High-definition map rendering method and device, electronic equipment and storage medium

Abstract

The application discloses a high-precision map rendering method and device, electronic equipment and a storage medium. The method comprises the following steps: rendering first frame data and saving the rendering data of the first frame data to a cache; when rendering second frame data, deleting the same to-be-rendered data in the second frame data from the to-be-rendered data in the first frame data, and then rendering other to-be-rendered data of the second frame data. Through the application, efficient and rapid rendering of high-precision map data is realized.

Description

Technical Field

[0001] This application relates to the field of high-precision map data technology, and in particular to a high-precision map rendering method, apparatus, electronic device, and storage medium. Background Technology

[0002] High-definition maps are typically machine-oriented maps used by autonomous vehicles. They not only have high-precision coordinates but also accurate road shapes and detailed information for each lane. When creating high-definition maps or digital twin systems, environmental and vehicle data are rendered. This rendering usually uses a default viewpoint, allowing users to see the results on the high-definition map from this perspective.

[0003] like Figure 1 The diagram illustrates the rendering and updating process of high-precision maps in related technologies. After acquiring the first frame of data, the data undergoes a series of steps, including encapsulation into a rendering object, generation of a rendering texture, caching the texture ID, and rendering based on the texture ID, to obtain the rendering result of the first frame. If there is a rendering update, based on the second frame of data, all rendering objects and textures from the previous frame are cleared, and then the process of encapsulating into a rendering object and generating a rendering texture continues.

[0004] Therefore, it can be seen that in related technologies, the previous frame is deleted and re-rendered for each frame, which increases the processing pressure and reduces the rendering speed. Summary of the Invention

[0005] This application provides a high-precision map rendering method, apparatus, electronic device, and storage medium to achieve efficient and fast rendering of high-precision map data.

[0006] The embodiments of this application adopt the following technical solutions:

[0007] In a first aspect, embodiments of this application provide a high-precision map rendering method, wherein the method includes:

[0008] A high-precision map rendering method, wherein the method includes:

[0009] Render the first frame of data and save the rendered data of the first frame to the cache;

[0010] When rendering the second frame of data, after deleting the same data to be rendered as in the first frame of data from the data to be rendered in the second frame of data, the other data to be rendered in the second frame of data is then rendered.

[0011] In some embodiments, the method further includes:

[0012] Determine whether there is any rendering data in the cache that does not correspond to the data of the second frame;

[0013] If existing, discard the part of rendering data in the cache.

[0014] In some embodiments, after deleting the same to-be-rendered data in the second frame data from the to-be-rendered data in the first frame data when rendering the second frame data, the other to-be-rendered data of the second frame data is rendered, comprising:

[0015] When rendering the second frame data, a first sequence number is generated and data is distributed according to the second frame data;

[0016] In the case of completed data distribution, it is judged whether the rendering data of the first frame data corresponding to the first sequence number exists in the cache, wherein the rendering data of the first frame data corresponding to the first sequence number includes the rendering data existing in the first frame data and also existing in the second frame data;

[0017] If it is judged that the rendering data existing in the first frame data and also existing in the second frame data exists in the cache, the part of common existing data in the cache is not processed, and the part of common existing data in the to-be-rendered data of the second frame data is deleted.

[0018] In some embodiments, in the case of completed data distribution, judging whether the rendering data of the first frame data corresponding to the first sequence number exists in the cache further comprises:

[0019] If it is judged that the rendering data of the first frame data corresponding to the first sequence number exists in the cache, the object and the rendering texture corresponding to the rendering data existing in the first frame data but not existing in the second frame data in the cache are deleted.

[0020] In some embodiments, after determining that the rendering data of the first frame data contains the part of to-be-rendered data of the second frame data, generating the first sequence number and distributing data, further comprising:

[0021] In the case of incomplete distribution, it is judged whether the data of incomplete distribution is the rendering data in the cache;

[0022] If it is judged that the data of incomplete distribution is not the rendering data in the cache, the rendering texture is generated and the texture ID is cached as the newly added data to-be-rendered of the second frame data and marked as the second sequence number;

[0023] If it is judged that the data of incomplete distribution is the rendering data in the cache, the data distribution is continued as the first sequence number.

[0024] In some embodiments, each frame of data comprises a plurality of pieces of data, and the method further comprises, when rendering the second frame of data, rendering other data to be rendered of the second frame of data after deleting, from the data to be rendered of the second frame of data, data to be rendered that is present in the first frame of data and also present in the second frame of data.

[0025] encapsulating the plurality of pieces of added data to be rendered of the second frame of data into a rendering object;

[0026] adding the rendering object to the cache, generating a rendering texture, and saving a texture ID to the cache.

[0027] In some embodiments, the method further comprises, when rendering the second frame of data, rendering other data to be rendered of the second frame of data after deleting, from the data to be rendered of the second frame of data, data to be rendered that is present in the first frame of data and also present in the second frame of data.

[0028] determining, according to the added data to be rendered of the second frame of data, differential data;

[0029] rendering the differential data and saving rendering data of the differential data to the cache.

[0030] In a second aspect, the embodiments of the present application further provide a high-precision map rendering device, wherein the device comprises: a first rendering module configured to render a first frame of data and save rendering data of the first frame of data to a cache; and a second rendering module configured to, when rendering a second frame of data, render other data to be rendered of the second frame of data after deleting, from data to be rendered of the second frame of data, data to be rendered that is the same as data to be rendered in the first frame of data.

[0031] In a third aspect, the embodiments of the present application further provide an electronic device, comprising: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform any of the aforementioned methods.

[0032] In a fourth aspect, the embodiments of the present application further provide a computer-readable storage medium storing one or more programs, which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the aforementioned methods.

[0033] The above at least one technical scheme adopted by the embodiments of the present application can achieve the following beneficial effects:

[0034] First, the first frame data is rendered and the rendering data of the first frame data is saved to the cache, and then after deleting the to-be-rendered data same as the first frame data from the to-be-rendered data of the second frame data, the other to-be-rendered data of the second frame data is rendered, so that the rendering efficiency of the high-definition map data is improved by using the way of differential update of the rendering data. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0036] Figure 1 A high-definition map rendering update schematic diagram in the related art is shown;

[0037] Figure 2 A high-definition map rendering method flowchart in an embodiment of the application is shown;

[0038] Figure 3 A high-definition map rendering device structure schematic diagram in an embodiment of the application is shown;

[0039] Figure 4 A high-definition map rendering method implementation flowchart in an embodiment of the application is shown

[0040] Figure 5 A structure schematic diagram of an electronic device in an embodiment of the application is shown. DETAILED DESCRIPTION

[0041] To make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with the embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0042] The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0043] The present application provides a high-definition map rendering method, as shown in Figure 2 The present application provides a high-definition map rendering method flowchart, which at least includes the following steps S210 to S220:

[0044] Step S210, rendering the first frame data and saving the rendering data of the first frame data to the cache.

[0045] The first frame data includes multiple pieces of data, such as 1000 pieces of data.

[0046] The first frame data is rendered, and the rendered data of the first frame data is saved to the cache. It should be noted that the saved data is the rendered data in the first frame data, not the first frame data. That is, the saved data in the cache is the rendered data.

[0047] It can be understood that the cache is the memory of the map server or the client terminal, and the first frame data is saved in the memory of the map server or the client terminal after being rendered.

[0048] In step S220, after deleting the same to-be-rendered data in the second frame data from the to-be-rendered data in the second frame data, the other to-be-rendered data in the second frame data is rendered.

[0049] In a real-time rendering scenario, the rendering time and efficiency have high requirements. If the rendering method in the related art is still used, a large amount of repeated data will be rendered. Therefore, when rendering the second frame data, it is determined whether the to-be-rendered data in the second frame data includes the same to-be-rendered data (such as 1000 pieces of data) in the first frame data. If yes, the other to-be-rendered data in the second frame data is rendered after deleting the same to-be-rendered data in the first frame data from the to-be-rendered data in the second frame data. For example, a traffic light at the same position in high-definition map data, after the first frame data is rendered, the to-be-rendered data in the second frame data also includes the same traffic light. At this time, the same to-be-rendered data in the second frame can be deleted.

[0050] It should be noted that when the other to-be-rendered data in the second frame data (such as a total of 2000 pieces of data) is rendered, since the same part has been deleted, only the data newly added in the second frame compared with the first frame needs to be rendered. For example, 800 pieces of data (newly added), so that 1000 pieces of the same data can be reduced, the operation amount and the cache occupation are reduced, and the rendering efficiency is improved.

[0051] For example, if a traffic light at the same position in high-definition map data, after the first frame data is rendered, no processing is performed in the second frame data.

[0052] In an embodiment of the present application, the method further includes: determining whether there is rendered data in the cache that cannot correspond to the second frame data; and discarding the rendered data in the cache if there is.

[0053] In practice, it is also necessary to determine whether there is rendering data in the server's cache that does not correspond to the data of the second frame, such as 200 conditional data (which is not processed).

[0054] For example, when an autonomous vehicle passes through a traffic light, it does not need to render the traffic light again. That is, if there is rendering data in the cache that does not correspond to the data in the second frame, this part of the rendering data is discarded in the cache and no longer occupies the cache.

[0055] Considering that the update cycle of high-precision maps is not as long as that of ordinary maps—for example, high-precision map data needs to be updated in a timely manner according to navigation needs, and also requires real-time updates of large amounts of data to assist in the positioning of autonomous driving—if differential updates are not used, and every frame is repeatedly rendered, the rendering speed will be reduced.

[0056] It's important to note that the new data to be rendered here might be visual assistance information for the next moment in autonomous driving. Data that is identical to the rendered data in the first frame is stored in the cache and not processed since the first frame has already been rendered. Data in the second frame that is different from the rendered data in the first frame does not need to be saved and can be discarded, for example, by deleting it from memory.

[0057] In one embodiment of this application, the step of deleting the same data to be rendered as in the first frame data from the data to be rendered in the second frame data before rendering other data to be rendered in the second frame data includes: generating a first sequence number and distributing data based on the second frame data when rendering the second frame data; after the data distribution is completed, determining whether there is rendering data of the first frame data corresponding to the first sequence number in the cache, wherein the rendering data of the first frame data corresponding to the first sequence number includes rendering data that exists in the first frame data and also exists in the second frame data; if it is determined that there is rendering data in the cache that exists in the first frame data and also exists in the second frame data, then this part of the jointly existing data in the cache is not processed, and this part of the jointly existing data in the data to be rendered in the second frame data is deleted.

[0058] like Figure 3 As shown, the map server or client terminal determines that the rendering data of the first frame contains the data to be rendered portion of the second frame, generates a first sequence number, and distributes the data. The sequence number is used for distributing different portions of the data to be rendered (distributed frame by frame).

[0059] In the case of completed distribution, the map server or the client terminal judges whether the rendering data of the first frame data corresponding to the first serial number exists in the cache. If the map server or the client terminal judges that the rendering data of the first frame data corresponding to the first serial number exists in the cache, the objects and rendering textures corresponding to the rendering data existing in the first frame data but not existing in the second frame data in the cache are deleted (the comparison is piecewise comparison).

[0060] It should be noted that the rendering data of the first frame data corresponding to the first serial number includes the rendering data existing in the first frame data and also existing in the second frame data.

[0061] In an embodiment of the present application, in the case of completed distribution, the judgment of whether the rendering data of the first frame data corresponding to the first serial number exists in the cache further comprises: if it is judged that the rendering data of the first frame data corresponding to the first serial number exists in the cache, the objects and rendering textures corresponding to the rendering data existing in the first frame data but not existing in the second frame data in the cache are deleted.

[0062] In the implementation, if it is judged that the rendering data of the first frame data corresponding to the first serial number exists in the cache, the objects and rendering textures corresponding to the rendering data existing in the first frame data but not existing in the second frame data in the cache need to be deleted in the memory of the server. That is, the comparison of the same data is piecewise comparison after the frame-by-frame distribution, and no processing is needed in the memory of the server (correspondingly, the rendering data same as the first frame data is deleted from the second frame data), but the part of data existing in the first frame data but not existing in the second frame data needs to be deleted.

[0063] In an embodiment of the present application, after the first serial number is generated and the data is distributed, the determination of the rendering data of the first frame data containing the part of rendering data of the second frame data further comprises: in the case of incomplete distribution, judging whether the data of incomplete distribution is the rendering data in the cache; if it is judged that the data of incomplete distribution is not the rendering data in the cache, the data is taken as the new rendering data of the second frame data, marked as the second serial number, and the rendering texture is generated and the texture ID is cached; if it is judged that the data of incomplete distribution is the rendering data in the cache, the data is marked as the first serial number and the data distribution is continued.

[0064] As Figure 3As shown, if the distribution is not completed, it is judged whether the data not completed for distribution is the rendering data in the cache; if it is judged that the data not completed for distribution is not the rendering data in the cache, the to-be-rendered new data of the second frame data can be rendered; after the first serial number is generated, if it is judged that the distribution is not completed, it is judged whether the rendering data of the first frame data has contained the to-be-rendered data part of the second frame data, if it has been contained, the rendering data of the first frame data in the cache is marked as the first serial number to continue the data distribution, that is, the rendering is not repeated again, and the irrelevant data is discarded and deleted.

[0065] As shown, Figure 3 To ensure the smooth flow of the entire update data, the multiple pieces of differential data in which the rendering data of the first frame data in the cache contains the to-be-rendered data part of the second frame data are encapsulated into rendering objects, so that the rendering data of the first frame data in the cache containing the to-be-rendered data part of the second frame data can be added to the rendering objects of the multiple pieces of differential data, the rendering texture is generated and the texture ID is saved to the cache. By effectively utilizing the existing data contained in the last frame, the efficiency of each rendering is ensured.

[0066] It should be noted that, for high-precision map data, if each frame needs to be repeated, the pressure of the map server or the client terminal is increased.

[0067] Preferably, in the case that the computing power pressure of the map server or the client is large, an edge computing server can be accessed to assist in part of the rendering, and the part of the rendering result is synchronized to the client.

[0068] Optionally, the complete rendering data can be obtained by respectively rendering the to-be-rendered data in the map server, the client and the edge computing server and then collecting the rendering data in the client.

[0069] In an embodiment of the present application, each frame of data includes multiple pieces of data, and after the to-be-rendered data existing in the first frame of data and also existing in the second frame of data is deleted from the to-be-rendered data of the second frame of data when the second frame of data is rendered, the other to-be-rendered data of the second frame of data is rendered, and the method further comprises: encapsulating the multiple pieces of new to-be-rendered data of the second frame of data into rendering objects; and adding the rendering objects to the cache, generating rendering texture and saving the texture ID to the cache.

[0070] As shown, Figure 3As shown, for the newly added to-be-rendered data, the second frame data can be encapsulated into a rendering object; the rendering object is added to the cache, a rendering texture is generated, and a texture ID is saved to the cache, to obtain rendering data in the second frame.

[0071] In an embodiment of the present application, after the to-be-rendered data in the second frame data is deleted, and other to-be-rendered data in the second frame data is rendered, the method further comprises: determining the difference data according to the newly added to-be-rendered data in the second frame data; rendering the difference data, and saving the rendering data of the difference data to the cache.

[0072] In particular implementation, the difference data is determined according to the to-be-rendered data in the second frame data, that is, the same data as the rendering data of the first frame data is removed, and the complete difference data is obtained by adding the newly added to-be-rendered data.

[0073] The embodiment of the present application further provides a high-precision map rendering device 400, as shown in the following figure. Figure 4 As shown, a structure diagram of the high-precision map rendering device in the embodiment of the present application is provided, and the high-precision map rendering device 400 at least comprises a first rendering module 410 and a second rendering module 420, wherein:

[0074] In an embodiment of the present application, the first rendering module 410 is specifically used for rendering the first frame data and saving the rendering data of the first frame data to the cache.

[0075] The first frame data comprises a plurality of data, for example, 1000 pieces of data.

[0076] The first frame data is rendered, and the rendering data of the first frame data is saved to the cache. It should be noted that the saved data is the rendering data in the first frame data, not the first frame data. That is, the rendering data is saved in the cache.

[0077] It can be understood that the cache is the memory of the map server or the client terminal, and the first frame data is saved in the memory of the map server or the client terminal after being rendered.

[0078] In an embodiment of the present application, the second rendering module 420 is specifically used for, when rendering the second frame data, deleting the to-be-rendered data same as the first frame data from the to-be-rendered data of the second frame data, and then rendering other to-be-rendered data of the second frame data.

[0079] In a scene requiring real-time rendering, there are high requirements for rendering time and efficiency. If the rendering manner in the related art is still used, a large amount of repeated data will be rendered. Therefore, when rendering second frame data, it is determined whether the to-be-rendered data of the second frame data includes the same to-be-rendered data (for example, 1000 pieces of the same data) as in the first frame data. If yes, the to-be-rendered data of the second frame data is deleted after the to-be-rendered data of the first frame data is deleted, and then other data to be rendered of the second frame data is rendered. For example, a traffic light at the same position in high-definition map data, when the first frame data has been rendered, the to-be-rendered data of the second frame data also includes the same traffic light, at this time, the to-be-rendered data can be deleted.

[0080] It should be noted that when the other data to be rendered of the second frame data (for example, a total of 2000 pieces of data) is re-rendered, since the same part has been deleted, only the newly added data needs to be rendered. For example, 800 pieces of data (newly added).

[0081] Exemplarily, if a traffic light at the same position in high-definition map data, when the first frame data has been rendered, no processing is performed in the second frame data.

[0082] It can be understood that the high-definition map rendering device can implement each step of the high-definition map rendering method provided in the foregoing embodiments, and the related explanations about the high-definition map rendering method are all applicable to the high-definition map rendering device, which will not be described herein again.

[0083] Figure 5 FIG. 1 is a structural schematic diagram of an electronic device according to an embodiment of the present application. Please refer to Figure 5 At the hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The memory can include a memory such as a random-access memory (RAM), and can also include a non-volatile memory such as at least one disk memory. Of course, the electronic device can also include other hardware required by a business.

[0084] The processor, the network interface and the memory can be connected with each other through 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, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 5 Only one bidirectional arrow is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0085] The memory is used to store a program. Specifically, the program can include program code including computer operation instructions. The memory can include an internal memory and a non-volatile memory, and provide instructions and data for the processor.

[0086] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs, and forms the high-precision map rendering device at the logical level. The processor executes the program stored in the memory, and is specifically used for executing the following operations:

[0087] Render the first frame data and save the rendering data of the first frame data to the cache;

[0088] When rendering the second frame data, after deleting the to-be-rendered data that is the same as the first frame data from the to-be-rendered data of the second frame data, the other to-be-rendered data of the second frame data is rendered.

[0089] The above as described in the present application Figure 2The method performed by the high-definition map rendering device disclosed in the embodiments can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip with processing capability. In the implementation process, each step of the above method can be completed by integrated logic circuits in hardware or instructions in software form in the processor. The processor described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; or 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, discrete hardware components. Each method, step and logic block diagram disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware coding processor for execution, or a combination of hardware and software modules in the coding processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the storage, and the processor reads the information in the storage and combines the hardware to complete the steps of the above method.

[0090] The electronic device can also perform the method performed by the medium- and high-definition map rendering device, and implement the functions of the high-definition map rendering device in Figure 2 the embodiments. Figure 2 The embodiments of the present application do not repeat the functions of the embodiments disclosed above.

[0091] The embodiments of the present application also propose a computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device including a plurality of applications, can cause the electronic device to perform Figure 2 the method performed by the medium- and high-definition map rendering device in the embodiments, and specifically for performing:

[0092] rendering the first frame data and saving the rendering data of the first frame data to the cache;

[0093] When rendering the second frame data, after deleting the same to-be-rendered data from the to-be-rendered data of the second frame data, rendering the other to-be-rendered data of the second frame data.

[0094] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0095] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for performing the function of one or more of the steps from a flowchart

[0096] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for performing the function of one or more of the steps from a flowchart

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for performing the function of one or more of the steps from a flowchart

[0098] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0099] Memory can include non-persistent memory, such as volatile random access memory (RAM) and / or non-volatile memory, such as read only memory (ROM), electrically erasable read only memory (EEPROM), flash memory, or the like. Memory is an example of computer readable media.

[0100] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (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 technology, compact disc read only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the identified element.

[0102] Those skilled in the art will understand that embodiments of the present application can be provided as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer readable program code.

[0103] The embodiments of the present application described above are merely given as examples of the application, but are not intended to limit the present application. Various modifications and changes can be made thereto by those skilled in the art which fall within the scope of the present application. Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A high-definition map rendering method, wherein, The method comprises: rendering first frame data and saving rendered data of the first frame data to a cache; after deleting the same to-be-rendered data in the second frame data from to-be-rendered data of the second frame data, rendering other to-be-rendered data of the second frame data; the step of rendering the second frame data after deleting the same to-be-rendered data in the second frame data from to-be-rendered data of the second frame data, comprises: generating a first sequence number according to the second frame data and distributing data when rendering the second frame data; judging whether rendered data corresponding to the first sequence number exists in the cache when the data distribution is completed, wherein the rendered data corresponding to the first sequence number comprises rendered data existing in the first frame data and also existing in the second frame data; if it is judged that the rendered data existing in the first frame data and also existing in the second frame data exists in the cache, not processing the part of common data in the cache, and deleting the part of common data in the to-be-rendered data of the second frame data; after the step of generating the first sequence number and distributing data, further comprising: judging whether the data not completed distribution is rendered data in the cache when the data distribution is not completed; if it is judged that the data not completed distribution is not rendered data in the cache, generating rendered texture and caching texture ID after marking the data as new to-be-rendered data of the second frame data and as the second sequence number; if it is judged that the data not completed distribution is rendered data in the cache, continuing data distribution by marking the data as the first sequence number.

2. The method of claim 1, wherein, the method further comprises: judging whether rendered data corresponding to the second frame data exists in the cache; if it exists, discarding the part of rendered data in the cache.

3. The method of claim 1, wherein, the step of judging whether rendered data corresponding to the first sequence number exists in the cache when the data distribution is completed, further comprises: if it is judged that rendered data corresponding to the first sequence number does not exist in the cache, deleting objects corresponding to rendered data existing in the first frame data but not existing in the second frame data in the cache and rendered texture.

4. The method of claim 1, wherein, each frame data comprises a plurality of data, and the step of rendering other to-be-rendered data of the second frame data after deleting the same to-be-rendered data in the second frame data from to-be-rendered data of the second frame data, further comprises: encapsulating a plurality of new data of the to-be-rendered data of the second frame data into a rendering object; adding the rendering object to the cache, generating rendered texture and saving texture ID to the cache.

5. The method of claim 1, wherein, after the step of rendering other to-be-rendered data of the second frame data after deleting the same to-be-rendered data in the second frame data from to-be-rendered data of the second frame data, further comprising: determining differential data according to new to-be-rendered data of the second frame data; rendering the differential data and saving rendering data of the differential data to a cache.

6. A high-definition map rendering apparatus, wherein, The apparatus comprises: a first rendering module configured to render first frame data and save rendering data of the first frame data to a cache; a second rendering module configured to, when rendering second frame data, render other data to be rendered of the second frame data after deleting, from the data to be rendered of the second frame data, data to be rendered that is the same as data to be rendered in the first frame data; The method further comprises: when rendering the second frame data, generating a first sequence number and distributing data according to the second frame data; when the distribution of data is completed, determining whether rendering data of the first frame data corresponding to the first sequence number exists in the cache, the rendering data of the first frame data corresponding to the first sequence number including rendering data that exists in the first frame data and also exists in the second frame data; if it is determined that the rendering data that exists in the first frame data and also exists in the second frame data exists in the cache, not processing the part of the data that exists in common in the cache, and deleting the part of the data that exists in common from the data to be rendered of the second frame data; The method further comprises: when the distribution of data is not completed, determining whether the data that is not completed for distribution is rendering data in the cache; if it is determined that the data that is not completed for distribution is not rendering data in the cache, generating rendering texture and caching texture ID after marking the data as new data to be rendered of the second frame data and as a second sequence number; if it is determined that the data that is not completed for distribution is rendering data in the cache, continuing the distribution of data by marking the data as the first sequence number. 7.An electronic device comprising: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method of any of claims 1-5. 8.A computer-readable storage medium storing one or more programs, the one or more programs, when executed by an electronic device including multiple applications, cause the electronic device to perform the method of any of claims 1-5. ​

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