A road network construction method and system based on high-precision maps

Abstract

The present invention provides a road network construction method and system based on a high-precision map. The method includes: reading the left and right side lines, lane lines, and linear POIs of each section of the road in the high-precision map, generating a road surface polygon according to the left and right side lines of the road, and generating a planar polygon according to the lane lines and linear POIs; respectively performing triangulation processing on the road surface polygon and the planar polygon to obtain the vertex arrays of all triangles; drawing the grid body segments of the corresponding road network according to the vertex arrays; repeating the above steps to construct the grid body segments of the next section of the road until the complete road network model is constructed. The present invention can be used to quickly and accurately construct a 3D road network. Even for large-scale construction, it can still ensure extremely high efficiency and extremely low performance consumption, and avoid the problems caused by the height difference on both sides of the road.

Description

Technical Field

[0001] The present invention relates to the technical fields of high-precision maps and autonomous driving, and more specifically, to a road network construction method, system, electronic device, and storage medium based on a high-precision map. Background Art

[0002] In recent years, with the rapid development of autonomous driving technology, autonomous driving simulation has also been widely used in the fields of technology research and development and testing. When it comes to simulation, the construction of a simulation scenario is naturally indispensable. As the most crucial element in the simulation scenario, how to conveniently, quickly, and realistically generate a road network is a topic that almost all simulation software is researching. In the current method of directly and automatically generating a road network from map data, a relatively common approach is to convert map road lines into spline curves, slice the spline curves along the center line of the road, and construct a new road network model by successively pasting the spline slices. This method of generating a road network has obvious defects. One is that if there is a height difference on both sides of the road, there will be gaps between adjacent spline slices at the turning points, and intersections with height differences cannot be processed. The other is that the performance consumption caused by using spline curves to construct the road network is very large, resulting in the inability to handle the construction of a large-scale road network. Summary of the Invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a road network construction method and system based on a high-precision map, which can be used to quickly and accurately construct a 3D road network. Even for large-scale construction, extremely high efficiency and extremely low performance consumption can still be guaranteed, and the problems caused by the height difference on both sides of the road are avoided.

[0004] According to a first aspect of the present invention, there is provided a road network construction method based on a high-precision map, including:

[0005] Reading the left and right side lines, lane lines, and linear POIs of each section of the road in the high-precision map, generating a road surface polygon according to the left and right side lines of the road, and generating a planar polygon according to the lane lines and linear POIs;

[0006] Triangulating the road surface polygon and the planar polygon respectively to obtain an array of vertices of all triangles; drawing segmented mesh bodies of the corresponding road network according to the vertex array;

[0007] Repeating the above steps to construct segmented mesh bodies of the next section of the road until a complete road network model is constructed.

[0008] On the basis of the above technical solution, the present invention can also be improved as follows.

[0009] Optionally, the generating a road surface polygon according to the left and right side lines of the road includes:

[0010] Take the left side line of the current road as the first side a1 of the road surface polygon;

[0011] Invert the point string of the right side line of the road. Along the road direction, take the last point of the left side line of the road and the first point of the inverted right side line of the road as the second side a2 of the road surface polygon;

[0012] Take the inverted right side line of the road as the third side a3 of the road surface polygon;

[0013] Take the connection line between the last point of the inverted right side line of the road and the first point of the left side line of the road as the fourth side a4 of the road surface polygon;

[0014] Connect the first side a1, the second side a2, the third side a3 and the fourth side a4 to obtain the road surface polygon of the current road;

[0015] Perform the above operations on each group of roads to obtain the road surface polygons corresponding to all roads.

[0016] Optionally, the generating a planar polygon according to the lane line and the linear POI includes:

[0017] Divide the lane line or the linear POI into N - 1 broken line segments according to its N break points;

[0018] Translate each broken line segment along its own normal direction and translate a preset distance d to both sides of itself to obtain a continuous translation line 1 and a continuous translation line 2;

[0019] Take the translation line 1 as the first side b1 of the current planar polygon;

[0020] Invert the point string of the translation line 2. Along the lane direction, take the last point of the translation line 1 and the first point of the inverted translation line 2 as the second side b2 of the current planar polygon;

[0021] Take the inverted translation line 2 as the third side b3 of the current planar polygon;

[0022] Take the connection line between the last point of the inverted translation line 2 and the first point of the translation line 1 as the fourth side b4 of the current planar polygon; Connect the first side b1, the second side b2, the third side b3 and the fourth side b4 to obtain the planar polygon corresponding to the current broken line segment;

[0023] Perform the above operations on all N - 1 broken line segments to obtain the planar polygons corresponding to all broken line segments.

[0024] Optionally, the translating each broken line segment along its own normal direction and translating a preset distance d to both sides of itself to obtain a continuous translation line 1 and a continuous translation line 2 includes:

[0025] Determine the normal direction of each polyline segment, and translate the starting point p of each polyline segment along its own normal direction by a preset distance d to both sides of itself to obtain the starting point p1 and the starting point p2;

[0026] Translate the end point p' of the last polyline segment along its own normal direction by a preset distance d to both sides of itself to obtain the end point p'1 and the end point p'2;

[0027] Connect all the starting points p1 and the end points p'1 in sequence to obtain the translation line 1, and connect all the starting points p2 and the end points p'2 in sequence to obtain the translation line 2.

[0028] Optionally, the method of triangulating the road surface polygon and the planar polygon respectively to obtain the vertex array of all triangles; and drawing the grid body segments of the corresponding road network according to the vertex array; includes:

[0029] Triangulate the road surface polygon to obtain a counterclockwise arranged triangle vertex array A, and triangulate the planar polygon to obtain a counterclockwise arranged triangle vertex array B;

[0030] Draw triangles according to the triangle vertex array A and the triangle vertex array B to obtain the grid body segments of the road surface, lane lines and linear POIs of the current road superimposed.

[0031] Optionally, the method of repeating the above steps to construct the grid body segments of the next section of the road until the complete road network model is constructed, includes:

[0032] Construct the grid body segments of all roads in sequence, and after splicing all the grid body segments, output the complete road network model.

[0033] Optionally, the linear POI includes a stop line, a zebra crossing and / or a diversion belt dividing line.

[0034] According to the second aspect of the present invention, there is provided a road network construction system based on a high-precision map, including:

[0035] An extraction and conversion module, configured to read the left and right side lines, lane lines and linear POIs of each section of the road in the high-precision map, and is further configured to generate a road surface polygon according to the left and right side lines of the road, and is further configured to generate a planar polygon according to the lane lines and linear POIs;

[0036] A grid construction module, configured to triangulate the road surface polygon and the planar polygon respectively to obtain the vertex array of all triangles; and is further configured to draw the grid body segments of the corresponding road network according to the vertex array;

[0037] A loop splicing module is used to repeat the above steps to construct the grid body segments of the next section of the road until a complete road network model is constructed.

[0038] According to the third aspect of the present invention, an electronic device is provided, including a memory and a processor. When the processor executes a computer management program stored in the memory, the steps of the above-mentioned road network construction method based on a high-precision map are implemented.

[0039] According to the fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management program is stored. When the computer management program is executed by a processor, the steps of the above-mentioned road network construction method based on a high-precision map are implemented.

[0040] A road network construction method, system, electronic device, and storage medium based on a high-precision map provided by the present invention can solve the problem of junction connection with height differences that cannot be handled by traditional construction methods by constructing a road surface polygon based on the side lines on both sides of the road; combined with the lane lines and the planar polygons generated by the linear POIs, after triangulating all the polygons, the vertex arrays of the triangles are extracted to redraw the road network grid body, and finally a complete road network model is constructed, solving the efficiency and performance problems of large-scale road network construction, with high construction efficiency and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flowchart of a road network construction method based on a high-precision map provided by the present invention;

[0042] Figure 2 (a) is a schematic diagram of the construction effect of a junction with a height difference in the prior art, Figure 2 (b) is a schematic diagram of the construction effect of a junction with a height difference by the method of the present invention;

[0043] Figure 3 It is a schematic diagram of the current road structure obtained based on a high-precision map in the method of the present invention;

[0044] Figure 4 It is a schematic diagram of the road surface polygon obtained in the present invention;

[0045] Figure 5 It is a schematic diagram of the offset of the broken line when generating a planar polygon in the present invention;

[0046] Figure 6 It is a schematic diagram of the planar polygon generated by combining lane lines and linear POIs in the present invention;

[0047] Figure 7 It is a schematic diagram of the effect of triangulating all the polygons in the present invention;

[0048] Figure 8Block diagram of a road network construction system based on a high-precision map provided by the present invention;

[0049] Figure 9 Schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0050] Figure 10 Schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Detailed implementation manners

[0051] The following combines the accompanying drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0052] Figure 1 Flowchart of a method for constructing a road network based on a high-precision map provided by the present invention, as Figure 1 shown, the method includes:

[0053] S1, read the left and right side lines, lane lines, and linear POIs of each section of the road in the high-precision map. The information of the current section of the road obtained by reading is as Figure 3 shown. Generate a road surface polygon according to the left and right side lines of the road, and generate a planar polygon according to the lane lines and linear POIs;

[0054] It can be understood that the linear POIs (Points of Interest) in the road generally include elements such as stop lines, zebra crossings, and / or diversion belt dividing lines.

[0055] S2, triangulate the road surface polygon and the planar polygon respectively to obtain the vertex array of all triangles; draw the grid body segments of the corresponding road network according to the vertex array;

[0056] S3, repeat the above steps to construct the grid body segments of the next section of the road until the complete road network model is constructed.

[0057] It can be understood that based on the defects in the background technology, the embodiments of the present invention propose a method for constructing a road network based on a high-precision map. When constructing a road network, the conventional method is to preset several road patches, and directly place the road patches along the set road center line in sequence when constructing a new road network. And a single road patch is a plane. If there is a slope difference between the left and right side lines of the road, as Figure 2(a) As shown in the effect diagram, at the turning intersection, two adjacent road patches cannot be connected properly, and gaps will occur at the larger turning radius. The size of the gap depends on the size of the road patch and the height difference between the two sides of the road. The larger the road patch or the height difference, the larger the gap difference. In this solution, the form of patching is not adopted. The road is decomposed into N polygons according to the left and right side lines of the road extracted from the high-precision map. Since two adjacent road surface polygons will definitely share a side, as Figure 2 (b) As shown in the effect diagram, there are no gaps between adjacent road surface polygons, and the above problems caused by the height difference on both sides of the road do not exist in the implementation manner of the present invention. Moreover, the technical solution of the present invention can continuously construct a large-scale road network, with very high construction efficiency, low performance consumption, and a wide range of applicable road networks.

[0058] In a possible embodiment, in step S1, the generating of the road surface polygon according to the left and right side lines of the road includes:

[0059] Taking the left side line of the current road as the first side a1 of the road surface polygon;

[0060] Inverting the point string of the right side line of the road, and along the road direction, taking the last point of the left side line of the road and the first point of the inverted right side line of the road as the second side a2 of the road surface polygon;

[0061] Taking the inverted right side line of the road as the third side a3 of the road surface polygon;

[0062] Taking the connection line between the last point of the inverted right side line of the road and the first point of the left side line of the road as the fourth side a4 of the road surface polygon;

[0063] Connecting the first side a1, the second side a2, the third side a3 and the fourth side a4 to obtain the road surface polygon of the current road;

[0064] Performing the above operations on each group of roads to obtain the road surface polygons corresponding to all roads.

[0065] It can be understood that, as Figure 4 shown in the effect diagram, through the above implementation manner, the road surface polygon is constructed according to the left and right side lines of the road. Inverting the right side line of the road and then connecting the lines to obtain the road surface polygon is to enable the subsequent triangulation process to obtain the counterclockwise arranged triangle vertex array corresponding to the road surface polygon.

[0066] In a possible embodiment, in step S1, the generating of the planar polygon according to the lane line and the linear POI includes:

[0067] Dividing the lane line or the linear POI into N - 1 broken line segments according to its N break points;

[0068] Translate each polyline segment along its own normal direction by a preset distance d to both sides of itself, obtaining a continuous translation line 1 and a continuous translation line 2;

[0069] Take the translation line 1 as the first side b1 of the current planar polygon;

[0070] Invert the vertex string of the translation line 2. Along the lane direction, take the last point of the translation line 1 and the first point of the inverted translation line 2 as the second side b2 of the current planar polygon;

[0071] Take the inverted translation line 2 as the third side b3 of the current planar polygon;

[0072] Take the connection line between the last point of the inverted translation line 2 and the first point of the translation line 1 as the fourth side b4 of the current planar polygon;

[0073] Connect the first side b1, the second side b2, the third side b3, and the fourth side b4 to obtain the planar polygon corresponding to the current polyline segment;

[0074] Perform the above operations on N - 1 polyline segments to obtain the planar polygons corresponding to all polyline segments.

[0075] It can be understood that, as shown in the schematic diagram of the planar polygon in Figure 5 , the lane line or linear POI is extended into a planar polygon by translating it to both sides of itself. The position and effect of the obtained planar polygon in the current road scene are as shown in Figure 6 . The reason for inverting the translation line 2 is similar to the principle in the process of generating the road surface polygon. Inverting the translation line 2 and then connecting the lines to obtain the planar polygon is to enable the subsequent triangulation process to obtain the counterclockwise arranged triangle vertex array corresponding to the planar polygon.

[0076] In a possible implementation manner, the above-mentioned operation of translating each polyline segment along its own normal direction by a preset distance d to both sides of itself to obtain a continuous translation line 1 and a continuous translation line 2 can be referred to Figure 5 as shown, and specifically includes:

[0077] Determine the normal direction of each polyline segment. Translate the starting point p of each polyline segment along its own normal direction by a preset distance d to both sides of itself, obtaining a starting point p1 and a starting point p2;

[0078] Translate the end point p' of the last polyline segment along its own normal direction by a preset distance d to both sides of itself, obtaining an end point p'1 and an end point p'2;

[0079] Connect all the starting points p1 and the ending points p′1 in sequence to obtain the translation line 1, and connect all the starting points p2 and the ending points p′2 in sequence to obtain the translation line 2.

[0080] In a possible embodiment, in step S2, triangulate the road surface polygon and the planar polygon respectively to obtain the vertex arrays of all triangles; draw the grid body segments of the corresponding road network according to the vertex arrays; including:

[0081] Triangulate the road surface polygon to obtain a counterclockwise arranged triangle vertex array A, and triangulate the planar polygon to obtain a counterclockwise arranged triangle vertex array B;

[0082] Draw triangles according to the triangle vertex array A and the triangle vertex array B to obtain the grid body segments of the road surface, lane lines and linear POIs of the current road superimposed.

[0083] It can be understood that the triangulation of a polygon is to convert a polygon into several triangles through a triangulation algorithm. By extracting the vertex data of all triangles, these triangles can be reproduced, and then through the inverse operation of triangulation, the shape of the polygon before triangulation can be obtained. This operation can be used to extract the shape features of the polygon and realize the reproduction of the polygon. Specifically, in this step, the polygon is triangulated to convert each polygon into a counterclockwise arranged triangle vertex array, and the subsequent steps can draw these counterclockwise arranged triangles through the triangle vertex array, so as to realize the reproduction of the original polygon.

[0084] In a possible embodiment, in step S3, repeat step S1 and step S2 to construct the grid body segments of the next section of the road until the complete road network model is constructed, including:

[0085] Construct the grid body segments of all roads in sequence, and splice all the grid body segments to output the complete road network model.

[0086] Now, a specific implementation scenario is used for illustration.

[0087] The input data of this implementation scenario is high-precision map data, and the output is a road network model in FBX / OBJ format. The specific operation steps are as follows:

[0088] Step 1: Read the high-precision map data to obtain the segmented road information.

[0089] Step 2: Combine the left and right side lines of the current section of the road into a road surface polygon. Take the left side line of the road as the first side of the polygon. Invert the vertex string of the right side line of the road. Take the last point of the left side line and the first point of the inverted right side line as the second side of the road surface polygon. Take the inverted right side line as the third side of the road surface polygon. Take the last point of the inverted right side line and the first point of the left side line as the fourth side of the road surface polygon. Thus, a road surface polygon composed of four lines is generated. This operation can be performed on the left and right side lines of each section of the road to convert all road side lines into road surface polygons. Of course, the operation of the current section of the road can also be completed first, and after the grid body segments of the current road are established, the splicing of each grid body segment can be carried out finally.

[0090] Step 3: Expand the lane lines and linear POIs (such as the stop line exemplified in the attached drawing) into planar polygons.

[0091] Specifically, a lane line or linear POI composed of N points can be divided into N - 1 polyline segments. Translate the starting point of each segment left and right along the normal direction of the segment by a distance d (such as 7 cm) respectively. Translate the end point of the last segment left and right along the normal direction of the segment by 7 cm respectively. Thus, two translated lines can be obtained. Convert the two translated lines into planar polygons according to Step 2.

[0092] Step 4: Triangulate each polygon. Triangulate all the polygons obtained in Step 2 and Step 3, and convert all the polygons into an array of triangle vertices arranged counterclockwise.

[0093] Step 5: Draw triangles according to the array of triangle vertices. Create a blank Actor blueprint, attach a procedural mesh component, and input the array of triangle vertices in the event graph to generate grid body segments.

[0094] Step 6: Generate a static mesh. Create an editor tool blueprint, generate the Actor created in Step 5 in the event graph, and run the editor tool blueprint to generate the mesh of the complete road network.

[0095] Step 7: Export the road network model. Export the static mesh generated in Step 6 to the FBX or OBJ format, and select the option of exporting materials in the export options. The exported FBX or OBJ format file can be used in various 3D software.

[0096] So far, the construction of the road network model is completed.

[0097] Figure 8 The structural diagram of a road network construction system provided by an embodiment of the present invention is as shown in Figure 8As shown in the figure, a road network construction system based on a high-precision map includes an extraction and conversion module, a grid construction module, and a cyclic splicing module, where:

[0098] The extraction and conversion module is used to read the left and right side lines, lane lines, and linear POIs of each section of the road in the high-precision map, and is also used to generate a road surface polygon based on the left and right side lines of the road, and is also used to generate a planar polygon based on the lane lines and linear POIs;

[0099] The grid construction module is used to triangulate the road surface polygon and the planar polygon respectively to obtain an array of vertices of all triangles; it is also used to draw the grid body segments of the corresponding road network according to the vertex array;

[0100] The cyclic splicing module is used to repeat the above steps to construct the grid body segments of the next section of the road until a complete road network model is constructed.

[0101] It can be understood that a road network construction system based on a high-precision map provided by the present invention corresponds to the road network construction methods provided in the foregoing embodiments. The relevant technical features of the road network construction system based on a high-precision map can refer to the relevant technical features of the road network construction method based on a high-precision map, which will not be elaborated here.

[0102] Please refer to Figure 9 , Figure 9 which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 9 shown, an embodiment of the present invention provides an electronic device 900, including a memory 910, a processor 920, and a computer program 911 stored in the memory 910 and executable on the processor 920. When the processor 920 executes the computer program 911, the following steps are implemented:

[0103] Read the left and right side lines, lane lines, and linear POIs of each section of the road in the high-precision map, generate a road surface polygon based on the left and right side lines of the road, and generate a planar polygon based on the lane lines and linear POIs;

[0104] Triangulate the road surface polygon and the planar polygon respectively to obtain an array of vertices of all triangles; draw the grid body segments of the corresponding road network according to the vertex array;

[0105] Repeat the above steps to construct the grid body segments of the next section of the road until a complete road network model is constructed.

[0106] Please refer to Figure 10 , Figure 10 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 10As shown in the figure, this embodiment provides a computer-readable storage medium 1000, on which a computer program 1011 is stored. When the computer program 1011 is executed by a processor, the following steps are implemented:

[0107] Read the left and right side lines, lane lines, and linear POIs of each section of the road in the high-precision map. Generate a road surface polygon based on the left and right side lines of the road, and generate a planar polygon based on the lane lines and linear POIs.

[0108] Triangulate the road surface polygon and the planar polygon respectively to obtain the vertex array of all triangles; draw the grid body segments of the corresponding road network according to the vertex array.

[0109] Repeat the above steps to construct the grid body segments of the next section of the road until the complete road network model is constructed.

[0110] A road network construction method, system, electronic device, and storage medium based on a high-precision map provided by an embodiment of the present invention can solve the problem of intersection connection with height difference that cannot be processed by traditional construction methods by using the left and right side lines of the road as a reference to construct a road surface polygon; combine the planar polygon generated by the lane lines and linear POIs, triangulate all polygons, extract the vertex array of triangles, and redraw the road network grid body, and finally construct a complete road network model, which solves the problems of low efficiency and high performance consumption in large-scale road network construction, has high construction efficiency, and a wide range of applications.

[0111] It should be noted that in the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce a means for implementing the functions specified in one process Figure 1 or in one or more processes and / or blocks Figure 1 or in one or more blocks.

[0114] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions specified in one process Figure 1 or in one or more processes and / or blocks Figure 1 or in one or more blocks.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 or in one or more processes and / or blocks Figure 1 or in one or more blocks.

[0116] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0117] Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A road network construction method based on a high-precision map, characterized in that, Including: Reading the left and right side lines, lane lines and linear POIs of each section of the road in the high-precision map, generating a road surface polygon according to the left and right side lines of the road, and generating a planar polygon according to the lane lines and linear POIs; wherein, the generating of the planar polygon according to the lane lines and linear POIs specifically includes: Dividing the lane line or the linear POI into N - 1 broken line segments according to its N folding points; Translating each broken line segment along its own normal direction by a preset distance d to both sides of itself, obtaining a continuous translation line 1 and a continuous translation line 2; Taking the translation line 1 as the first side b1 of the current planar polygon; Inverting the vertex string of the translation line 2, and along the lane direction, taking the last point of the translation line 1 and the first point of the inverted translation line 2 as the second side b2 of the current planar polygon; Taking the inverted translation line 2 as the third side b3 of the current planar polygon; Taking the connection line between the last point of the inverted translation line 2 and the first point of the translation line 1 as the fourth side b4 of the current planar polygon; connecting the first side b1, the second side b2, the third side b3 and the fourth side b4 to obtain the planar polygon corresponding to the current broken line segment; Performing the above operations on the N - 1 broken line segments to obtain the planar polygons corresponding to all the broken line segments; Triangulating the road surface polygon and the planar polygon respectively to obtain the vertex arrays of all the triangles; drawing the grid body segments of the corresponding road network according to the vertex arrays; Repeating the above steps to construct the grid body segments of the next section of the road until the complete road network model is constructed.

2. The road network construction method based on a high-precision map according to claim 1, characterized in that, The generating of the road surface polygon according to the left and right side lines of the road includes: Taking the left side line of the current road as the first side a1 of the road surface polygon; Inverting the vertex string of the right side line of the road, and along the road direction, taking the last point of the left side line of the road and the first point of the inverted right side line of the road as the second side a2 of the road surface polygon; Taking the inverted right side line of the road as the third side a3 of the road surface polygon; Taking the connection line between the last point of the inverted right side line of the road and the first point of the left side line of the road as the fourth side a4 of the road surface polygon; Connecting the first side a1, the second side a2, the third side a3 and the fourth side a4 to obtain the road surface polygon of the current road; Performing the above operations on each group of roads to obtain the road surface polygons corresponding to all the roads.

3. The road network construction method based on a high-precision map according to claim 2, characterized in that, The translating each broken line segment along its own normal direction by a preset distance d to both sides of itself to obtain a continuous translation line 1 and a continuous translation line 2 includes: Determining the normal direction of each broken line segment, and translating the starting point p of each broken line segment along its own normal direction by a preset distance d to both sides of itself to obtain a starting point p1 and a starting point p2; Translating the end point p′ of the last broken line segment along its own normal direction by a preset distance d to both sides of itself to obtain an end point p′1 and an end point p′2; Connecting all the starting points p1 and the end points p′1 in sequence to obtain the translation line 1, and connecting all the starting points p2 and the end points p′2 in sequence to obtain the translation line 2.

4. The road network construction method based on a high-precision map according to claim 2 or 3, characterized in that, Triangulate the road surface polygon and the planar polygon respectively to obtain the vertex arrays of all triangles; draw the mesh body segments of the corresponding road network according to the vertex arrays; including: Triangulate the road surface polygon to obtain a counterclockwise arranged triangle vertex array A, and triangulate the planar polygon to obtain a counterclockwise arranged triangle vertex array B; Draw triangles according to the triangle vertex array A and the triangle vertex array B to obtain the mesh body segments of the road surface, lane lines and linear POIs of the current road superimposed.

5. The road network construction method based on a high-precision map according to claim 1, characterized in that, Repeat the above steps to construct the mesh body segments of the next section of the road until the complete road network model is constructed, including: Construct the mesh body segments of all roads in sequence, splice all the mesh body segments, and output the complete road network model.

6. The road network construction method based on a high-precision map according to claim 1, characterized in that, The linear POIs include stop lines, zebra crossings and / or diversion strip dividing lines.

7. A road network construction system based on a high-precision map, characterized in that, Including: An extraction and conversion module, configured to read the left and right side lines, lane lines and linear POIs of each section of the road in the high-precision map, and also configured to generate a road surface polygon according to the left and right side lines of the road, and also configured to generate a planar polygon according to the lane lines and linear POIs; wherein, the generating a planar polygon according to the lane lines and linear POIs specifically includes: Divide the lane line or the linear POI into N-1 broken line segments according to its N folding points; Translate each broken line segment along its own normal direction by a preset distance d to both sides of itself to obtain a continuous translation line 1 and a continuous translation line 2; Take the translation line 1 as the first side b1 of the current planar polygon; Invert the vertex string of the translation line 2, and along the lane direction, take the last point of the translation line 1 and the first point of the inverted translation line 2 as the second side b2 of the current planar polygon; Take the inverted translation line 2 as the third side b3 of the current planar polygon; Take the connection line between the last point of the inverted translation line 2 and the first point of the translation line 1 as the fourth side b4 of the current planar polygon; connect the first side b1, the second side b2, the third side b3 and the fourth side b4 to obtain the planar polygon corresponding to the current broken line segment; Perform the above operations on all N-1 broken line segments to obtain the planar polygons corresponding to all the broken line segments; A mesh construction module, configured to triangulate the road surface polygon and the planar polygon respectively to obtain the vertex arrays of all triangles; and also configured to draw the mesh body segments of the corresponding road network according to the vertex arrays; A loop splicing module, configured to repeat the above steps to construct the mesh body segments of the next section of the road until the complete road network model is constructed.

8. An electronic device, characterized in that, Including a memory and a processor, the processor is configured to implement the steps of a road network construction method based on a high-precision map as described in any one of claims 1-6 when executing a computer management program stored in the memory.

9. A computer-readable storage medium, characterized in that, A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of a road network construction method based on a high-precision map as described in any one of claims 1-6 are implemented.

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