Method, device and computer readable storage medium for generating a green belt of an electronic map

Abstract

The application relates to a green belt generation method, device and computer readable storage medium of an electronic map. The method comprises the following steps: selecting main road lane lines and auxiliary road lane lines from lane lines of an electronic map, and generating a main road lane line list and an auxiliary road lane line list; taking the main road lane lines and the auxiliary road lane lines in the main road lane line list and the auxiliary road lane line list as elements, and generating a main road and main road lane line matching list and a main road and auxiliary road lane line matching list through element matching; and generating a green belt between the main road lane lines and between the main road and auxiliary road lane lines according to the main road and main road lane line matching list and the main road and auxiliary road lane line matching list. The technical scheme of the application can accurately generate a green belt meeting requirements on an electronic map.

Description

Technical Field

[0001] This application relates to the field of image processing, and more particularly to a method, apparatus, and computer-readable storage medium for generating green belts in electronic maps. Background Technology

[0002] An electronic map is software used for navigation on GPS devices, primarily for route planning and navigation. Structurally, an electronic map consists of elements such as roads, background, annotations, and points of interest. It can also include many unique features, such as green belts along city roads. The technology used to generate green belts on electronic maps is typically hand-drawn or primarily created using a combination of manual and computer-aided drawing. This method of generating green belts has inherent flaws, the most typical being that the green belts encroach on road lines (solid or dashed lines, etc.), which is neither consistent with real-world green belts nor with general aesthetic preferences. Summary of the Invention

[0003] To address or partially address the problems existing in related technologies, this application provides a method, apparatus, and computer-readable storage medium for generating green belts on electronic maps, which can accurately generate green belts that meet the requirements on electronic maps.

[0004] The first aspect of this application provides a method for generating green belts on an electronic map, comprising:

[0005] Select the main road lane lines and auxiliary road lane lines from the lane lines on the electronic map, and generate a main road lane line list and an auxiliary road lane line list;

[0006] Using the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements, generate a main road lane line matching list and a main road lane line matching list by element matching.

[0007] Based on the main road lane matching list and the main road auxiliary road lane matching list, green belts are generated between the main road lane lines and between the main and auxiliary road lane lines.

[0008] A second aspect of this application provides an apparatus for generating green belts in electronic maps, comprising:

[0009] The first generation module is used to select the main road lane lines and auxiliary road lane lines from the lane lines of the electronic map, and generate a main road lane line list and an auxiliary road lane line list.

[0010] The second generation module is used to generate a main road lane line matching list and a main road lane line matching list by using the main road lane lines and auxiliary road lane lines in the main road lane line list and the auxiliary road lane line list as elements, and generating a main road lane line matching list and a main road lane line matching list by element matching.

[0011] The drawing module is used to generate green belts between the lane lines of the main road and between the lane lines of the main road and the lane lines of the auxiliary road, based on the matching list of lane lines between the main road and the lane lines of the auxiliary road.

[0012] A third aspect of this application provides an electronic device, comprising:

[0013] Processor; and

[0014] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0015] A fourth aspect of this application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.

[0016] The technical solution provided in this application can include the following beneficial effects: Compared with related technologies where green belts in electronic maps are manually hand-drawn or mainly drawn by humans with the help of computers, resulting in green belts covering road traffic lines, the technical solution of this application uses the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements. After generating the main road to main road lane line matching list and the main road to auxiliary road lane line matching list through element matching, green belts are generated between the main road lane lines and between the main road and auxiliary road lane lines according to the main road to main road lane line matching list and the main road to auxiliary road lane line matching list. Since the above process is automatically completed by computer programs, green belts that meet the requirements can be accurately generated on electronic maps, avoiding defects such as green belts covering road traffic lines.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0019] Figure 1 This is a flowchart illustrating the method for generating green belts in an electronic map according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the structure of the green belt generation device for electronic maps shown in the embodiments of this application;

[0021] Figure 3This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of a green belt generated between the lane lines of the main road, as shown in an embodiment of this application. Detailed Implementation

[0023] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0024] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0025] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0026] An electronic map is software used for navigation on GPS devices, primarily for route planning and navigation. Structurally, an electronic map consists of elements such as roads, background, annotations, and points of interest. It can also include many unique features, such as green belts along city roads. The technology used to generate green belts on electronic maps is typically hand-drawn or primarily created using a combination of manual and computer-aided drawing. This method of generating green belts has inherent flaws, the most typical being that the green belts encroach on road lines (solid or dashed lines, etc.), which is neither consistent with real-world green belts nor with general aesthetic preferences.

[0027] To address the aforementioned issues, this application provides a method for generating green belts on electronic maps, which can accurately generate green belts that meet the requirements on electronic maps.

[0028] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0029] See Figure 1 This is a flowchart illustrating the method for generating green belts in an electronic map according to an embodiment of this application, mainly including steps S101 to S103, as described below:

[0030] Step S101: Select the main road lane lines and auxiliary road lane lines from the lane lines on the electronic map, and generate a main road lane line list and an auxiliary road lane line list.

[0031] Generally, urban roads mainly consist of main roads and auxiliary roads. Main roads are typically located in the middle of the road, while auxiliary roads are situated on either side for slow-moving motor vehicles or non-motorized vehicles. Since roads are divided into main roads and auxiliary roads, correspondingly, lane markings are also divided into main road lane markings and auxiliary road lane markings. Because electronic maps contain other traffic elements besides lane markings, it is necessary to select main road lane markings and auxiliary road lane markings from the lane markings on the electronic map, generating lists for main road lane markings and auxiliary road lane markings. Here, the main road lane marking list contains all main road lane markings, and the auxiliary road lane marking list contains all auxiliary road lane markings.

[0032] As one embodiment of this application, selecting main road lane lines and auxiliary road lane lines from lane lines on an electronic map to generate a main road lane line list and an auxiliary road lane line list can be achieved by: generating a first difference line set starting from difference nodes based on all lane lines on the electronic map; and generating a main road lane line list and an auxiliary road lane line list by comparing the direction angle formed by the last element in the second difference line set and the elements in the first difference line set with a preset direction angle threshold. Here, the difference nodes are nodes formed by the difference between the start and end points of all lane lines. In this embodiment, the second difference line set is obtained by extracting elements from the first difference line set. The second difference line set can be initialized as an empty set during initialization. It is called a difference line set because the start and end points of all lane lines are not equal. For example, there may be more start points than end points, or vice versa. The start points of all lane lines form a start point set, and the end points of all lane lines form an end point set. Subtracting these two sets yields a set (let's call it the difference set), and the start or end point in the difference set is the difference node. For example, when there are more starting points than ending points of lane lines, the difference node is the starting point of the additional lane lines; conversely, when there are more ending points than starting points of lane lines, the difference node is the ending point of the additional lane lines. In the above embodiment, generating a first set of difference lines starting from the difference nodes based on all lane lines of the electronic map can be achieved through steps S1011 to S1014, as explained below:

[0033] Step S1011: Initialize the queue used to store the difference nodes.

[0034] As mentioned earlier, difference nodes are nodes formed by the differences between the start and end points of all lane lines. Initializing the queue used to store difference nodes essentially involves defining an empty queue, which we'll call `queue`. It's worth noting that when initializing the queue, we can initialize a set of all lists, which we can call `case`; and when initializing `case`, we can initialize it as an empty set.

[0035] Step S1012: If the queue used to store the difference nodes is not empty, then take point p from the queue and initialize the second difference line set.

[0036] This application defines two sets: the set of lane start points (denoted as `start`) and the set of lane end points (denoted as `end`). `start` represents the set of all lane start points, and `end` represents the set of all lane end points. The difference between `start` and `end` is calculated as `start – end`, and `seed = start – end`. It is understood that when the number of elements in `start` (all lane start points) is the same as the number of elements in `end` (all lane end points), `seed` is zero, meaning the set `seed` is empty. After initializing the queue for storing difference nodes, all elements in `seed` can be placed into the queue. If the queue for storing difference nodes is not empty, in other words, if the number of elements in `start` (all lane start points) is greater than the number of elements in `end` (all lane end points), a point can be randomly selected from the queue to initialize a second difference line set; let this randomly selected point be `p`, and the second difference line set be `items`.

[0037] Step S1013: If point p is not in the set of lane line start points and the second difference line set is not empty, then put the second difference line set into the set of all lists.

[0038] As mentioned earlier, point p is an arbitrary point taken from the queue, which is obtained by placing all elements of seed into it. Although seed is the difference between start and end, it does not mean that all elements in seed are necessarily in start. In this embodiment, if point p is not in the set of lane start points and the second difference line set items is not empty, then the second difference line set items is placed into the set of all lists case, and then the process jumps to step S1012.

[0039] Step S1014: Construct the first set of difference lines by taking point p as the starting point and not being in the closed list.

[0040] In this embodiment, the lines in the closed list are used for other purposes. After obtaining all points p through the aforementioned steps S1011 to S1013, straight lines are drawn from each point p as their starting point. It is then determined whether these straight lines are in the closed list. If they are not in the closed list, then the straight line is an element of the first difference line set. Thus, all lines originating from point p and not in the closed list constitute the first difference line set; denoted as s.

[0041] Corresponding to steps S1011 to S1014, which generate a first set of difference lines starting from the difference nodes based on all lane lines in the electronic map, as an embodiment of this application, the generation of a main road lane line list and an auxiliary road lane line list by comparing the direction angle formed by the last element in the second set of difference lines and the elements in the first set of difference lines with a preset direction angle threshold can be achieved through steps S'1011 to S'1014, as detailed below:

[0042] Step S'1011: If the second difference line set is empty, then place the element f from the first difference line set into the closed list and the second difference line set.

[0043] If the second difference set is empty, then any element f from the first difference set is taken and placed into the closed list and the second difference set items. At this time, the second difference set items is no longer empty.

[0044] Step S'1012: If the second difference line set is not empty, then compare the direction angle θ formed by the last element in the second difference line set and the element f in the first difference line set with the preset direction angle threshold θ. thr Size.

[0045] After randomly selecting an element f from the first difference line set and inserting it into the closed list and the second difference line set items, the second difference line set items is no longer empty. At this point, the direction angle θ formed by the last element in the second difference line set and the element f in the first difference line set is compared with a preset direction angle threshold θ. thr Size.

[0046] Step S'1013: If θ is less than θ thr If the condition is met, then element f is placed into the closed list and the second difference line set; otherwise, element f is assigned the next element of the first difference line set.

[0047] If θ is less than θ thr If θ is greater than or equal to θi, it means that the last element in the second difference set is basically parallel or coincident with the element f in the first difference set. In this case, element f can be placed into the closed list and the second difference set items. thrIf the direction angle θ formed by the last element in the second difference line set and the element f in the first difference line set is large, then element f needs to be assigned the next element in the first difference line set.

[0048] Step S'1014: If element f is not the last element of the first difference line set, then put element f into the queue, assign point p as the endpoint of element f, and return the first difference line set consisting of all lines starting from point p and not in the closed list.

[0049] If element f is not the last element in the first difference line set, then point p is placed into the queue used to store the difference nodes, i.e., the queue. At the same time, point p is assigned the end point of element f. After that, the process jumps to step S1014 of the above embodiment.

[0050] After the above loop ends, the second difference line set items is placed into all list sets case and the second difference line set items is assigned an empty value. After that, the process jumps to step S1012 of the aforementioned embodiment.

[0051] Step S102: Using the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements, generate a main road lane line matching list and a main road lane line matching list through element matching.

[0052] For urban roads, green belts are only likely to exist between main roads or between a main road and an auxiliary road. For example, a green belt may exist between two opposing main roads, and a green belt may also exist between a main road and an auxiliary road in the same direction. Since auxiliary roads are usually located on both sides of main roads, green belts cannot exist between auxiliary roads. Given the above, it is necessary to generate a main road lane line matching list and a main road and auxiliary road lane line matching list. The main road lane line matching list shows which main road lane lines match which other main road lane lines, and the main road and auxiliary road lane line matching list shows which main road lane lines match which auxiliary road lane lines. This application embodiment can use the main road lane lines and auxiliary road lane lines in the main road lane line list and the auxiliary road lane line list as elements, and generate the main road lane line matching list and the main road and auxiliary road lane line matching list by matching these elements. As an embodiment of this application, using the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements, generating a main road to main road lane line matching list by element matching can be as follows: arbitrarily select the first main road lane line and the second main road lane line in the main road lane line list; determine whether the first main road lane line and the second main road lane line match based on whether the buffer zone of the first main road lane line intersects with the second main road lane line, the angle formed by the first vector and the second vector and the size of the first angle threshold, and the length ratio of the first main road lane line and the second main road lane line; and list all the first main road lane lines and the second main road lane lines in a table to form a main road to main road lane line matching list, wherein the first vector is the vector formed by the start and end points of the first main road lane line, and the second vector is the vector formed by the start and end points of the second main road lane line. In the above embodiments, determining whether the first main road lane line and the second main road lane line match based on whether the buffer zone of the first main road lane line intersects with the second main road lane line, the angle formed by the first vector and the second vector is greater than the first angle threshold, and the length ratio of the first main road lane line and the second main road lane line can specifically be as follows: determine whether the two buffer zones of the first main road lane line (i.e., the first buffer zone and the second buffer zone of the first main road lane line) intersect with the second main road lane line; if the first buffer zone does not intersect with the second main road lane line, and the second buffer zone intersects with the second main road lane line, then compare the angle formed by the first vector and the second vector with the first angle threshold; if the angle formed by the first vector and the second vector is greater than the first angle threshold, then compare the length ratio of the first main road lane line and the second main road lane line with the first preset ratio threshold range; if the length ratio of the first main road lane line and the second main road lane line is within the first preset ratio threshold range, then determine that the first main road lane line and the second main road lane line match.The above-described method for determining whether the first and second main road lane lines match is a progressive approach. A prerequisite for matching is that the first buffer zone does not intersect with the second main road lane line, while the second buffer zone intersects with the second main road lane line. If this prerequisite is not met, the first and second main road lane lines are not matched. Only when this prerequisite is met is the next step in the judgment performed. As mentioned earlier, for two main roads, a green belt can only exist between opposing main roads; a green belt cannot exist between main roads traveling in the same direction. Therefore, in the above embodiment, only when the angle formed by the first vector and the second vector is greater than a first angle threshold can the two main roads be opposing main roads, and only then can the first and second main road lane lines match. Furthermore, if the lengths of the two main roads differ too much, they cannot be matched. Therefore, provided that the buffer zone intersects with the main road lane lines and the angle formed by the first vector and the second vector is satisfied, the first main road lane line and the second main road lane line are finally determined to be matched only if the length ratio of the first main road lane line and the second main road lane line is within the range of the first preset ratio threshold.

[0053] As one embodiment of this application, using the main road lane lines and auxiliary road lane lines in the main road lane line list and the auxiliary road lane line list as elements, generating a main road and auxiliary road lane line matching list by element matching can be as follows: arbitrarily select the main road lane lines from the main road lane line list and the auxiliary road lane lines from the auxiliary road lane line list; determine whether the main road lane lines and auxiliary road lane lines match based on the angle formed by the third vector and the fourth vector and the second angle threshold, the length ratio of the main road lane lines and the auxiliary road lane lines, and the set of main road lane lines and the set of auxiliary road lane lines, wherein the third vector is the vector formed by the start and end points of the main road lane lines, and the fourth vector is the vector formed by the start and end points of the auxiliary road lane lines. Specifically, determining whether the main road lane lines and auxiliary road lane lines match based on the angle formed by the third and fourth vectors and the second angle threshold, the length ratio of the main road lane lines to the auxiliary road lane lines, and the sets of main road lane lines and auxiliary road lane lines can be done as follows: compare the angle formed by the third and fourth vectors with the second angle threshold; if the angle formed by the third and fourth vectors is less than the second angle threshold, compare the length ratio of the main road lane lines to the auxiliary road lane lines with the range of a second preset ratio threshold; if the length ratio of the main road lane lines to the auxiliary road lane lines is within the range of the second preset ratio threshold, determine whether the sets of main road lane lines and auxiliary road lane lines intersect; if the sets of main road lane lines and auxiliary road lane lines do not intersect, determine that the main road lane lines and auxiliary road lane lines match. As mentioned earlier, green belts can only exist between two opposing main roads, whereas they can only exist between main roads and auxiliary roads traveling in the same direction. Therefore, when determining whether the main road lane lines and auxiliary road lane lines match, the angle formed by the third and fourth vectors is first compared to the second angle threshold. If the angle formed by the third and fourth vectors is less than the second angle threshold, it indicates that the main road lane lines and auxiliary road lane lines to be matched are lane lines traveling in the same direction, satisfying the prerequisite for matching. Then, the length ratio of the main road lane lines and auxiliary road lane lines is compared to a second preset ratio threshold range, and whether the sets of main road lane lines and auxiliary road lane lines intersect. Only when the length ratio of the main road lane lines and auxiliary road lane lines is within the second preset ratio threshold range, and the sets of main road lane lines and auxiliary road lane lines do not intersect, is the matching of the main road lane lines and auxiliary road lane lines finally determined. It should be noted that since auxiliary roads are usually located on both sides of the main road, there can be no green belt between auxiliary roads. Therefore, in this embodiment of the application, it is not necessary to match the lane lines between auxiliary roads, that is, it is not necessary to generate a lane line matching list between auxiliary roads.

[0054] Step S103: Based on the main road lane line matching list and the main road and auxiliary road lane line matching list, generate green belts between the main road lane lines and between the main and auxiliary road lane lines.

[0055] After obtaining the matching lists of main road lane lines and main road lane lines and auxiliary road lane lines, green belts can be generated between the main road lane lines and between the main and auxiliary road lane lines based on these lists. Taking the generation of green belts between main road lane lines as an example, this can be done by obtaining a first straight line Line1 corresponding to one side of the first main road lane line and a second straight line Line2 corresponding to one side of the second main road lane line, adjusting the first straight line Line1 and the second straight line Line2 to have the same direction; then aligning the first straight line Line1 and the second straight line Line2 together and shortening them both inward; then drawing arcs at the endpoints of the first straight line Line1 and the second straight line Line2; finally, connecting the endpoints of the first straight line Line1 and the second straight line Line2 to form a new surface and cutting it to generate a suitable rectangle. The generation of green belts between the main and auxiliary road lane lines is similar to the above technical solution, except that when the first straight line Line1 is on one side of the main road lane line, the second straight line Line2 is a straight line located on one side of the auxiliary road lane line, instead of a straight line located on one side of the main road lane line. Figure 4 The diagram shows the effect of green belts generated between main road lane lines and between main and auxiliary road lane lines based on the main road and main road lane line matching list.

[0056] From the above Figure 1 As can be seen from the example of the green belt generation method for electronic maps, compared to related technologies where green belts are generated by hand-drawing or mainly by manual drawing with computer assistance, resulting in green belts covering road traffic lines, the technical solution of this application uses the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements. After generating the main road to main road lane line matching list and the main road to auxiliary road lane line matching list by matching elements, green belts are generated between the main road lane lines and between the main and auxiliary road lane lines according to the main road to main road lane line matching list and the main road to auxiliary road lane line matching list. Since the above process is completed automatically by computer program, green belts that meet the requirements can be accurately generated on electronic maps, avoiding defects such as green belts covering road traffic lines.

[0057] Corresponding to the aforementioned application function implementation method embodiments, this application also provides an electronic map green belt generation device, electronic device, and corresponding embodiments.

[0058] See Figure 2 This is a schematic diagram of the structure of the green belt generation device for electronic maps shown in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown. Figure 2 The example electronic map green belt generation device mainly includes a first generation module 201, a second generation module 202, and a drawing module 203, wherein:

[0059] The first generation module 201 is used to select the main road lane lines and auxiliary road lane lines from the lane lines of the electronic map, and generate a main road lane line list and an auxiliary road lane line list.

[0060] The second generation module 202 is used to generate a main road lane line matching list and a main road lane line matching list by using the main road lane line list and the auxiliary road lane line list as elements, and generating a main road lane line matching list and a main road lane line matching list by matching elements.

[0061] The drawing module 203 is used to generate green belts between the lane lines of the main road and between the lane lines of the main road and the auxiliary road, based on the matching list of lane lines between the main road and the lane lines of the auxiliary road.

[0062] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0063] From the above Figure 2 As can be seen from the example of the green belt generation device for electronic maps, compared to related technologies where green belts are generated by hand-drawing or mainly by manual drawing with computer assistance, resulting in green belts covering road traffic lines, the technical solution of this application uses the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements. After generating the main road to main road lane line matching list and the main road to auxiliary road lane line matching list by matching elements, green belts are generated between the main road lane lines and between the main road and auxiliary road lane lines according to the main road to main road lane line matching list and the main road to auxiliary road lane line matching list. Since the above process is completed automatically by computer program, green belts that meet the requirements can be accurately generated on electronic maps, avoiding defects such as green belts covering road traffic lines.

[0064] Figure 3 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.

[0065] See Figure 3 The electronic device 300 includes a memory 310 and a processor 320.

[0066] The processor 320 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0067] Memory 310 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by processor 320 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 310 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 310 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0068] The memory 310 stores executable code, which, when processed by the processor 320, can cause the processor 320 to execute part or all of the methods described above.

[0069] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0070] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.

[0071] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method of generating a green belt of an electronic map, characterized by, The method includes: The process of selecting main road lane lines and auxiliary road lane lines from lane lines on an electronic map and generating a main road lane line list and an auxiliary road lane line list includes: generating a first difference line set starting from difference nodes based on all lane lines on the electronic map; the difference nodes are nodes in the difference set obtained by subtracting the start set from the end set; the start set is a set consisting of the start points of all lane lines; the end set is a set consisting of the end points of all lane lines; and the first difference line set is generated from the lane lines corresponding to the start points contained in the difference nodes. The process of generating the main road lane line list and the auxiliary road lane line list by comparing the direction angle formed by the last element in the second difference line set and the elements in the first difference line set with a preset direction angle threshold is also described. The elements in the second difference line set originate from the first difference line set. Using the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list as elements, generate a main road lane line matching list and a main road lane line matching list by element matching. Based on the main road lane matching list and the main road auxiliary road lane matching list, green belts are generated between the main road lane lines and between the main and auxiliary road lane lines.

2. The method of claim 1, wherein, The step of generating a first set of difference lines starting from difference nodes based on all lane lines of the electronic map includes: Initialize the queue used to store the difference nodes; if the queue is not empty, then take a point from the queue p and initialize the second set of difference lines; if the point p if the point is not in the lane line start set and the second difference line set is not empty, then place the second difference line set in the all list set all lines with said point p as starting point and not in the closed table form the first difference line set.

3. The method of claim 2, wherein, The step of generating the main road lane list and the auxiliary road lane list by comparing the direction angle formed by the last element of the second difference line set and the elements of the first difference line set with the preset direction angle threshold includes: if the second set of difference lines is empty, then placing an element of the first set of difference lines f into the closed table and the second set of difference lines, the element f being any one of the first set of difference lines that starts at the point p and is not in the closed table; if the second difference line set is not empty, comparing a last element in the second difference line set with an element in the first difference line set f a direction angle formed by the first vector and the second vector and a preset direction angle threshold value a size of the first vector if the is less than the then the element currently used for comparison f is placed into the closed list and the second set of difference lines, otherwise the element f is assigned the next element of the first set of difference lines; If the element f If it is not the last element of the first set of difference lines, then the element currently used for comparison will be... f The corresponding difference node is placed into the queue and the point is... p The value is assigned to the element currently used for comparison. f Return to all the points mentioned after the end of the corresponding lane line. p The lines that are the starting points and are not in the closed list constitute the first set of difference lines.

4. The method of claim 1, wherein, The step of generating a main road lane matching list by matching the main road lane lines and auxiliary road lane lines in the main road lane line list and auxiliary road lane line list with the main road lane lines and auxiliary road lane lines includes: Randomly select the first and second main road lane lines from the list of main road lane lines; Based on whether the buffer zone of the first main road lane line intersects with the second main road lane line, the angle formed by the first vector and the second vector and the first angle threshold, and the length ratio of the first main road lane line and the second main road lane line, it is determined whether the first main road lane line and the second main road lane line match. The first vector is the vector formed by the start and end points of the first main road lane line, and the second vector is the vector formed by the start and end points of the second main road lane line. The buffer zone of the first main road lane line is an area with a preset width constructed based on the first main road lane line.

5. The method of claim 4, wherein, The step of determining whether the first main road lane line and the second main road lane line match based on whether the buffer zone of the first main road lane line intersects with the second main road lane line, the angle formed by the first vector and the second vector and the size of the first angle threshold, and the length ratio of the first main road lane line and the second main road lane line includes: determining whether the two buffer zones of the first main road lane line intersect with a second main road lane line, the two buffer zones of the first main road lane line including a first buffer zone of the first main road lane line and a second buffer zone of the first main road lane line, the first buffer zone and the second buffer zone being respectively constructed along two sides of the first main road lane line; if the first buffer zone does not intersect with the second main road lane line and the second buffer zone intersects with the second main road lane line, comparing a size of an included angle formed by the first vector and a second vector with a size of the first included angle threshold value; if the included angle formed by the first vector and the second vector is greater than the first included angle threshold value, comparing a length ratio of the first main road lane line and the second main road lane line with a size of a first preset proportion threshold value range; if the length ratio of the first main road lane line and the second main road lane line is within the first preset proportion threshold value range, determining that the first main road lane line matches the second main road lane line.

6. The method of claim 1, wherein, the main road lane line list and the auxiliary road lane line list are taken as elements, and a main road lane line and an auxiliary road lane line are matched to generate a main road lane line and an auxiliary road lane line matching list, including: taking a main road lane line in the main road lane line list and an auxiliary road lane line in the auxiliary road lane line list; determining whether the main road lane line and the auxiliary road lane line match according to a size of an included angle formed by a third vector and a fourth vector, a length ratio of the main road lane line and the auxiliary road lane line, and a set formed by the main road lane line and a set formed by the auxiliary road lane line, the third vector being a vector formed by a starting point and an ending point of the main road lane line, and the fourth vector being a vector formed by a starting point and an ending point of the auxiliary road lane line.

7. The method of claim 6, wherein, the determining whether the main road lane line and the auxiliary road lane line match according to the size of the included angle formed by the third vector and the fourth vector, the length ratio of the main road lane line and the auxiliary road lane line, and the set formed by the main road lane line and the set formed by the auxiliary road lane line, includes: comparing the size of the included angle formed by the third vector and the fourth vector with the size of the second included angle threshold value; if the included angle formed by the third vector and the fourth vector is less than the second included angle threshold value, comparing a size of a length ratio of the main road lane line and the auxiliary road lane line with a size of a second preset proportion threshold value range; if the length ratio of the main road lane line and the auxiliary road lane line is within the second preset proportion threshold value range, determining whether the set formed by the main road lane line and the set formed by the auxiliary road lane line intersect; if the set formed by the main road lane line and the set formed by the auxiliary road lane line do not intersect, determining that the main road lane line and the auxiliary road lane line match.

8. The method of claim 1, wherein, the generating a green belt between main road lane lines according to the main road lane line and the main road lane line matching list, includes: obtaining a first straight line Line1 corresponding to one side of a first main road lane line and a second straight line Line2 corresponding to one side of a second main road lane line, adjusting the first straight line Line1 and the second straight line Line2 to a unified direction, the first main road lane line and the second main road lane line being main road lane lines in a main road and main road lane line matching list; aligning the first straight line Line1 and the second straight line Line2 with each other and shortening them inwardly; drawing an arc line at an end point of the first straight line Line1 and the second straight line Line2; connecting end points of the first straight line Line1 and the second straight line Line2 to form a new surface and cutting it to generate a suitable rectangle.

9. A green belt generating apparatus of an electronic map, characterized by comprising: The device comprises: a first generation module for selecting main road lane lines and auxiliary road lane lines from lane lines of an electronic map, generating a main road lane line list and an auxiliary road lane line list, comprising: generating a first difference line set with a difference node as a starting point according to all lane lines of the electronic map, the difference node being a node in a difference set obtained by subtracting a starting point set from an end point set, the starting point set being a set composed of starting points of all lane lines, the end point set being a set composed of end points of all lane lines, the first difference line set being generated by lane lines corresponding to starting points contained in the difference node; generating the main road lane line list and the auxiliary road lane line list by comparing a direction angle formed by a last element in a second difference line set and elements in the first difference line set with a preset direction angle threshold value, the element in the second difference line set being derived from the first difference line set; a second generation module for taking main road lane lines and auxiliary road lane lines in the main road lane line list and the auxiliary road lane line list as elements, generating a main road and main road lane line matching list and a main road and auxiliary road lane line matching list through element matching; a drawing module for generating a green belt between main road lane lines and between main and auxiliary road lane lines according to the main road and main road lane line matching list and the main road and auxiliary road lane line matching list.

10. An electronic device, comprising: comprise: a processor; and a memory having executable code stored thereon, when the executable code is executed by the processor, causing the processor to execute the method of any one of claims 1 to 8. 11.A computer readable storage medium having executable code stored thereon, when the executable code is executed by a processor of an electronic device, causing the processor to execute the method of any one of claims 1 to 8.

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