Method, apparatus, device and storage medium for generating road surface data

Abstract

The present disclosure provides a method, apparatus, device, and storage medium for generating road surface data, relating to the fields of data processing technology, particularly electronic maps, intelligent driving, artificial intelligence, smart cities, and other technical fields. A specific implementation scheme is as follows: obtaining road line data for a mapped road from a high-precision map road network, the road line data including the boundary line positions of multiple road boundary lines; identifying, from the multiple road boundary lines, a peripheral boundary line located outside the mapped road; generating first road surface data based on the peripheral boundary line, the first road surface data including the position information of the first road surface, the first road surface covering the global area of the mapped road; generating second road surface data based on the remaining boundary lines from the multiple road boundary lines, the second road surface data including the position information of the second road surface, the second road surface data covering a local area of the mapped road. This improves the efficiency of generating road surface data.

Description

Technical Field

[0001] The present disclosure relates to technical fields such as electronic maps, intelligent driving, artificial intelligence, and smart cities in the field of data processing technology, and in particular to a method, device, equipment, and storage medium for generating road surface data. Background Art

[0002] The application scope of high-precision map road networks is becoming increasingly wide, and they play an important role in application scenarios such as map navigation, autonomous driving, and smart cities.

[0003] In related technologies, during the production of high-precision map road networks, road line data is produced, and road surface data is produced manually in a small area based on customer needs, resulting in low efficiency in road surface data production. Summary of the Invention

[0004] The present disclosure provides a road surface data generation method, apparatus, device and storage medium for improving the efficiency of road surface data production.

[0005] According to a first aspect of the present disclosure, a method for generating road surface data is provided, comprising:

[0006] Determining road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines;

[0007] identifying, based on the boundary line positions of the plurality of road boundary lines, a peripheral boundary line located at the periphery of the map road among the plurality of road boundary lines;

[0008] generating first road surface data according to the outer boundary line, the first road surface data including position information of a first road surface, the first road surface covering a global area of the map road;

[0009] Second road surface data is generated based on the remaining boundary lines of the plurality of road boundary lines except the outer boundary line, the second road surface data including position information of the second road surface, and the second road surface data covers a partial area of the map road.

[0010] According to a second aspect of the present disclosure, there is provided a road surface data generating device, comprising:

[0011] an acquisition unit, configured to determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines;

[0012] an identification unit configured to identify, from among the plurality of road boundary lines, a peripheral boundary line located outside the map road based on boundary line positions of the plurality of road boundary lines;

[0013] a first generating unit, configured to generate first road surface data according to the outer boundary line, wherein the first road surface data includes position information of a first road surface, and the first road surface covers a global area of the map road;

[0014] The second generating unit is used to generate second road surface data based on the remaining boundary lines of the multiple road boundary lines except the outer boundary line, wherein the second road surface data includes position information of the second road surface, and the second road surface data covers a local area of the map road.

[0015] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0016] at least one processor; and

[0017] a memory communicatively coupled to the at least one processor;

[0018] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the road surface data generation method described in the first aspect.

[0019] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the road surface data generation method described in the first aspect.

[0020] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising: a computer program, the computer program being stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and the at least one processor executing the computer program so that the electronic device executes the road surface data generation method described in the first aspect.

[0021] According to the technical solution provided by this disclosure, during the road surface data generation process, first road surface data is generated based on the outer boundary line. The first road surface data includes the location information of the first road surface and covers the global area of the mapped road. Second road surface data is generated based on the remaining road boundary lines, excluding the outer boundary line, including the location information of the second road surface and covering the local area of the mapped road. This generation of global and local road surface data directly based on road line data effectively improves the efficiency of road surface data generation, significantly reduces the operational cost of road surface data generation, and allows for rapid and large-scale road surface data generation.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to better understand the present invention and do not constitute a limitation of the present invention.

[0024] Figure 1 A schematic diagram of an application scenario applicable to the embodiments of the present disclosure;

[0025] Figure 2 A schematic diagram of the process of generating road surface data according to an embodiment of the present disclosure Figure 1 ;

[0026] Figure 3 An example road diagram of a map road provided in an embodiment of the present disclosure;

[0027] Figure 4 A schematic diagram of the process of generating road surface data according to an embodiment of the present disclosure Figure 2 ;

[0028] Figure 5 A schematic diagram of the process of generating road surface data according to an embodiment of the present disclosure Figure 3 ;

[0029] Figure 6 A schematic diagram of the structure of a road surface data generating device according to an embodiment of the present disclosure Figure 1 ;

[0030] Figure 7 A schematic diagram of the structure of a road surface data generating device according to an embodiment of the present disclosure Figure 2 ;

[0031] Figure 8 FIG8 is a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0032] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0033] In the process of producing high-precision map road networks, usually only road line data is produced. If customers using high-precision map road networks have a need for road surface data, manual methods are used to produce road surface data in a small area. However, there are problems with the efficiency of road surface data production being too low and the cost being too high.

[0034] To address the above-mentioned issues, the present disclosure proposes a road surface data generation method, apparatus, device, and storage medium for use in data processing technology fields such as electronic maps, intelligent driving, artificial intelligence, and smart cities. The method proposes utilizing road line data of a mapped road to generate road surface data for the mapped road, thereby improving the efficiency of generating the road surface data. In the process of generating the road surface data, road surface data for the global region corresponding to the mapped road is generated based on the outer boundary lines of the mapped road, and road surface data for the local region corresponding to the mapped road is generated based on the remaining road boundary lines of the mapped road. This improves the efficiency of generating the road surface data while also improving the integrity of the road surface data. Furthermore, by separately generating the road surface data for the global region of the mapped road and the road surface data for the local region of the mapped road, the accuracy of the road surface data is improved.

[0035] Figure 1 This is a schematic diagram of an application scenario applicable to the embodiment of the present disclosure, which can be a scenario for generating a high-precision map road network. In the application scenario, the devices involved include a high-precision map road network generating device 101 and a database 102. The high-precision map road network generating device 101 can be a server or a terminal, Figure 1 Taking the high-precision map road network generation device 101 as a server as an example, the database 103 can store electronic maps, road line data, road surface data, etc.

[0036] In the scenario of generating a high-precision map road network, an electronic map can be obtained from the database 103 in the high-precision map road network generating device 101, and road line data of the high-precision map road network can be generated based on the electronic map, and the road line data can be stored in the database 102; road surface data of the high-precision map road network can also be generated based on the road line data, and the road surface data can be stored in the database 102.

[0037] The following specific embodiments describe in detail the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above-mentioned technical problems. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present disclosure are described in conjunction with the accompanying drawings.

[0038] Exemplarily, the execution subject of the embodiments of the present disclosure may be an electronic device, which may be a server or a terminal. The server may be a centralized server, a distributed server, or a cloud server. The terminal may be a personal digital assistant (PDA) device, a handheld device with wireless communication capabilities (such as a smartphone or tablet), a computing device (such as a personal computer (PC)), an in-vehicle device, a wearable device (such as a smart watch or smart bracelet), and a smart home device (such as a smart speaker or smart display device).

[0039] Figure 2 A schematic diagram of the process of generating road surface data according to an embodiment of the present disclosure Figure 1 .like Figure 2 As shown, the road surface data generation method includes:

[0040] S201 : Determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines.

[0041] Among them, the road boundary line is used to define the road surface range, such as Figure 3 As shown ( Figure 3 A road example diagram of a map road provided in an embodiment of the present disclosure) may have multiple road boundary lines for a map road.

[0042] For example, when there are no road branches or physical barriers on a map road, the map road has road boundary lines located on the left side, right side, starting point, and end point of the road respectively; when there are road branches or physical barriers on a map road, the road boundary lines of the map road include not only the road boundary lines located on the left side, right side, starting point, and end point of the road respectively, but also the road boundary lines used to divide physical barriers and road surfaces, and also the road boundary lines of road branches.

[0043] In addition to road boundaries, the road lines of a mapped road may also include traffic signs such as lane dividing lines, lane boundaries, and stop lines. Therefore, in addition to the boundary line positions of multiple road boundaries, the road line data of a mapped road may also include relevant information (such as location information) of traffic signs such as lane dividing lines, lane boundaries, and stop lines on the mapped road. In this embodiment, only the road boundaries of the mapped road are involved, so detailed description of lane dividing lines, lane boundaries, and stop lines is omitted.

[0044] The road line data includes the boundary line positions corresponding to multiple road boundary lines. The boundary line positions of the road boundary lines can be reflected as the position coordinates of multiple points on the road boundary lines (the starting point of the road boundary line, the end point of the road boundary line, and the point located in the middle of the road boundary line).

[0045] In this embodiment, one method is to obtain road line data for mapped roads from a high-precision map road network. The high-precision map road network may include road line data for multiple mapped roads, and road line data for one or more mapped roads can be obtained from the high-precision map road network using road markings on the mapped roads. Alternatively, another method is to generate road line data for mapped roads based on road images of the mapped roads. For example, a vehicle may first capture road images on the road, then use image recognition technology to identify road lines on the road images, and determine the location information of multiple points on the road lines. Alternatively, another method is to obtain road line data for mapped roads input by a user.

[0046] In this embodiment, when determining the road line data for a mapped road, the boundary positions of multiple road boundary lines of the mapped road may be directly determined; alternatively, the position information and types of multiple road lines in the mapped road may be determined, and the position information of a road line of the road boundary type may be obtained from the multiple road line position information, i.e., the boundary position of the road boundary line. The multiple road line types may include road boundary line type, lane dividing line type, lane boundary line type, stop line type, and the like.

[0047] S202 , identifying, from among the plurality of road boundary lines, an outer boundary line located at the outer periphery of the map road according to the boundary line positions of the plurality of road boundary lines.

[0048] In this embodiment, Figure 3 As can be seen in the figure, multiple road boundary lines are not necessarily located on the periphery of the mapped road. Some road boundary lines are used to distinguish physical barriers (such as green belts and roadblocks) from the road surface, and some road boundary lines are road boundary lines of road branches within the mapped road. Among the multiple road boundary lines, the outer boundary line of the mapped road can be identified by comparing the boundary line positions of the multiple road boundary lines.

[0049] S203 : Generate first road surface data according to the outer boundary line, where the first road surface data includes position information of the first road surface, and the first road surface covers a global area of the map road.

[0050] In this embodiment, since the first outer boundary line reflects the global outline of the mapped road, i.e., the global extent, the position information of the road surface that covers the global area of the mapped road can be determined based on the boundary line position of the first outer boundary line. For ease of distinction, the road surface that covers the global area of the mapped road is referred to as the first road surface. Thus, the position information of the first road surface can be obtained, and based on the position information of the first road surface, the first road surface data can be obtained.

[0051] S204 , generating second road surface data based on the remaining boundary lines except the outer boundary line among the plurality of road boundary lines, wherein the second road surface data includes position information of the second road surface, and the second road surface data covers a local area of the map road.

[0052] In this embodiment, among the multiple road boundary lines, the remaining boundary lines other than the outer boundary line are located within the mapped road. These remaining boundary lines can form a localized area within the mapped road. For example, a road boundary line used to distinguish a physical barrier from the road surface can form a localized area corresponding to the physical barrier. Therefore, based on the remaining boundary lines other than the outer boundary line among the multiple road boundary lines, the location information of the road surface that covers the localized area of the mapped road can be determined. For ease of distinction, the road surface that covers the localized area of the mapped road is referred to as the second road surface. In this manner, the location information of the second road surface can be obtained, and based on the location information of the second road surface, the second road surface data can be obtained.

[0053] One second road surface covers a local area of the mapped road, and different second road surfaces cover different local areas of the mapped road. For example, one second road surface covers a green belt area on the mapped road, and another second road surface covers a construction area on the mapped road.

[0054] In the disclosed embodiment, the outer boundary line of a mapped road is identified from among the multiple road boundary lines of the mapped road. First, based on the outer boundary line, first road surface data corresponding to the overall global road surface is generated, which is equivalent to generating an overall road surface. Then, based on the remaining boundary lines of the multiple road boundary lines, excluding the outer boundary line, second road surface data corresponding to a local area of the mapped road is generated. This not only enables the generation of road surface data based on road line data, thereby improving the efficiency of road surface data generation, but also takes into account the existence of an overall road surface and local areas formed on the road surface due to greening, construction, isolation belts, etc., adopting a global-first-then-local approach to improve the integrity and accuracy of the road surface data.

[0055] In some embodiments, in the process of identifying the outer boundary line, a possible implementation method includes: based on the boundary line position of the road boundary line, if there are no other boundary lines other than the first boundary line among multiple road boundary lines on at least one side of the first boundary line, then determining that the outer boundary line includes the first boundary line; wherein the first boundary line is any one of the multiple road boundary lines.

[0056] In this implementation, the first boundary line is the road boundary line that is currently being judged as being the outer boundary line. For the first boundary line, based on the boundary line position of the first boundary line and the boundary line positions of the other boundary lines among the multiple road boundary lines except the first boundary line, it is determined whether there are no other boundary lines among the multiple road boundary lines except the first boundary line on at least one side of the first boundary line. If so, it is determined that the first boundary line belongs to the outer boundary line, that is, it is determined that the outer boundary line includes the first boundary line. Otherwise, it is determined that the first boundary line does not belong to the outer boundary line. For example, if there are no other boundary lines to the left of the first boundary line, then the first boundary line is the outer boundary line located at the leftmost side of the map road; if there are no other boundary lines to the right of the first boundary line, then the first boundary line is the outer boundary line located at the rightmost side of the map road. In this way, each road boundary line can be judged, and all outer boundary lines can be identified among the multiple road boundary lines. The judgment process is simple and has high accuracy.

[0057] In another possible implementation, the outer boundary line can also be determined by determining the position of different road boundary lines on the horizontal axis or on the vertical axis. The high-precision map road network can be regarded as a two-dimensional coordinate system, with the horizontal and vertical axes being the horizontal and vertical axes of the two-dimensional coordinate system. If the road boundary line is at the highest or lowest position on the vertical axis, it can be determined that the outer boundary line includes the road boundary line; if the road boundary line is at the rightmost or leftmost position on the horizontal axis, it can be determined that the outer boundary line includes the road boundary line. Thus, by comparing the relative positions of multiple road boundary lines in the two-dimensional coordinate system, the efficiency and accuracy of outer boundary line recognition can be improved.

[0058] Figure 4 A schematic diagram of the process of generating road surface data according to an embodiment of the present disclosure Figure 2 .like Figure 4 As shown, the road surface data generation method includes:

[0059] S401 : Determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines.

[0060] S402 , identifying an outer boundary line located on the outer periphery of the map road among the plurality of road boundary lines according to the boundary line positions of the plurality of road boundary lines.

[0061] The implementation principles and technical effects of S401 to S402 may refer to the aforementioned embodiments and will not be described in detail.

[0062] S403: Determine position information of a first closed area formed by the outer boundary line according to the boundary line position of the outer boundary line.

[0063] The position information of the first closed area may include position information of each side of the first closed area, and the position information of each side may include position coordinates of multiple points on each side.

[0064] In this embodiment, after determining the outer boundary line, the boundary line position of the outer boundary line is obtained from the boundary line positions of multiple road boundary lines. A map road may include multiple outer boundary lines. The multiple outer boundary lines can form a closed area by overlapping end to end (the starting point of one outer boundary line coincides with the end point of another outer boundary line). This closed area is the global area of the map road. For ease of distinction, the closed area formed by the outer boundary lines is referred to as the first closed area, and the outer boundary lines are the edges of the first closed area. Therefore, it can be determined that the position information of the first closed area includes the boundary line positions of the outer boundary lines.

[0065] Optionally, in addition to the position information of each edge of the first closed area, the first closed area may also include position information of other points (such as a center point) within the first closed area.

[0066] S404: Determine position information of a first road surface based on the position information of the first closed area, where the first road surface covers the first closed area.

[0067] In this embodiment, after determining the location information of the first closed area, the location information of the first road surface can be determined as the location information of the first closed area, so that the first road surface covers the first closed area, that is, covers the entire area of the mapped road, and can accurately reflect the outline shape of the mapped road, forming the basic road surface of the mapped road. Because the first road surface data includes the location information of the first road surface, obtaining the location information of the first road surface is equivalent to obtaining the first road surface data.

[0068] In some embodiments, the first road surface data also includes the surface type corresponding to the first road surface and / or the area color corresponding to the first road surface. Therefore, generating the first road surface data also includes: determining that the surface type corresponding to the first road surface is a preset type, and / or determining that the area color corresponding to the first road surface is a preset color. For example, the surface type corresponding to the first road surface is determined to be a pavement type or a global type, and the area color corresponding to the first road surface is determined to be gray. Labeling the first road surface by type and / or color makes the first road surface more recognizable, improves the richness of the first surface data, and in particular, makes sufficient data preparation for rendering the high-precision map road network.

[0069] S405 , generating second road surface data based on the remaining boundary lines except the outer boundary line among the plurality of road boundary lines, wherein the second road surface data includes position information of the second road surface, and the second road surface data covers a local area of the map road.

[0070] The implementation principle and technical effects of S405 may refer to the aforementioned embodiments and will not be described in detail.

[0071] In the disclosed embodiment, the position information of the first closed area formed by the outer boundary lines of the mapped road is determined based on the position information of the outer boundary lines of the mapped road. Based on the position information of the first closed area, the position information of the first road surface is determined. This ensures that the first road surface covers the entire area of the mapped road, thereby improving the accuracy of the position information of the first road surface and, therefore, the accuracy of the first road surface data. Subsequently, based on the remaining boundary lines of the multiple road boundary lines, excluding the outer boundary lines, second road surface data corresponding to the local area of the mapped road is generated. This improves the efficiency of road surface data generation while also enhancing the integrity and accuracy of the road surface data.

[0072] Figure 5 A schematic diagram of the process of generating road surface data according to an embodiment of the present disclosure Figure 3 .like Figure 5 As shown, the road surface data generation method includes:

[0073] S501: Determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines.

[0074] S502 : Identify, from among the plurality of road boundary lines, an outer boundary line located at the outer periphery of the map road according to the boundary line positions of the plurality of road boundary lines.

[0075] S503 : Generate first road surface data according to the outer boundary line. The first road surface data includes position information of the first road surface. The first road surface covers the global area of the map road.

[0076] The implementation principles and technical effects of S501 to S503 may refer to the aforementioned embodiments and will not be described in detail.

[0077] S504, generating second road surface data based on whether the remaining boundary lines except the outer boundary line among the multiple road boundary lines form a closed area, the second road surface data including position information of the second road surface, and the second road surface data covering a local area of the map road.

[0078] In this embodiment, for the map road, the outer boundary line can form a closed area, and the first road surface data can be determined by the closed area formed by the outer boundary line. For the remaining boundary lines other than the outer boundary line among the multiple road boundary lines, the remaining boundary lines may not necessarily be able to form a closed area. For example, for some green belts, only a portion of the road boundary lines may be drawn when drawing traffic signs. Therefore, the remaining boundary lines have at least one of the following situations: Scenario 1, some of the remaining boundary lines can form a closed area and the other portion of the boundary lines cannot form a closed area; Scenario 2, all the remaining boundary lines can form a closed area; Scenario 3, none of the remaining boundary lines can form a closed area. Therefore, it is necessary to generate the second road surface data based on whether the remaining boundary lines can form a closed area to improve the accuracy of the second road surface data.

[0079] In one approach, the second road surface data is generated based solely on the remaining road boundary lines that can form a closed area. In another approach, different approaches are used to generate the second road surface data for the remaining road boundary lines that can form a closed area and for the remaining road boundary lines that cannot form a closed area, thereby improving the integrity of the second road surface data.

[0080] The following provides an implementation method for generating the second road surface data based on the road boundary lines that can form a closed area and the boundary lines that cannot form a closed area among the remaining boundary lines.

[0081] In one possible implementation, Figure 5 As shown, S504 includes S5041 to S5043:

[0082] S5041: Determine whether there is a second boundary line forming a closed area among the remaining boundary lines according to the boundary line positions of the remaining boundary lines.

[0083] In this implementation, in actual situations, if a road boundary line cannot form a closed area, then at least one endpoint of the road boundary line is not connected to the endpoints of other road boundary lines. If a road boundary line can form a closed area, then both endpoints of the road boundary line must be connected to the endpoints of other road boundary lines. Therefore, among the remaining boundary lines in the plurality of road boundary lines, excluding the outer boundary line, it is determined whether the endpoints of the remaining boundary line coincide with the endpoints of other remaining boundary lines. If both endpoints of the remaining boundary line coincide with the endpoints of other remaining boundary lines, the remaining boundary line is determined to be the second boundary line. In this way, by determining whether the endpoints coincide, the efficiency and accuracy of identifying the second boundary line among the remaining boundary lines is improved.

[0084] Optionally, after determining the second boundary line by end point overlap, it is possible to further determine whether there are other road boundary lines other than the second boundary line in the closed area formed by the second boundary line. If so, it is determined whether the second boundary line and the other road boundary lines can form a closed area, and the other road boundary lines are also determined as the second boundary line, thereby ensuring that there are no road boundary lines in the closed area formed by the second boundary line, thereby improving the accuracy of the second boundary line and the accuracy of the closed area formed by the second boundary line.

[0085] S5042: If a second boundary line exists in the remaining boundary lines, determine position information of a second closed area formed by the second boundary line according to the boundary line position of the second boundary line.

[0086] The position information of the second closed area may include position information of each side of the second closed area, and the position information of each side may include position coordinates of multiple points on each side.

[0087] In this implementation, for ease of distinction, the closed area formed by the second boundary line is referred to as the second closed area, and the second boundary line is the edge of the second closed area. Therefore, if a second boundary line that can form a closed area exists among the remaining boundary lines, the position information of the closed area formed by the second boundary line includes the position information of the second boundary line. The second boundary line can form one or more second closed areas, and for each second closed area, the position information of the second closed area includes the position information of the second boundary line that forms the second closed area.

[0088] Optionally, in addition to the position information of each edge of the second closed area, the second closed area may also include position information of other points (such as a center point) within the second closed area.

[0089] S5043: Determine the position information of the second road surface based on the position information of the second closed area, where the second road surface covers the second closed area.

[0090] There can be one or more second closed areas, and one or more second road surfaces. Each second closed area corresponds to a second road surface, and each second road surface covers the second closed area corresponding to the second road surface. Thus, one or more second road surfaces can be used to identify one or more local areas formed by road boundaries on a mapped road. In particular, it is possible to identify green belts, isolation zones, construction areas, and the like on a mapped road in a high-precision map road network.

[0091] In this embodiment, determining the position information of the second road surface covering the second closed area includes the position information of the second closed area. Since the second road surface data includes the position information of the second road surface, obtaining the position information of the second road surface means obtaining the second road surface data.

[0092] In the above implementation method, for the second boundary line among the remaining road boundary lines that can form a closed area, the second road surface can be determined directly based on the closed area formed by the second boundary line, thereby improving the accuracy of the second road surface and further improving the accuracy of the second road surface data.

[0093] In another possible implementation, Figure 5 As shown, S504 includes S5044 to S5047:

[0094] S5044: Determine, based on the positions of the remaining boundary lines, whether there is a third boundary line among the remaining boundary lines that cannot form a closed area.

[0095] In this implementation, in actual situations, if a road boundary line cannot form a closed area, then at least one endpoint of the road boundary line is not connected to the endpoints of other road boundary lines. Therefore, among the remaining boundary lines in the plurality of road boundary lines, excluding the outer boundary line, it is determined whether the endpoints of the remaining boundary lines coincide with the endpoints of other remaining boundary lines. If one of the remaining boundary lines has an endpoint that does not coincide with the endpoints of other remaining boundary lines, the remaining boundary line is determined to be a third boundary line. By determining whether endpoints coincide, the efficiency and accuracy of identifying the third boundary line among the remaining boundary lines is improved.

[0096] S5045: If a third boundary line exists among the remaining boundary lines, determine, based on the boundary line position of the third boundary line, fourth boundary lines that are adjacent and parallel to each other in the third boundary lines.

[0097] In this implementation, if a third boundary line that cannot form a closed area is identified among the remaining boundary lines, then pairs of adjacent and parallel fourth boundary lines can be screened out from among the third boundary lines. Specifically, mutually parallel third boundary lines can be first identified among the third boundary lines. Then, based on the distance between the third boundary lines, mutually parallel and adjacent third boundary lines can be identified among the mutually parallel third boundary lines. For ease of distinction, mutually parallel and adjacent third boundary lines are referred to as fourth boundary lines.

[0098] S5046: Determine position information of a third closed area according to the position of the fourth boundary line, wherein the third closed area is formed by connecting endpoints of the fourth boundary line.

[0099] The third closed area may be one or more, and a pair of adjacent and parallel fourth boundary lines may form a third closed area. The position information of the third closed area may include position information of each side of the third closed area, and the position information of each side may include the position coordinates of multiple points on each side.

[0100] In this implementation, after identifying the fourth boundary lines, for each pair of adjacent and parallel fourth boundary lines, the mutually parallel endpoints between the fourth boundary lines can be connected to form a closed region. For ease of distinction, this closed region is referred to as a third closed region. In this way, one or more third closed regions can be obtained, with the fourth boundary lines being the edges of the third closed regions. Therefore, it can be determined that the position information of the third closed region includes the boundary line positions of the fourth boundary lines that form the third closed region.

[0101] S5047: Determine the position information of the second road surface based on the position information of the third closed area, where the second road surface data covers the third closed area.

[0102] The third closed area corresponds to the second road surface one-to-one, and the second road surface can cover the third closed area corresponding to the second road surface.

[0103] In this embodiment, determining the position information of the second road surface covering the third closed area includes the position information of the third closed area. Since the second road surface data includes the position information of the second road surface, obtaining the position information of the second road surface means obtaining the second road surface data.

[0104] In the above implementation, for the remaining road boundary lines that cannot form a closed area, pairs of parallel and adjacent fourth boundary lines are identified within the third boundary lines. For each pair of parallel and adjacent fourth boundary lines, the mutually parallel endpoints are connected to form a third closed area. Based on the position information of the fourth boundary lines, the position information of the third closed area is determined, and the position information of the second road surface covering the third closed area is further determined. This provides a method for generating road surface data for road boundary lines that cannot form a closed area, improving the integrity and accuracy of the road surface data.

[0105] It should be noted that the road surface data generation method may include S5041-S5043 and S5044-S5047, or may include S5041-S5043 or S5044-S5047. S5044-S5047 may be performed after S5041-S5043 or before S5041-S5043. When the road surface data generation method includes S5041-S5043 and S5044-S5047, after identifying the second boundary line, the remaining boundary lines other than the second boundary line may be determined as the third boundary line. Alternatively, after identifying the third boundary line, the remaining boundary lines other than the third boundary line may be determined as the second boundary line.

[0106] In some embodiments, the second road surface data also includes the surface type corresponding to the second road surface and / or the regional color corresponding to the second road surface. Therefore, in the process of generating the second road surface data, a road image of a mapped road can be acquired, regional features of a local area can be identified within the road image, and the surface type corresponding to the second road surface and / or the regional color corresponding to the second road surface can be determined based on the regional features. Thus, by using the image to identify the true features of the local area covered by the second road surface, the accuracy of the surface type corresponding to the second road surface and / or the regional color corresponding to the second road surface can be improved.

[0107] The road image of the map road is a panoramic bird's-eye view or satellite image of the map road, which can clearly show the real situation of the map road.

[0108] In this embodiment, the local area covered by the second road surface can be determined in the road image of the map road based on the location information of the second road surface; the regional features of the local area can be identified through an image recognition algorithm; the surface type corresponding to the second road surface is determined to be a type related to the regional features, and / or the color corresponding to the second road surface is determined to be a color related to the regional features.

[0109] Furthermore, the regional characteristics of the local area include the regional type of the local area. Determining the surface type and / or regional color corresponding to the second road surface based on the regional characteristics includes: determining the surface type corresponding to the second road surface as the regional type of the local area; and determining the regional colors corresponding to second road surfaces of the same surface type to be the same color. Thus, the surface type corresponding to the second road surface can reflect the regional type of the local area covered by the second road surface; and the color can intuitively reflect the surface type of the second road surface.

[0110] For example, if the area type of the local area covered by the second road surface is a green belt, the surface type of the second road surface can be determined as a green belt. For example, if the local areas covered by multiple second road surfaces are all green belts, but the actual colors are different, the colors of the multiple second road surfaces can be the same green to indicate that the local areas covered by the second road surfaces are all green belts.

[0111] In some embodiments, after generating the first and second road surface data, a logical check can be performed on the first and / or second road surface data to obtain a road surface verification result for the mapped road. The logical check includes verifying whether the road surface is closed and / or whether the road surface overlaps with other road surfaces. Thus, the accuracy of the first and / or second road surface data can be improved through the logical check.

[0112] In this embodiment, for the first road surface data, the closure of the first road surface can be detected based on the position information of the first road surface, that is, whether the various edges of the first road surface form a closed area. If the first road surface is not closed, the identification of the first road surface and the fact that the first road surface is not closed can be saved as the road surface verification result. Since a mapped road has only one piece of first road surface data, it is not necessary to verify whether the first road surface data overlaps with other road surfaces. For the second road surface data, the closure of the second road surface can be detected. For details, please refer to the verification process for whether the first road surface data is closed, which will not be repeated here. The second road surface can also be detected to determine whether it overlaps with other second road surfaces, that is, whether there is an overlapping area. If the second road surface overlaps with the other second road surface data, it indicates that an error has occurred in the second road surface. The identification of the second road surface and the fact that the second road surface overlaps with the other second road surface data can be saved as the road surface verification result.

[0113] Figure 6 A schematic diagram of the structure of a road surface data generating device according to an embodiment of the present disclosure Figure 1 .like Figure 6 As shown, the road surface data generating device 600 includes:

[0114] A road line determination unit 601 is configured to determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines;

[0115] an identification unit 602 for identifying, from among the plurality of road boundary lines, an outer boundary line located outside the map road according to the boundary line positions of the plurality of road boundary lines;

[0116] A first generating unit 603 is configured to generate first road surface data according to the outer boundary line, wherein the first road surface data includes position information of the first road surface, and the first road surface covers a global area of the map road;

[0117] The second generating unit 604 is used to generate second road surface data based on the remaining boundary lines except the outer boundary line in the multiple road boundary lines, where the second road surface data includes position information of the second road surface and covers a local area of the map road.

[0118] Figure 7 A schematic diagram of the structure of a road surface data generating device according to an embodiment of the present disclosure Figure 2 .like Figure 7 As shown, the road surface data generating device 700 includes:

[0119] A road line determination unit 701 is configured to determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines;

[0120] an identification unit 702 for identifying, from among the plurality of road boundary lines, an outer boundary line located outside the map road according to the boundary line positions of the plurality of road boundary lines;

[0121] A first generating unit 703 is configured to generate first road surface data according to the outer boundary line, wherein the first road surface data includes position information of the first road surface, and the first road surface covers a global area of the map road;

[0122] The second generating unit 704 is configured to generate second road surface data based on the remaining boundary lines except the outer boundary line among the plurality of road boundary lines, wherein the second road surface data includes position information of the second road surface and covers a local area of the map road.

[0123] In some embodiments, the identification unit 702 includes: a peripheral boundary line determination module 7021, which is used to determine that the peripheral boundary line includes the first boundary line based on the boundary line position of the road boundary line, if there are no other boundary lines other than the first boundary line among multiple road boundary lines on at least one side of the first boundary line; wherein the first boundary line is any one of the multiple road boundary lines.

[0124] In some embodiments, the first generation unit 703 includes: a first area position determination module 7031, which is used to determine the position information of the first closed area formed by the outer boundary line based on the boundary line position of the outer boundary line; a first road surface position determination module 7032, which is used to determine the position information of the first road surface based on the position information of the first closed area, and the first road surface covers the first closed area.

[0125] In some embodiments, the first road surface data also includes the surface type corresponding to the first road surface and / or the area color corresponding to the first road surface, and the first generation unit 703 also includes: a first attribute determination module (not shown in the figure), used to determine that the surface type corresponding to the first road surface is a preset type, and / or, used to determine that the area color corresponding to the first road surface is a preset color.

[0126] In some embodiments, the second generation unit 704 includes: a first judgment module 7041, which is used to determine whether there is a second boundary line forming a closed area in the remaining boundary lines based on the boundary line position of the remaining boundary lines; a second area position determination module 7042, which is used to determine the position information of the second closed area formed by the second boundary line based on the boundary line position of the second boundary line if there is a second boundary line in the remaining boundary lines; and a second road surface position determination module 7043, which is used to determine the position information of the second road surface based on the position information of the second closed area, and the second road surface covers the second closed area.

[0127] In some embodiments, the second generation unit 704 includes: a second judgment module 7044, which is used to determine whether there is a third boundary line in the remaining boundary lines that cannot form a closed area based on the boundary line position of the remaining boundary lines; a parallel boundary line determination module 7045, which is used to determine, if there is a third boundary line in the remaining boundary lines, two adjacent and parallel fourth boundary lines in the third boundary lines based on the boundary line position of the third boundary; a third area position determination module 7046, which is used to determine the position information of the third closed area based on the boundary line position of the fourth boundary line, wherein the third closed area is formed by connecting the endpoints of the fourth boundary line; a third road surface determination module 7047, which is used to determine the position information of the second road surface based on the position information of the third closed area, and the second road surface data covers the third closed area.

[0128] In some embodiments, the second road surface data also includes the surface type corresponding to the second road surface and / or the regional color corresponding to the second road surface, and the second generation unit 704 also includes: an image acquisition module (not shown in the figure), used to acquire a road image of a map road; a region identification module (not shown in the figure), used to identify regional features of a local area in the road image; a second attribute determination module (not shown in the figure), used to determine the surface type corresponding to the second road surface and / or the regional color corresponding to the second road surface based on the regional features.

[0129] In some embodiments, the regional characteristics of the local area include the regional type of the local area, and the second attribute determination module includes: a type determination submodule (not shown in the figure), used to determine that the surface type corresponding to the second road surface is the regional type of the local area; and a color determination submodule (not shown in the figure), used to determine the regional color corresponding to the second road surface with the same surface type as the same color.

[0130] In some embodiments, the road surface data generating device also includes: a verification unit 705, which is used to perform a logical verification on the first road surface data and / or the second road surface data to obtain a road surface verification result of the map road, wherein the logical verification includes verifying whether the road surface is closed and / or verifying whether the road surface overlaps with other road surfaces.

[0131] Figures 6 and 7 The provided road surface data generation device can execute the above-mentioned corresponding method embodiments, and its implementation principles and technical effects are similar, which will not be repeated here.

[0132] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0133] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the solution provided by any of the above embodiments.

[0134] According to an embodiment of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the solution provided by any of the above embodiments.

[0135] According to an embodiment of the present disclosure, the present disclosure also provides a computer program product, which includes: a computer program, the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0136] Figure 8 8 is a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0137] like Figure 8As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) (e.g., ROM 802) or a computer program loaded from a storage unit 808 into a random access memory (RAM) (e.g., RAM 803). In RAM 803, various programs and data required for the operation of the electronic device 800 can also be stored. The computing unit 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface (e.g., I / O interface 805) is also connected to the bus 804.

[0138] Multiple components in the electronic device 800 are connected to the I / O interface 805, including an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0139] The computing unit 801 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the road surface data generation method. For example, in some embodiments, the road surface data generation method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the road surface data generation method described above can be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to execute the road surface data generating method in any other appropriate manner (eg, by means of firmware).

[0140] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), system on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0141] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0142] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0143] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0144] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0145] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0146] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of this disclosure can be achieved, and this document is not limited here.

[0147] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for generating road surface data, comprising: Determining road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines; identifying, based on the boundary line positions of the plurality of road boundary lines, a peripheral boundary line located at the periphery of the map road among the plurality of road boundary lines; generating first road surface data according to the outer boundary line, the first road surface data including position information of a first road surface, the first road surface covering a global area of the map road; generating second road surface data based on the remaining boundary lines of the plurality of road boundary lines except the outer boundary line, wherein the second road surface data includes position information of the second road surface, and the second road surface data covers a partial area of the mapped road; The step of generating first road surface data according to the outer boundary line includes: determining position information of a first closed area formed by the outer boundary line according to the boundary line position of the outer boundary line; The position information of the first road surface is determined based on the position information of the first closed area, where the first road surface covers the first closed area.

2. The road surface data generation method according to claim 1, wherein: The step of identifying, based on the boundary line positions of the plurality of road boundary lines, a peripheral boundary line located outside the map road from among the plurality of road boundary lines comprises: determining that the outer boundary line includes the first boundary line if no boundary line other than the first boundary line exists on at least one side of the first boundary line based on the boundary line position of the road boundary line; The first boundary line is any one of the multiple road boundary lines.

3. The road surface data generation method according to claim 1, wherein: The first road surface data further includes a surface type corresponding to the first road surface and / or an area color corresponding to the first road surface. After determining the position information of the first road surface based on the position information of the first closed area, the method further includes: Determine that the surface type corresponding to the first road surface is a preset type, and / or determine that the area color corresponding to the first road surface is a preset color.

4. The road surface data generation method according to any one of claims 1 to 3, wherein: The step of generating second road surface data based on the remaining boundary lines of the plurality of road boundary lines except the outer boundary line comprises: determining, based on the boundary line positions of the remaining boundary lines, whether a second boundary line forming a closed area exists in the remaining boundary lines; If the second boundary line exists in the remaining boundary lines, determining position information of a second closed area formed by the second boundary line according to the boundary line position of the second boundary line; The position information of the second road surface is determined according to the position information of the second closed area, and the second road surface covers the second closed area.

5. The road surface data generation method according to any one of claims 1 to 3, wherein: The step of generating second road surface data based on the remaining boundary lines of the plurality of road boundary lines except the outer boundary line comprises: determining, based on the positions of the remaining boundary lines, whether there is a third boundary line in the remaining boundary lines that cannot form a closed area; If the third boundary line exists among the remaining boundary lines, determining, according to the boundary line positions of the third boundary lines, fourth boundary lines that are adjacent and parallel to each other in the third boundary lines; determining position information of a third closed area according to the position of the fourth boundary line, wherein the third closed area is formed by connecting endpoints of the fourth boundary line; The position information of the second road surface is determined according to the position information of the third closed area, and the second road surface data covers the third closed area.

6. The road surface data generation method according to any one of claims 1 to 3, wherein: The second road surface data further includes a surface type corresponding to the second road surface and / or an area color corresponding to the second road surface. The generating the second road surface data based on the remaining boundary lines of the plurality of road boundary lines except the outer boundary line includes: Acquiring a road image of the map road; identifying, in the road image, regional features of the local area; According to the regional characteristics, a surface type corresponding to the second road surface and / or a regional color corresponding to the second road surface are determined.

7. The road surface data generation method according to claim 6, wherein: The regional characteristics of the local area include the regional type of the local area, and determining the surface type corresponding to the second road surface and / or the regional color corresponding to the second road surface according to the regional characteristics includes: Determining that the surface type corresponding to the second road surface is the area type of the local area; The area colors corresponding to the second road surface with the same surface type are determined to be the same color.

8. The method for generating road surface data according to any one of claims 1 to 3, further comprising: Perform a logical check on the first road surface data and / or the second road surface data to obtain a road surface check result of the map road, wherein the logical check includes checking whether the road surface is closed and / or checking whether the road surface overlaps with other road surfaces.

9. A road surface data generating device, comprising: a road line determining unit, configured to determine road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines; an identification unit configured to identify, from among the plurality of road boundary lines, a peripheral boundary line located outside the map road based on boundary line positions of the plurality of road boundary lines; a first generating unit, configured to generate first road surface data according to the outer boundary line, wherein the first road surface data includes position information of a first road surface, and the first road surface covers a global area of the map road; a second generating unit, configured to generate second road surface data based on the remaining boundary lines of the plurality of road boundary lines except the outer boundary line, wherein the second road surface data includes position information of the second road surface, and the second road surface data covers a partial area of the mapped road; Wherein, the first generating unit includes: A first area position determination module, configured to determine position information of a first closed area formed by the outer boundary line according to the boundary line position of the outer boundary line; The first road surface position determination module is configured to determine the position information of the first road surface according to the position information of the first closed area.

10. The road surface data generating device according to claim 9, wherein: The identification unit includes: a peripheral boundary line determining module configured to determine, based on the boundary line position of the road boundary line, that the peripheral boundary line includes the first boundary line if no boundary line other than the first boundary line among the plurality of road boundary lines exists on at least one side of the first boundary line; The first boundary line is any one of the multiple road boundary lines.

11. The road surface data generating device according to claim 9, wherein: The first road surface data further includes a surface type corresponding to the first road surface and / or an area color corresponding to the first road surface, and the first generating unit further includes: The first attribute determination module is used to determine that the surface type corresponding to the first road surface is a preset type, and / or to determine that the area color corresponding to the first road surface is a preset color.

12. The road surface data generating device according to any one of claims 9 to 11, wherein: The second generating unit includes: a first determining module, configured to determine, based on the positions of the remaining boundary lines, whether there is a second boundary line forming a closed area in the remaining boundary lines; a second region position determining module configured to determine, if the second boundary line exists in the remaining boundary lines, position information of a second closed region formed by the second boundary line according to the boundary line position of the second boundary line; The second road surface position determination module is used to generate position information of the second road surface based on the position information of the second closed area, where the second road surface covers the second closed area.

13. The road surface data generating device according to any one of claims 9 to 11, wherein: The second generating unit includes: a second determining module, configured to determine, based on the positions of the remaining boundary lines, whether there is a third boundary line in the remaining boundary lines that cannot form a closed area; a parallel boundary line determining module, configured to determine, if the third boundary line exists among the remaining boundary lines, fourth boundary lines that are adjacent and parallel to each other in pairs among the third boundary lines according to the boundary line positions of the third boundary lines; a third region position determining module, configured to determine position information of a third closed region according to the position of the fourth boundary line, wherein the third closed region is formed by connecting the endpoints of the fourth boundary line; The third road surface determination module is used to determine the position information of the second road surface according to the position information of the third closed area, and the second road surface data covers the third closed area.

14. The road surface data generating device according to any one of claims 9 to 11, wherein: The second road surface data further includes a surface type corresponding to the second road surface and / or an area color corresponding to the second road surface, and the second generating unit includes: An image acquisition module, configured to acquire a road image of the map road; A region recognition module, configured to recognize region features of the local region in the road image; The second attribute determination module is used to determine the surface type corresponding to the second road surface and / or the area color corresponding to the second road surface according to the area characteristics.

15. The road surface data generating device according to claim 14, wherein: The regional feature of the local area includes the regional type of the local area, and the second attribute determination module includes: a type determination submodule, configured to determine that the surface type corresponding to the second road surface is the area type of the local area; The color determination submodule is used to determine the regional colors corresponding to the second road surface with the same surface type to be the same color.

16. The road surface data generating device according to any one of claims 9 to 11, further comprising: A verification unit is used to perform a logical verification on the first road surface data and / or the second road surface data to obtain a road surface verification result of the map road, wherein the logical verification includes verifying whether the road surface is closed and / or verifying whether the road surface overlaps with other road surfaces.

17. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the road surface data generation method according to any one of claims 1 to 8.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the road surface data generating method according to any one of claims 1 to 8.

19. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the steps of the road surface data generation method according to any one of claims 1 to 8.

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