A method and device for deriving the hierarchical relationship of road surfaces in a high-precision map

Abstract

The present invention relates to a method and device for deriving the hierarchical relationship of road surfaces in a high-precision map. All intersection groups in the target area are traversed, and road surface information under the same group is extracted; the road surface blocks included in the same interchange form an intersection group, and the road surface information under the same group includes the road vector to which the road surface blocks included in the group belong, the interval number of the road surface blocks in the road vector, and the hierarchical information of the road surface blocks under the current group; the road surface information of all intersection groups in the target area is regrouped according to the road vector, and the global hierarchical information of each road vector in the target area is derived one by one according to the hierarchical information of the road surface blocks included in the road vector in each group. The present invention can derive the absolute hierarchical levels of each road surface in the overall area through the relative hierarchical relationship of each road surface in the interchange.

Description

Technical Field

[0001] The present invention relates to the technical field of map processing, and particularly to a method and device for deriving the hierarchical relationship of road surfaces in a high-precision map. Background Art

[0002] After the high-precision map data is collected, the road data contains sensitive geographic information coordinates (longitude, latitude, altitude). It is necessary to desensitize the altitude information of the road, that is, without using the specific altitude information in the collected information, to derive the data of the road elevation hierarchical relationship that basically conforms to the real scene for the high and low levels and spatial positions of the road.

[0003] In the process of deriving the road surface elevation hierarchical relationship, when the road surfaces intersect, it is necessary to determine the upper and lower relationship of the road surfaces so that there is no overlap and a suitable height interval is maintained. At this time, the basic method is that there is elevation information in the road surface data, and the elevation information is used to determine the level of the road surface, which can locate the specific spatial position where the current road surface is located, and can provide the height of specific rendering when constructing the road space, avoiding the intersection of road surfaces in the three-dimensional space.

[0004] However, the National Administration of Surveying, Mapping and Geoinformation stipulates that when facing the general public, the high-precision geographic data needs to be desensitized and the corresponding elevation information cannot be used, that is, the specific altitude value cannot be used. The corresponding elevation relationship only has the corresponding hierarchical relationship at the intersection coverage part (referred to as the interchange point) in the road top view. This relationship only has the hierarchical relationship of the intersection part and does not include the hierarchical relationship between the other parts of the current road surface and the intersection surface generated by another road. Therefore, it is impossible to directly use the hierarchical relationship marked in the data to simulate the road surface elevation of overpasses, etc. Summary of the Invention

[0005] In view of the technical problems existing in the prior art, the present invention provides a method and device for deriving the hierarchical relationship of road surfaces in a high-precision map, and derives the absolute hierarchy of each road surface in the overall area through the relative hierarchical relationship of each road surface in the interchange point.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In a first aspect, the present invention provides a method for deriving the hierarchical relationship of road surfaces in a high-precision map, including:

[0008] Traverse all intersection point groups in the target area, and extract the road surface information under the same group; the road surface blocks included in the same interchange point form an intersection point group, and the road surface information under the same group includes the road vector to which the road surface block belongs, the interval serial number of the road surface block in the road vector, and the hierarchical information of the road surface block under the current group;

[0009] Re-group the road surface information obtained by grouping all intersections in the target area according to the road vectors, and deduce the global hierarchical information of each road vector in the target area one by one based on the hierarchical information of the road surface blocks included in the road vectors under each group.

[0010] Further, the re-grouping of the road surface information obtained by grouping all intersections in the target area according to the road vectors includes:

[0011] Construct a cross-relationship list for each road vector, and each item in the list is used to describe the cross-relationship between the current road vector and other road vectors; any item in the list includes the hierarchical difference, the serial number of the cross road surface block in the current road vector, and the serial number of the cross road surface block in the target road vector; the hierarchical difference takes a positive or negative value, where a positive value indicates that the current road vector is above the target road vector, and a negative value indicates that the current road vector is below the target road vector.

[0012] Further, deducing the global hierarchical information of each road vector in the target area one by one based on the hierarchical information of the road surface blocks included in the road vectors under each group includes:

[0013] According to the hierarchical difference, filter the items in the cross-relationship list corresponding to a certain road vector to generate the mapping relationship between the current road vector and other road vectors, and the mapping value is the hierarchical difference.

[0014] If the mapping relationship between two road vectors is unique, determine the relative hierarchy of the associated road vectors according to the mapping relationship.

[0015] Traverse the cross-relationship lists corresponding to all road vectors, set the initial hierarchy of all road vectors to 1, and obtain their global hierarchical information in the target area according to the relative hierarchy of a certain road vector and all other road vectors.

[0016] Further, the re-grouping of the road surface information obtained by grouping all intersections in the target area according to the road vectors further includes:

[0017] If there are more than one intersection between a certain road vector and another road vector, and the hierarchical relationship of the road surface blocks of the two road vectors at the intersections is different, then when constructing the cross-relationship list, generate multiple items for describing the cross-relationship between the current road vector and other road vectors according to the different intersections.

[0018] Further, deducing the global hierarchical information of each road vector in the target area one by one based on the hierarchical information of the road surface blocks included in the road vectors under each group further includes:

[0019] When there is more than one intersection point between a certain road vector and another road vector, and the hierarchical relationships of the road surface blocks of the two road vectors at the intersection points are different, determine whether the global hierarchical information of the two road vectors is the same.

[0020] If they are the same, each changes by 0.5 levels according to the corresponding hierarchical relationship. If they are different, determine whether the up-down relationship is correct.

[0021] If the up-down relationship is correct, slightly adjust the height level range difference. If the up-down relationship is incorrect, adjust the height levels according to the middle level of the two road surfaces. The upper level is (A_Zlevel + B_Zlevel) / 2 and then add or subtract 0.5 levels correspondingly to stagger the height levels of the road surfaces.

[0022] Furthermore, according to the height levels of the road surfaces in the road, adjust the height levels of the road surfaces without an intersection relationship to the correct positions.

[0023] In a second aspect, the present invention provides a derivation device for the hierarchical relationship of road surfaces in a high-precision map, including:

[0024] An information extraction module traverses all intersection point groups in the target area and extracts the road surface information under the same group; the road surface blocks included in the same interchange point form an intersection point group, and the road surface information under the same group includes the road vectors to which the road surface blocks belong, the interval numbers of the road surface blocks in the road vectors, and the hierarchical information of the road surface blocks under the current group.

[0025] A grouping derivation module regroup the road surface information of all intersection point groups in the target area according to the road vectors, and derivate the global hierarchical information of each road vector in the target area one by one according to the hierarchical information of the road surface blocks included in the road vectors under each group.

[0026] In a third aspect, the present invention provides an electronic device, including:

[0027] A memory for storing a computer software program;

[0028] A processor for reading and executing the computer software program, and further implementing the derivation method for the hierarchical relationship of road surfaces in a high-precision map described in the first aspect of the present invention.

[0029] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, in which a computer software program for implementing the derivation method for the hierarchical relationship of road surfaces in a high-precision map described in the first aspect of the present invention is stored.

[0030] The beneficial effects of the present invention are as follows: The current data processing solution belongs to a new method for high-precision map data processing. When using previous geographic information data, there was no description of different height levels in the same scene. After having this hierarchical processing method, the interpenetrating hierarchical relationship between overpasses and viaducts can be accurately rendered in the same scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic flowchart of a method for deriving the hierarchical relationship of road surfaces in a high-precision map provided by an embodiment of the present invention;

[0032] Figure 2 It is a schematic structural diagram of a device for deriving the hierarchical relationship of road surfaces in a high-precision map provided by an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of an embodiment of a computer-readable storage medium provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0036] As Figure 1 shown, an embodiment of the present invention provides a method for deriving the hierarchical relationship of road surfaces in a high-precision map, including:

[0037] Traverse all intersection groups in the target area, and extract the road surface information under the same group; the road surface blocks included in the same interchange form an intersection group, and the road surface information under the same group includes the road vector to which the road surface blocks included in the group belong, the interval number of the road surface block in the road vector, and the hierarchical information of the road surface block under the current group;

[0038] Re-group the road surface information of all intersection groups in the target area according to the road vector, and derive the global hierarchical information of each road vector in the target area one by one according to the hierarchical information of the road surface blocks included in the road vector under each group.

[0039] Specifically, the method includes the following steps:

[0040] Step 1

[0041] Using interchange points and interchange point relationship data, group interchange points with the same group ID according to the group ID of the interchange points. There is only one interchange point at a certain level in the same group. The following data is formed. Interchange points α and β belong to the same group G:

[0042] Interchange point group G:

[0044] Interchange point α: {Level Layer: 1, Data Layer_id: LayerId1, Group ID: idG},

[0045] Interchange point β: {Level Layer: 2, Data Layer_id: LayerId2, Group ID: idG}

[0046] 。

[0047] The specific covering positions of the corresponding interchange points are described in the associated interchange point relationship data. For example:

[0048] Interchange point relationship I:

[0049] {Interchange point data Layer_id: LayerId1, Road vector road_vector_id: rvid1, Road vector interval serial number road_section_seq: serial1}

[0050] Interchange point relationship II:

[0051] {Interchange point data Layer_id: LayerId2, Road vector road_vector_id: rvid2, Road vector interval serial number road_section_seq: serial2}

[0052] Combining interchange points α and β in interchange point group G and interchange point data relationships I and II, a list ListG of the road vector level relationships described by the interchange points included in a group is obtained:

[0054] {road_vector_id: rvid1, road_section_seq: serial1, Layer: 1},

[0055] {road_vector_id: rvid2, road_section_seq: serial2, Layer: 2}

[0057] ​​​The level of the serial1st block interval road block in the road vector rvid1 is LayerId1, and the level of the serial2nd block interval road block in the road vector rvid2 in the same group of interchange points associated with it is LayerId2. At this time, the road block relationship corresponding to a group of interchange points is deduced, and the result is a list ListG.

[0058] Repeat the above steps to deduce and obtain all the interchange points and the corresponding descriptions of interchange relationships, and save them in the list layer_list_by_group. Each list item contains a list, and each list item saves the height level relationship corresponding to a group of interchange points, in the form of ListG.

[0059] Step 2

[0060] Poll layer_list_by_group, filter all the data grouped by interchange points according to the included road vector id (road_vector_id). If the same road vector contains multiple relationships, then generate the association relationship separately and save it in the mapping relationship graph connection_map. The key key of the mapping relationship is the id value of the main road vector, and the value of the mapping relationship is a list. Each item in the list is a list.

[0061] Step 3

[0062] Poll connection_map to obtain the height level relationship of the corresponding road block road_section with interchange points in each road vector. Deduce and record the road block level relationship of the other road vector rvid2 in the same group containing the current main road vector rvid1. The level relationship is stored as a mapping graph road_vector_section_zlevel_map: using the main road vector value rvid1 as the key value, the value value is the mapping graph rela_map of the cross-level relationship between the other road vector rvid2 and rvid1. The key value of this rela_map mapping graph is rvid2, and the value value is a list list_main_rvid_relation containing the road block relationships corresponding to the two road vectors. Each item in the list is a small mapping relationship main_sub_rvid_map, and each item in the mapping relationship is in the form of:

[0063] {Level difference delta_layer: x, Serial number of the road block crossed in the main vector main_section: y, Serial number of the road block crossed by the other road vector rvid2 other_section: z}

[0064] The mapping relationship main_sub_rvid_map records that the hierarchical difference between the y-th road surface block in the main road vector rvid1 and the z-th road block in the other road vector rvid2 is x. The list_main_rvid_relation in the value of a rela_map will contain multiple main_sub_rvid_map, which is used to represent the hierarchical relationship of multiple overlapping road surface intersections between the main road vector and the other road vector.

[0065] The output product is the road_vector_section_zlevel_map relationship mapping diagram.

[0066] For example: One of the main road vectors A: "2336806382983642383", there are 3 secondary road vectors, and the intersection relationship of the interval road blocks with the road vector B: "2336806382873313804" is as follows:

[0067] [{'Layer': -1,'main_sequence': '4', 'other_section': '2'}]

[0068] It means that the second road surface block of the road vector B is below the fourth road surface block of the road vector A.

[0069] Step 4

[0070] Filter the road_vector_section_zlevel_map relationship diagram obtained in Step 3 to obtain the 'Layer' field of the difference in the hierarchical relationship corresponding to the two vectors. For example, one of the obtained road vector relationship lists:

[0071]

[0072] Obtain the relationship {A_B: '-1'} existing in the road vector from it. (Where the value -1 is the difference in the hierarchical relationship of the road vector B corresponding to the road vector A, and the two vector values are connected by '_').

[0073] Derive the map mapping relationship using the above relationships. The key of the mapping is key = "rvidA_rvidB", and the value of the mapping is a set that stores all the values that generate a three-dimensional hierarchical relationship for the corresponding two road vectors rvidA and rvidB. If the hierarchical relationships are the same and exist, they are not added to the set. If they are different, they are added to the set. The values in the set can take positive or negative values. A positive value indicates that the rvidB vector is above the rvidA vector, a negative value indicates that the rvidB is below the rvidA vector, and a value of 0 is not used. This mapping relationship is called the road vector hierarchical relationship mapping road_vector_relation_map.

[0074] Step 5

[0075] Based on all the road vector mapping relationships road_vector_relation_map obtained in Step 4, start to derive the specific spatial hierarchy corresponding to each vector one by one.

[0076] First, regroup the road_vector_relation_map by road vectors. Related road vectors are grouped together for processing. The purpose of this step is to optimize the algorithm and reduce the operation time of loop checks in the later stage. The basis for grouping is to process the road vectors that generate corresponding hierarchical relationships in an elevated area as a single group, and the grouping relationship is saved in the mapping graph rv_relations_group_map. In this elevated area, the spatial height hierarchy corresponding to each road vector has an associative impact on other road vectors, and grouping is based on this.

[0077] Then process the data by group. For each group of road vectors, find the corresponding hierarchical relationship set in the road_vector_relation_map. If the number of relationship hierarchies in the set is more than one, then this relationship needs to be added to the exception set exception_map for processing. When there is more than one hierarchical relationship between two road vectors, the overall height hierarchy cannot be simply raised or lowered to handle the problem. When there is only one relationship hierarchy in the set, it indicates that the relationship between the two road vectors is a simple upper and lower layer relationship. Conduct a loop derivation within the group. The initial height hierarchy of each road vector starts from level 1, and the level is lifted correspondingly according to the single hierarchical relationship in the road_vector_relation_map. Each time there is a change in the road vector level within the group, it is marked that a loop derivation within the current group needs to be performed again until it is found that there is no change in the height level after traversing all the hierarchical relationships within the group, and then the loop ends.

[0078] The derived hierarchical relationship of road vectors is correspondingly saved in road_vector_zlevel_map. In the key-value pairs saved in this mapping, the key is the id of the road vector, and the value is the height level corresponding to the road vector.

[0079] Step 6

[0080] Based on the relationship mapping of road vectors corresponding to road_vector_zlevel_map derived in Step 5 and the relationship mapping road_vector_section_zlevel_map with the road vector number value as the corresponding key derived in Step 5, determine the road blocks that need to be lifted, and assign the road vector level obtained from road_vector_zlevel_map to the road surfaces with the corresponding hierarchical relationship.

[0081] Step 7

[0082] In Step 5, the abnormal road surface relationships exception_map were exported and filtered. The road surfaces containing abnormal relationships are assigned the road surface height levels derived from non-abnormal in Step 6. The abnormal road surface relationship is the hierarchical relationship where the road surfaces of two corresponding road vectors cross. For example, for road vectors A and B, where the second road surface of road vector A is below the third road surface of road vector B, but the ninth road surface of road vector A is above the tenth road surface of vector B. In such a case, first determine whether the height levels of A and B are the same. If they are the same, then the processing method for the height levels of the road blocks (A2, B3) and (A9, B10) is to change each by 0.5 levels according to the corresponding hierarchical relationship. In this way, at the road surface crossing position, there is still a 1-level difference in the road height levels. If the levels of roads A and B are different, according to the current road vector levels, if the up-down relationship is correct and the height level difference during this period is insufficient, the height level difference needs to be fine-tuned. When the up-down relationship is incorrect, the height levels are adjusted according to the middle level of the two road surfaces. The upper level is (A_Zlevel + B_Zlevel) / 2 and then add or subtract 0.5 levels correspondingly to stagger the height levels of the road surfaces.

[0083] Step 8

[0084] After adjusting by 0.5 levels, it is necessary to use the slope to connect the fine-tuned road surface and the integer-level road surface before adjustment. According to the national highway standard, the slope does not exceed 10%. Therefore, the slope length for a half-level height of 4 meters should be greater than 40 meters. After adjusting the half-level, it is necessary to adjust the height levels of the road surfaces without cross relationships to the correct positions according to the height levels of the road surfaces in the road.

[0085] For example, in Road A, there are 5 road surfaces. Among them, the height levels of A1, A3, and A5 are 2. Then, the road surfaces of A2 and A4 need to be lifted to height level 2 to connect to a flat road surface.

[0086] After the above steps, the height levels of the corresponding road surfaces in the road data can be determined.

[0087] Such as Figure 2 As shown, an embodiment of the present invention provides a derivation device for the road surface level relationship in a high-precision map, including:

[0088] An information extraction module traverses all intersection groups in the target area and extracts road surface information under the same group; the road surface blocks included in the same interchange form an intersection group, and the road surface information under the same group includes the road vector to which the road surface blocks included in the group belong, the interval serial number of the road surface block in the road vector, and the level information of the road surface block under the current group;

[0089] A grouping derivation module re-groups the road surface information of all intersection groups in the target area according to the road vector, and derives the global level information of each road vector in the target area one by one according to the level information of the road surface blocks included in the road vector under each group.

[0090] Please refer to Figure 3 , Figure 3 which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 3 shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored on the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented:

[0091] Traverse all intersection groups in the target area and extract road surface information under the same group; the road surface blocks included in the same interchange form an intersection group, and the road surface information under the same group includes the road vector to which the road surface blocks included in the group belong, the interval serial number of the road surface block in the road vector, and the level information of the road surface block under the current group;

[0092] Re-group the road surface information of all intersection groups in the target area according to the road vector, and derive the global level information of each road vector in the target area one by one according to the level information of the road surface blocks included in the road vector under each group.

[0093] Please refer to Figure 4 , Figure 4 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by an embodiment of the present invention. As Figure 4As shown in the figure, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented:

[0094] Traverse all the intersection groups in the target area, and extract the road surface information under the same group; the road surface blocks included in the same overpass form an intersection group, and the road surface information under the same group includes the road vector to which the road surface blocks in the group belong, the interval serial number of the road surface block in the road vector, and the hierarchical information of the road surface block under the current group;

[0095] Re-group the road surface information of all intersection groups in the target area according to the road vector, and deduce the global hierarchical information of each road vector in the target area one by one according to the hierarchical information of the road surface blocks included in the road vector under each group.

[0096] It should be noted that in the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely 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.

[0098] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also 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, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0099] 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, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions in the process Figure 1one or more processes and / or blocks Figure 1 the functions specified in one or more blocks.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one Figure 1 one or more processes and / or blocks Figure 1 or more processes and / or the functions specified in one or more blocks.

[0101] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0102] Obviously, those skilled in the art can make various changes and modifications 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 method for deriving the hierarchical relationship of road surfaces in a high-precision map, characterized in that, Including: Traverse all intersection point groups in the target area and extract road surface information under the same group; The road surface blocks included in the same interchange form an intersection point group. The road surface information under the same group includes the road vector to which the road surface blocks in the group belong, the interval serial number of the road surface blocks in the road vector, and the hierarchical information of the road surface blocks under the current group; Re-group the road surface information of all intersection point groups in the target area according to the road vector, and deduce the global hierarchical information of each road vector in the target area one by one according to the hierarchical information of the road surface blocks included in the road vector; The re-grouping of the road surface information of all intersection point groups in the target area according to the road vector includes: Construct an intersection relationship list for each road vector, and each item in the list is used to describe the intersection relationship between the current road vector and other road vectors; Any item in the list includes the level difference, the serial number of the intersecting road surface block in the current road vector, and the serial number of the intersecting road surface block in the target road vector; the level difference takes a positive or negative value, where a positive value indicates that the current road vector is above the target road vector, and a negative value indicates that the current road vector is below the target road vector.

2. The derivation method according to claim 1, characterized in that Deducing the global hierarchical information of each road vector in the target area one by one according to the hierarchical information of the road surface blocks included in the road vector includes: According to the level difference, screen the items in the intersection relationship list corresponding to a certain road vector to generate the mapping relationship between the current road vector and other road vectors, and the mapping value is the level difference; If the mapping relationship between two road vectors is unique, determine the relative level of the associated road vectors according to the mapping relationship; Traverse the intersection relationship lists corresponding to all road vectors, set the initial level of all road vectors to 1, and obtain their global hierarchical information in the target area according to the relative levels of a certain road vector and all other road vectors.

3. The derivation method according to claim 2, wherein The re-grouping of the road surface information of all intersection point groups in the target area according to the road vector further includes: If there are more than one intersection points between a certain road vector and another road vector, and the hierarchical relationships of the road surface blocks of the two road vectors in the intersection points are different, then when constructing the intersection relationship list, generate multiple items for describing the intersection relationship between the current road vector and other road vectors according to the different intersection points.

4. The derivation method according to claim 3, wherein Deducing the global hierarchical information of each road vector in the target area one by one according to the hierarchical information of the road surface blocks included in the road vector further includes: When there are more than one intersection points between a certain road vector and another road vector, and the hierarchical relationships of the road surface blocks of the two road vectors in the intersection points are different, judge whether the global hierarchical information of the two road vectors is the same, If they are the same, each changes by 0.5 levels according to the corresponding hierarchical relationship. If they are different, judge whether the up and down relationship is correct; If the up-down relationship is correct, slightly adjust the height layer difference. If the up-down relationship is incorrect, adjust the height layer according to the middle layer of the two road surfaces. The upper layer is (A_Zlevel + B_Zlevel) / 2, and then add or subtract 0.5 layers correspondingly to stagger the height layers of the road surfaces.

5. The derivation method according to claim 4, wherein Adjust the height layers of the road surfaces without intersection relationships to the correct positions according to the height layers of the road surfaces in the road.

6. A derivation device for the hierarchical relationship of road surfaces in a high-precision map, characterized in that Including: An information extraction module that traverses all intersection point groups in the target area and extracts road surface information under the same group; The road surface blocks included in the same interchange point form an intersection point group. The road surface information under the same group includes the road vector to which the road surface blocks included in the group belong, the interval serial number of the road surface block in the road vector, and the layer information of the road surface block under the current group; A grouping derivation module that re-groups the road surface information of all intersection point groups in the target area according to the road vector, and derives the global layer information of each road vector in the target area one by one according to the layer information of the road surface blocks included in the road vector in each group; The re-grouping of the road surface information of all intersection point groups in the target area according to the road vector includes: Constructing an intersection relationship list for each road vector, and each item in the list is used to describe the intersection relationship between the current road vector and other road vectors; Any item in the list includes the layer difference, the serial number of the intersecting road surface block in the current road vector, and the serial number of the intersecting road surface block in the target road vector; the layer difference takes a positive or negative value, where a positive value indicates that the current road vector is above the target road vector, and a negative value indicates that the current road vector is below the target road vector.

7. An electronic device, characterized in that, Including: A memory for storing computer software programs; A processor for reading and executing the computer software program, thereby implementing the method for deriving the hierarchical relationship of road surfaces in a high-precision map according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium, characterized in that, The computer software program for implementing the method for deriving the hierarchical relationship of road surfaces in a high-precision map according to any one of claims 1-5 is stored in the storage medium.

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