts a navigation auxiliary driving function, fuse vehicle automatic driving perception information, positioning information, and a high-precision map including the road data to form environment simulation display content and display it on the current interface of the on-board system. The original elevation difference between the road-type point and the virtual ground can be converted into the relative height of the three-dimensional road suitable for forming the environment simulation display content, the cross-pressure point of the three-dimensional road is taken as the center to calculate the relative height, different levels of roads can be displayed on the current interface of the on-board system at the same time, and the undulating trend state of complex road sections can be more effectively maintained, so that the user can obtain effective road space and road height information.

[0044] Additional aspects and advantages of the embodiments of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the embodiments of the application. BRIEF DESCRIPTION OF DRAWINGS

[0045] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the description of the embodiments, which follows, including the accompanying drawings.

[0046] Figure 1 is a flowchart of the control method of the application;

[0047] Figure 2 is a scene diagram of the control method of the application;

[0048] Figure 3 is a scene diagram of the control method of the application;

[0049] Figure 4 is a flowchart of the control method of the present application;

[0050] Figure 5 is a scenario diagram of the control method of the present application;

[0051] Figure 6 is a flowchart of the control method of the present application;

[0052] Figure 7 is a flowchart of the control method of the present application;

[0053] Figure 8 is a scenario diagram of the control method of the present application;

[0054] Figure 9 is a flowchart of the control method of the present application;

[0055] Figure 10 is a scenario diagram of the control method of the present application;

[0056] Figure 11 is a flowchart of the control method of the present application;

[0057] Figure 12 is a flowchart of the control method of the present application;

[0058] Figure 13 is a flowchart of the control method of the present application;

[0059] Figure 14 is a connection state diagram of the non-volatile computer readable storage medium and the controller of the present application. DETAILED DESCRIPTION

[0060] Embodiments of the present application are described in detail below with reference to the attached drawings, examples of which are shown in the accompanying 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 accompanying drawings are exemplary and are intended to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0061] Referring to Figure 1 , the present application provides a control method for vehicle on-board system environment simulation display, comprising the following steps:

[0062] 01: Obtain metadata including road boundary lines to construct a three-dimensional road;

[0063] 02: Generate a first cross-pressure point of the three-dimensional road;

[0064] 03: Grouping roads according to the first cross-pressure points, and generating relative cross-pressure height difference sections in each group of roads;

[0065] 04: Calculating the relative height of road type points relative to the virtual ground according to the relative cross-pressure height difference sections to obtain road data;

[0066] 05: In response to the operation when the vehicle starts the navigation auxiliary driving function, fusing the vehicle automatic driving perception information, positioning information, and high-precision map including the road data to form an environmental simulation display content and display it on the current interface of the vehicle-mounted system.

[0067] The application also provides a vehicle comprising a memory and a processor. The memory stores a computer program, and the processor is configured to obtain metadata including road edges, construct a three-dimensional road, generate first cross-pressure points of the three-dimensional road, group roads according to the first cross-pressure points, generate relative cross-pressure height difference sections in each group of roads, calculate the relative height of road type points relative to the virtual ground according to the relative cross-pressure height difference sections to obtain road data, and in response to the operation when the vehicle starts the navigation auxiliary driving function, fuse the vehicle automatic driving perception information, positioning information, and high-precision map including the road data to form an environmental simulation display content and display it on the current interface of the vehicle-mounted system.

[0068] Specifically, the road edge metadata can come from the data of a high-precision map, which includes, for example, data of roads, lanes in the roads, lane edges on the lanes, lane center lines, and data representing three-dimensional spatial information at the lane level, such as data representing the grouping and topological relationship between roads, lanes, and lane center lines, and original elevation data of the roads. That is, the data processed by the application can come from high-precision map data.

[0069] The three-dimensional road can be divided into cross-pressure intervals and non-cross-pressure intervals. Roads in the cross-pressure intervals have cross-pressure relationships, and roads in the non-cross-pressure intervals do not have cross-pressure relationships, that is, the upper roads in the cross-pressure intervals cross over the lower roads. Each layer of road in the cross-pressure interval has a cross-pressure point, and the original elevation of the layer of road can be obtained through the cross-pressure point.

[0070] The first cross-pressure point refers to the first time that a three-dimensional road obtains a cross-pressure point through a preset two-dimensional plane. The preset two-dimensional plane refers to a two-dimensional plane at a certain height of a three-dimensional road. The relative cross-pressure height difference section refers to, within a group of roads, the cross-pressure point with the lowest original altitude is used as the virtual ground, and the height intervals formed from other cross-pressure points to the virtual ground, and the height intervals with overlapping heights are merged into one height interval, thereby obtaining multiple height intervals with non-overlapping height ranges, that is, obtaining multiple relative cross-pressure height difference sections. For example, in the cross-pressure intervals in a certain group of roads, there are multiple cross-pressure height intervals, and each height interval has its own height difference range, such as Figure 2 As shown, there are three height intervals, namely, P1 to P2, P3 to P4, and P5 to P6. The original altitude value of the P1 cross pressure point is 6m, the original altitude value of the P2 cross pressure point is 10m, the original altitude value of the P3 cross pressure point is 2m, the original altitude value of the P4 cross pressure point is 8m, the original altitude value of the P5 cross pressure point is 11m, and the original altitude value of the P6 cross pressure point is 14m. The height intervals of the three cross pressure sections are 6 to 10m for the P1 to P2 section, 2 to 8m for the P3 to P4 section, and 11 to 14m for the P5 to P6 section. By merging the height intervals with overlapping height difference ranges, we can finally obtain two height intervals of 2 to 10m and 11 to 14m, that is, two relative cross pressure height difference sections.

[0071] It can be understood that obtaining a plurality of relative cross-pressure height difference sections in each group of roads can prepare for the subsequent adjustment of the relative heights of the road profile points.

[0072] See also Figure 3 , calculate the relative height of each road type point, that is, convert the original altitude of each road type point into the relative height of the preset height value. The calculation method of the preset height value can be to set the relative height h of the high-rise road defined later in this application as h=cb, where c is the original altitude of the high-rise road and b is the height of the virtual ground. Since the original altitude of the second cross-pressure point is lower than the first cross-pressure point, the second cross-pressure point can be the virtual ground. The relative height of the lower-level road that is crossed, that is, the relative height of the bottom-level road defined later in this application is the height of the virtual ground. At the same time, when rendering other roads in the non-cross-pressure interval that are not defined as high-rise roads later in this application, they can be tiled on the virtual ground. That is, the relative height of other roads in the non-cross-pressure interval that are not defined as high-rise roads later in this application are also considered to be the height of the virtual ground. In one example, the relative height of the virtual ground can be zero. In this way, the relative heights of the road type points of the high-rise road, the bottom-level road and other roads in the non-cross-pressure area that are not defined as high-rise roads in the three-dimensional road are calculated. The rendering formula for the relative height of the road type points of the high-rise road can be as follows:

[0073] SR_height = Real_point_height - Real_cluster_base_height

[0074] wherein, SR_height represents the relative height of the road-type point, Real_point_height represents the original elevation of the road-type point, and Real_cluster_base_height represents the height of the virtual ground.

[0075] First, the road edge data is obtained from the metadata, a three-dimensional road is constructed through the road edge data, a first cross-pressure point of the three-dimensional road is generated, the three-dimensional road is grouped into multiple road groups according to the first cross-pressure point, a relative cross-pressure height difference section is generated in each road group, and the original elevation of the road-type point is converted into a relative height relative to the virtual ground. Finally, the relative height of the road-type point is adjusted according to the relative cross-pressure height difference section to obtain road data. When the vehicle starts the navigation auxiliary driving function, the vehicle automatic driving perception information, the positioning information, and the high-precision map including the road data are fused to form an environmental simulation display content which is displayed on the current interface of the vehicle-mounted system.

[0076] It can be understood that the present application groups the three-dimensional road around the cross-pressure point of the three-dimensional road, constructs a local road group of a complex road section, determines the cross-pressure point with the lowest original elevation in each group as the virtual ground, and converts the original elevation difference between the road-type point and the virtual ground into a relative height of the three-dimensional road suitable for forming an environmental simulation display (Surrounding Reality, SR) content by using the relative cross-pressure height difference section divided in the group. Grouping the three-dimensional road around the cross-pressure point of the three-dimensional road not only maintains the accuracy of the cross-pressure level between roads, but also allows different spaces, such as ground roads and underground tunnels, which are not visible to each other, to be displayed simultaneously on the current interface of the vehicle-mounted system, which can more effectively maintain the fluctuation trend of the complex road section, and solves the problem of constructing road data in the rendering scene of the environmental simulation display.

[0077] Thus, after obtaining the metadata including the road edge line and constructing the three-dimensional road, a first cross-pressure point of the three-dimensional road is generated, and then the road grouping is completed according to the first cross-pressure point, the relative cross-pressure height difference section is generated in each group of roads, the relative height of the road type point of the relative virtual ground is calculated according to the relative cross-pressure height difference section to obtain the road data, and finally, in response to the operation when the vehicle starts the navigation auxiliary driving function, the vehicle automatic driving perception information, the positioning information, and the high-precision map including the road data are fused to form the environment simulation display content displayed on the current interface of the vehicle-mounted system. The original elevation difference between the road type point and the virtual ground can be converted into the relative height of the three-dimensional road suitable for forming the environment simulation display content, the cross-pressure point of the three-dimensional road is taken as the center to calculate the relative height, different levels of roads can be displayed on the current interface of the vehicle-mounted system at the same time, and the undulating trend state of the road of a complex section can be more effectively maintained, so that the user can obtain effective road height and road space information.

[0078] Referring to Figure 4 , step 02 includes,

[0079] 020: Projecting the three-dimensional road onto a preset two-dimensional plane;

[0080] 021: Determining the first cross-pressure point of the three-dimensional road according to the intersecting road planes on the preset two-dimensional plane.

[0081] The processor is configured to project the three-dimensional road onto a preset two-dimensional plane, and to determine the first cross-pressure point of the three-dimensional road according to the intersecting road planes on the preset two-dimensional plane.

[0082] Referring to Figure 5 , specifically, the manner of generating the first cross-pressure point of the three-dimensional road can include projecting the three-dimensional road onto a two-dimensional plane at a certain height, judging whether there is an intersecting road plane for the road plane of the three-dimensional road projected onto the two-dimensional plane, and if there is an intersecting road plane, recording the point at the intersection as the first cross-pressure point.

[0083] Thus, the three-dimensional road is projected onto a preset two-dimensional plane, and the first cross-pressure point of the three-dimensional road can be determined according to the intersecting road planes on the preset two-dimensional plane.

[0084] Referring to Figure 6 , step 03 includes:

[0085] 030: Defining the high-level road of the cross-pressure section by using the road level attribute of the first cross-pressure point;

[0086] 031: Defining the road of the non-cross-pressure section as a high-level road according to the high-level road of the cross-pressure section to obtain all high-level roads;

[0087] 032: projecting the three-dimensional road including all high-level roads onto a preset two-dimensional plane to determine a second cross-pressure point;

[0088] 033: dividing the three-dimensional road including all high-level roads into multiple groups of roads according to the connectivity between roads, the second cross-pressure point, and the distance between cross-pressure points within a road cluster;

[0089] 034: determining a virtual ground according to the cross-pressure points within each group of roads, and generating a relative cross-pressure height difference section in each group of roads according to the virtual ground.

[0090] The processor is configured to define high-level roads of a cross-pressure interval using road hierarchy attributes of a first cross-pressure point, define roads of a non-cross-pressure interval as high-level roads according to the high-level roads of the cross-pressure interval to obtain all high-level roads, project the three-dimensional road including all high-level roads onto a preset two-dimensional plane to determine a second cross-pressure point, divide the three-dimensional road including all high-level roads into multiple groups of roads according to the connectivity between roads, the second cross-pressure point, and the distance between cross-pressure points within a road cluster, and determine a virtual ground according to the cross-pressure points within each group of roads, and generate a relative cross-pressure height difference section in each group of roads according to the virtual ground.

[0091] Specifically, the road hierarchy attribute refers to the road attribute of which road is in the upper layer and which road is in the lower layer between roads having a cross-pressure relationship. The three-dimensional road having the first cross-pressure point indicates that the roads of the three-dimensional road have a cross-pressure relationship at the first cross-pressure point, that is, the roads at the first cross-pressure point have an upper road crossing over a lower road. The second cross-pressure point refers to the cross-pressure point obtained by the three-dimensional road passing through the preset two-dimensional plane for the second time. The connectivity between roads refers to the physical connectivity between high-level roads.

[0092] According to the first cross-pressure point, the method for generating the relative cross-pressure height difference section in each group of roads comprises the following steps: in the case of obtaining the first cross-pressure point, according to the respective original altitudes of the roads at the first cross-pressure point, it can be judged that the roads with higher original altitudes are in the upper layer and the roads with lower original altitudes are in the lower layer, and the roads in the upper layer in the cross-pressure interval can be marked as high-layer roads and the roads in the lower layer can be marked as bottom-layer roads. Then, according to the high-layer roads in the cross-pressure interval and in combination with a related algorithm, the high-layer roads in the non-cross-pressure interval can be obtained. The three-dimensional roads are composed of the roads in the cross-pressure interval and the non-cross-pressure interval, and thus the high-layer roads of all the three-dimensional roads can be obtained. Then, the obtained high-layer roads and bottom-layer roads are projected onto a two-dimensional plane at a certain height again, and it is judged whether there are intersecting road planes on the projected two-dimensional plane. If there are intersecting road planes, the points at the intersections are recorded as second cross-pressure points. According to the connectivity between the second cross-pressure points and the roads, the three-dimensional roads including the high-layer roads and the bottom-layer roads can be divided by using a clustering algorithm, and a plurality of road clusters can be obtained. There are also cross-pressure points in each road cluster, which can be referred to as intra-cluster cross-pressure points. When it is judged that the distance between the cross-pressure points of one road cluster and the cross-pressure points of another road cluster meets a preset condition, the road clusters can be combined into a larger road cluster again, and thus a plurality of groups of roads can be obtained, and the relative cross-pressure height difference sections can be generated in each group of roads.

[0093] In this way, after the high-layer roads in the cross-pressure interval are defined by using the road hierarchical attribute of the first cross-pressure point, the high-layer roads in the non-cross-pressure interval are defined by using the high-layer roads in the cross-pressure interval, all the high-layer roads can be obtained, the three-dimensional roads including the high-layer roads are projected onto a preset two-dimensional plane to determine the second cross-pressure points, and according to the connectivity between the roads, the distance between the second cross-pressure points and the intra-cluster cross-pressure points of the road clusters, the three-dimensional roads including the high-layer roads can be divided into a plurality of groups of roads, and finally the virtual ground can be determined according to the cross-pressure points in each group of roads, and the relative cross-pressure height difference sections can be generated in each group of roads according to the virtual ground.

[0094] Referring to Figure 7 , step 031 comprises,

[0095] 0310: According to the depth-first search algorithm, the first road in the non-cross-pressure interval between the high-layer roads in the cross-pressure interval is defined as a high-layer road to obtain the connected high-layer roads.

[0096] 0311: According to a preset rule, the second road in the non-cross-pressure interval is defined as a high-layer road to maintain the spatial position relationship between the connected high-layer roads and the second road in the non-cross-pressure interval.

[0097] 0312: According to the high-layer roads in the cross-pressure interval and the high-layer roads in the non-cross-pressure interval, all the high-layer roads are obtained.

[0098] The processor is configured to define a first road between high-layer roads in the cross-pressure interval as a high-layer road according to a depth-first search algorithm to obtain connected high-layer roads, and to define a second road in the non-cross-pressure interval as a high-layer road according to a preset rule to maintain the spatial positional relationship between the connected high-layer roads and the second road in the non-cross-pressure interval, and to obtain all high-layer roads according to the high-layer roads in the cross-pressure interval and the high-layer roads in the non-cross-pressure interval.

[0099] Specifically, the depth-first search algorithm refers to marking all traversed points from a starting point according to depth-first traversal, and after traversal is completed, determining whether the end of the path is marked, if marked, there is a path, if not marked, there is no path. The first road refers to a road in the non-cross-pressure interval defined as a high-layer road by the depth-first search algorithm. The second road refers to a road in the non-cross-pressure interval defined as a high-layer road according to a preset rule. The preset rule refers to a rule that can maintain the spatial positional relationship between the connected high-layer roads and the second road consistent with the actual situation, for example, a certain road in the connected high-layer roads is road A, and a certain road in the second road is road B, the spatial positional relationship of road A and road B in the actual situation is that road A is an uplink road and road B is a downlink road. When road A is lifted, road B also needs to be lifted to a high-layer road to maintain the spatial positional relationship of road A as an uplink road and road B as a downlink road. The preset rule can include multiple, for example, the metadata has a proximity relationship table, which appears in pairs, for example, the proximity road of road C is D, if road C is determined to be a high-layer road, road D will also be defined as a high-layer road. For example, through the algorithm designed by the research and development personnel, such as determining that the road names are the same, and the two roads are close to each other and have the same general trend, when one of the roads is defined as a high-layer road, the other road will also be defined as a high-layer road. In this application, the road is lifted to a high-layer road, that is, the road is defined as a high-layer road.

[0100] Please refer to Figure 8The first road between the high-level roads of the cross-pressure intervals in the preset range is defined as a high-level road according to a depth-first search algorithm. This means that after the high-level roads of the cross-pressure intervals are defined according to the first cross-pressure point, a series of discrete high-level roads will appear, taking the high-level roads of the cross-pressure intervals as endpoints. Through the depth-first search algorithm, it is explored whether there is a path between the high-level roads of two cross-pressure intervals. If there is a path, these paths are defined as high-level roads. That is, the non-cross-pressure interval road that serves as a path between the high-level roads of two cross-pressure intervals is marked as a high-level road. Thus, the high-level roads of the cross-pressure intervals and the high-level roads that serve as paths between the high-level roads of two cross-pressure intervals can be obtained, that is, the connected high-level roads can be obtained. For example, it is explored whether there is a path between the high-level road 1 in the cross-pressure interval and the high-level road 2 in another cross-pressure interval, and the path in the non-cross-pressure interval is elevated to a high-level road.

[0101] It can be understood that after the high-level roads of the cross-pressure intervals are defined according to the first cross-pressure point, a series of discrete high-level roads will appear. Based on the connectivity of the road network, the discrete high-level roads should be connected to form a connected graph. Therefore, the depth-first search algorithm is used to find a path between two cross-pressure intervals, and the path is defined as a high-level road. That is, in the non-cross-pressure interval, the road that can serve as a path is defined as a high-level road. Thus, the high-level roads of the cross-pressure intervals and the high-level roads that serve as paths between the high-level roads can be obtained, thereby forming a connected graph of high-level roads.

[0102] The second road in the non-cross-pressure interval is defined as a high-level road according to a preset rule to maintain the spatial positional relationship between the connected high-level roads and the second road in the non-cross-pressure interval. This means that after the paths of the high-level roads of two cross-pressure intervals are defined according to the depth-first search algorithm and the connected high-level roads are obtained, when it is determined that some roads in the non-cross-pressure interval have a certain spatial positional relationship with the connected high-level roads in the actual environment, these roads are also elevated to high-level roads.

[0103] It can be understood that the road in the non-cross pressure interval, although there is no cross pressure relationship, there is other related spatial position relationship between the road and the connected high-level road, for example, there is adjacent relationship and connection relationship between the roads. If these roads with related spatial position relationship are not lifted, it will cause the three-dimensional road rendered subsequently to be inconsistent with the actual situation, for example, two roads on the road surface, one road is lifted as a high-level road because of the cross pressure tunnel, and the other road near the other road is not cross pressure, which causes the rendering to be close to the ground, and the error phenomenon that the road which is originally higher than the tunnel becomes flush with the tunnel after rendering. Therefore, after lifting these roads in the non-cross pressure interval and having related spatial position relationship with the connected high-level road, the consistency of the three-dimensional road with the real road can be enhanced, the driving safety can be enhanced, and the appearance can be more beautiful.

[0104] Thus far, all high-level roads including the high-level roads in the cross pressure interval and the high-level roads in the non-cross pressure interval are obtained.

[0105] In this way, the first road in the non-cross pressure interval between the high-level roads in the cross pressure interval defined in the preset range is defined as a high-level road according to the depth-first search algorithm, and the second road in the non-cross pressure interval is defined as a high-level road according to the preset rule, so as to maintain the spatial position relationship between the connected high-level road and the second road in the non-cross pressure interval, thereby obtaining all high-level roads according to the high-level roads in the cross pressure interval and the high-level roads in the non-cross pressure interval. By using the depth-first search algorithm to find the passageway between two cross pressure intervals and defining the passageway as a high-level road, the connected high-level road can be obtained, and after lifting the road in the non-cross pressure interval and having related spatial position relationship with the connected high-level road, the consistency of the three-dimensional road with the real road can be enhanced, the driving safety can be enhanced, and the appearance can be more beautiful.

[0106] Referring to Figure 9 , step 033 comprises:

[0107] 0330: clustering the three-dimensional roads including all high-level roads according to the connectivity between the second cross pressure points and the roads to obtain a plurality of road clusters;

[0108] 0331: merging the road clusters according to the distance of the cross pressure points within the clusters between the road clusters to obtain a plurality of groups of roads.

[0109] The processor is configured to cluster the three-dimensional roads including all high-level roads according to the connectivity between the second cross pressure points and the roads to obtain a plurality of road clusters, and to merge the road clusters according to the distance of the cross pressure points within the clusters between the road clusters to obtain a plurality of groups of roads.

[0110] Referring to Figure 10In particular, the specific step of dividing the three-dimensional road including all high-level roads into multiple groups of roads according to the connectivity between roads, the second cross-pressure point and the distance between the intra-cluster cross-pressure points of the road cluster includes, first, judging whether the three-dimensional road including all high-level roads and bottom-level roads simultaneously has the second cross-pressure point and road connectivity, clustering the roads with both the second cross-pressure point and road connectivity into one road cluster, thereby obtaining multiple road clusters. The effect of clustering the three-dimensional road into multiple road clusters is shown in FIG. 8. There is also a cross-pressure point in each road cluster, which can be referred to as an intra-cluster cross-pressure point. Figure 10

[0111] As can be understood, when dividing the three-dimensional road including all high-level roads and bottom-level roads, the physical connectivity of the high-level roads and the three-dimensional hierarchical relationship between roads obtained through the second cross-pressure point are considered simultaneously, roads of different levels, which are originally invisible to each other in real life, can be merged and considered in one road cluster. For example, an underground tunnel and a road on the ground are originally invisible to each other, but after clustering them into one road cluster according to the connectivity and the second cross-pressure point, the relative height of the road type point of the underground tunnel and the road on the ground can be considered as a whole in one road cluster for subsequent calculation.

[0112] Then, when it is judged that the distance between the cross-pressure point of one road cluster and the cross-pressure point of another road cluster meets the preset condition, the road clusters can be merged again into one larger road cluster, thereby obtaining multiple groups of roads.

[0113] As can be understood, since the height values of the cross-pressure points with the lowest original altitude in the intra-cluster of the road clusters between road clusters are different, for example, the height value of the cross-pressure point with the lowest original altitude in the intra-cluster cross-pressure point of one road cluster is 3m, and the height value of the cross-pressure point with the lowest original altitude in the intra-cluster cross-pressure point of another road cluster is 2m. Therefore, according to the cross-pressure point with the lowest original altitude as the virtual ground to calculate the relative height of the road type point, the difference in the relative height calculated by adjacent road clusters can be too large, so that the trend of the three-dimensional road is different from the trend of the real road. Therefore, according to the distance between the intra-cluster cross-pressure points, the road clusters are merged again into one larger road cluster, which can merge the cross-pressure points with the lowest original altitude in the intra-cluster cross-pressure points between adjacent road clusters into one, thereby unifying the height values of the cross-pressure points with the lowest original altitude and maintaining the consistency of the trend of the three-dimensional road with the trend of the real road.

[0114] ​Thus, after clustering the three-dimensional roads including all high-level roads according to the connectivity between the second cross-pressure points and the roads to obtain a plurality of road clusters, the road clusters are merged according to the distances between the cross-pressure points in the road clusters to obtain a plurality of groups of roads. After clustering the three-dimensional roads into a road cluster according to the connectivity and the second cross-pressure points, the relative heights of the road-type points of roads at different levels in subsequent calculations can be considered as a whole in the road cluster. The original elevation of the cross-pressure point with the lowest original elevation between the cross-pressure points in adjacent road clusters is merged into one, the height value of the cross-pressure point with the lowest original elevation is unified, and the trend of the three-dimensional roads is consistent with the trend of the real roads.

[0115] Referring to Figure 11 , step 0331 comprises:

[0116] 03310: In a case where the distance between the cross-pressure points in adjacent road clusters is less than a preset threshold, the adjacent road clusters are merged to obtain a plurality of groups of roads.

[0117] The processor is configured to merge the adjacent road clusters to obtain a plurality of groups of roads in a case where the distance between the cross-pressure points in the adjacent road clusters is less than a preset threshold.

[0118] Specifically, the preset threshold can be set by a developer, for example, 200 m.

[0119] Merging the road clusters according to the distances between the cross-pressure points in the road clusters comprises: determining whether the distance between the cross-pressure points in one of the adjacent road clusters and the cross-pressure points in the other road cluster is less than a preset threshold, and if the distance is less than the preset threshold, merging the two adjacent road clusters into one larger road cluster, and iteratively performing the above operations until the distance between the cross-pressure points in the adjacent road clusters is not less than the preset threshold, so as to obtain a plurality of groups of roads.

[0120] Thus, in a case where the distance between the cross-pressure points in adjacent road clusters is less than a preset threshold, the adjacent road clusters are merged to obtain a plurality of groups of roads. Whether to merge the adjacent road clusters can be determined by setting the preset threshold of the distance between the cross-pressure points in the adjacent road clusters.

[0121] Referring to Figure 12 , step 04 comprises:

[0122] 040: Adjusting the relative height of the high-level road relative to the virtual ground according to the relative cross-pressure height difference segment;

[0123] 041: Determining the relative height of the slope road according to the relative height of the high-level road to obtain the relative height of the road-type point to obtain road data.

[0124] The processor is configured to adjust the relative height of the high-level road relative to the virtual ground according to the relative cross-pressure height difference section, and determine the relative height of the slope road relative to the high-level road to obtain the relative height of the road type point according to the relative height of the high-level road, and obtain the road data.

[0125] Specifically, in a group of roads, there are high-level roads in the relative cross-pressure height difference section, and there are high-level roads in the non-relative cross-pressure height difference section, which can be divided according to the preset height interval.

[0126] After the relative height of the high-level road relative to the virtual ground is calculated, a corresponding compression factor is set for each relative cross-pressure height difference section and non-relative cross-pressure height difference section, so that the height compression degree of the relative height of the high-level road in the relative cross-pressure height difference section is smaller than the height compression degree of the high-level road in the non-relative cross-pressure height difference section. The relative height of the high-level road in the non-relative cross-pressure height difference section, that is, the road in the non-cross-pressure interval is lifted to a small relative height compression, and the road height span of the non-cross-pressure interval is controlled within a suitable range. For example, a compression factor with a value of 1 can be set for each relative cross-pressure height difference section, and a compression factor with a value less than 1 can be set for the non-relative cross-pressure height difference section.

[0127] It can be understood that when the span of the relative height between roads is large, it is not conducive to display in the same screen, so the relative height of the high-level road in the non-relative cross-pressure height difference section can be compressed to a reasonable range while keeping the relative height of the high-level road in the relative cross-pressure height difference section unchanged to maintain the hierarchical relationship of the road and the real trend, which is conducive to the display of the road in the non-cross-pressure interval in the same screen.

[0128] After all the high-level roads are obtained and the relative height is adjusted, the relative height of the slope road connected to the virtual ground of the high-level road can be obtained by calculating the slope value, so as to obtain the relative height of the road type point including the high-level road and the slope road, and obtain the road data.

[0129] In this way, the relative height of the high-level road relative to the virtual ground is adjusted according to the relative cross-pressure height difference section, so that the relative height of the high-level road in the relative cross-pressure height difference section can be kept unchanged to maintain the hierarchical relationship of the road and the real trend while the relative height of the high-level road in the non-relative cross-pressure height difference section is compressed to a reasonable range, which is conducive to the display of the road in the non-cross-pressure interval in the same screen. The relative height of the slope road relative to the high-level road can be determined according to the relative height of the high-level road to obtain the relative height of the road type point and obtain the road data.

[0130] Please refer to Figure 13 , the display method further comprises:

[0131] 06: uniformization and smoothing processing is performed on the road data.

[0132] The processor is configured to interpolate and smooth the road data.

[0133] Specifically, after obtaining the road data, the road data can be interpolated and smoothed, so that the road plane constructed by the road data is smoother, etc.

[0134] In this way, the road data is homogenized and smoothed, so that the road plane constructed by the road data is smoother, etc.

[0135] Please refer to Figure 14 The embodiments of the present application also provide 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 processing 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", etc. 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 description of the above terms does 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 person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples 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 specific embodiments described herein, and the order of the steps can be changed from the order described.

[0138] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary and should not be construed as limiting the present application, and those of ordinary skill 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 control method of a vehicle on-board system environment simulation display, characterized by, The method comprises: Obtaining metadata including road edges to construct a three-dimensional road; Generating a first cross-pressure point of the three-dimensional road; Completing road grouping according to the first cross-pressure point, and generating a relative cross-pressure height difference section in each group of roads; Calculating the relative height of the road type point of the relative virtual ground according to the relative cross-pressure height difference section to obtain road data; In response to an operation when a vehicle starts a navigation auxiliary driving function, fusing vehicle automatic driving perception information, positioning information, and high-precision map including the road data to form an environment simulation display content and display the content on a current interface of a vehicle-mounted system; The three-dimensional road comprises a cross-pressure interval and a non-cross-pressure interval, and the cross-pressure interval has an upper road collapsing over a lower road; the first cross-pressure point is a cross-pressure point obtained by the three-dimensional road passing through a preset two-dimensional plane for the first time; and the second cross-pressure point is a cross-pressure point obtained by the three-dimensional road passing through the preset two-dimensional plane for the second time; The relative cross-pressure height difference section is a height interval formed by other cross-pressure points to a virtual ground with the lowest original elevation; The road type point is a cross-pressure point of different layer roads in the three-dimensional road.

2. The control method according to claim 1, characterized by, The step of generating the first cross-pressure point of the three-dimensional road comprises: Projecting the three-dimensional road onto a preset two-dimensional plane; Determining the first cross-pressure point of the three-dimensional road according to road planes intersecting on the preset two-dimensional plane.

3. The control method according to claim 2, characterized by, The step of completing road grouping according to the first cross-pressure point and generating a relative cross-pressure height difference section in each group of roads comprises: Defining a high layer road of the cross-pressure interval by using a road layer attribute of the first cross-pressure point; Defining a road of the non-cross-pressure interval as a high layer road according to the high layer road of the cross-pressure interval to obtain all high layer roads; Projecting the three-dimensional road including all high layer roads onto the preset two-dimensional plane to determine a second cross-pressure point; Dividing the three-dimensional road including all high layer roads into multiple groups of roads according to connectivity between roads, distances between the second cross-pressure point and cross-pressure points in a road cluster; Determining a virtual ground according to the cross-pressure points in each group of roads, and generating a relative cross-pressure height difference section in each group of roads according to the virtual ground.

4. The control method according to claim 3, characterized by The step of defining a road of the non-cross-pressure interval as a high layer road according to the high layer road of the cross-pressure interval to obtain all high layer roads comprises: Defining a first road of the non-cross-pressure interval between high layer roads of the cross-pressure interval within a preset range as a high layer road according to a depth-first search algorithm to obtain connected high layer roads; Defining a second road of the non-cross-pressure interval as a high layer road according to a preset rule to maintain a spatial position relationship between the connected high layer roads and the second road of the non-cross-pressure interval; Obtaining all high layer roads according to the high layer road of the cross-pressure interval and the high layer road of the non-cross-pressure interval.

5. The control method according to claim 3, characterized by, The step of dividing the three-dimensional road including all high layer roads into multiple groups of roads according to connectivity between roads, distances between the second cross-pressure point and cross-pressure points in a road cluster comprises: Clustering the three-dimensional road including all high layer roads according to connectivity between the second cross-pressure point and roads to obtain multiple road clusters; Merging the road clusters according to distances between cross-pressure points in the road clusters to obtain multiple groups of roads.

6. The control method according to claim 5, characterized by The merging of the road clusters according to the distance between the cross-pressure points in the clusters to obtain the multiple sets of roads comprises: In the case that the distance between the cross-pressure points in the adjacent road clusters is less than a preset threshold, the adjacent road clusters are merged to obtain the multiple sets of roads.

7. The control method according to claim 3, characterized by, The obtaining of the road data according to the relative height of the road type point of the relative virtual ground according to the relative cross-pressure height difference segment comprises: Adjusting the relative height of the high-level road of the relative virtual ground according to the relative cross-pressure height difference segment; Determining the relative height of the slope road according to the relative height of the high-level road to obtain the relative height of the road type point.

8. The control method according to claim 7, characterized by, After the obtaining of the road data according to the relative height of the road type point of the relative virtual ground according to the relative cross-pressure height difference segment, comprising: Interpolating and smoothing the road data.

9. A vehicle characterized by comprising: The vehicle comprises a processor and a memory, and the memory stores a computer program which is executed by the processor to implement the control method of any one of claims 1-8.

10. A non-volatile computer readable storage medium comprising a computer program which, when executed by a processor, causes the processor to perform the control method of any one of claims 1-8.

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