Elevation determination method, device and equipment for parking lot map data

Abstract

The application provides a method, device and equipment for determining the elevation of parking lot map data, wherein the method comprises: traversing all road lines and / or center lines in the parking lot map data, and obtaining a to-be-assigned geometric point on each road line and / or center line; determining the elevation of the to-be-assigned geometric point on each road line and / or center line respectively; performing smoothing processing on the elevation of the to-be-assigned geometric point on each road line and / or center line, and obtaining an average value of all elevations after the smoothing processing, so as to determine the final elevation of the parking lot map data according to the average value. Through the above method, the user can quickly and accurately determine the location of the parking lot based on the elevation information of the parking lot map data in the case that there is no floor information or the floor information is incorrect, thereby effectively improving the parking experience of the user.

Description

Technical Field

[0001] This application relates to the field of elevation determination technology, and in particular to a method, apparatus and equipment for determining the elevation of parking lot map data. Background Technology

[0002] A parking lot map is a spatial representation of a parking lot. It can visualize all elements within the parking lot and meet the needs of visitors such as reverse car search, parking space search, and route planning within the parking lot.

[0003] Current parking lot maps are mainly used to meet users' visualization needs within parking lots. The parking lot map data is two-dimensional data that visualizes the elements within the parking lot. Therefore, when users need to find the location of a parking lot, they usually need to find the location of the corresponding parking lot based on the floor information attached to the parking lot map. However, since the floor information is usually added on the basis of the parking lot map, it may contain incorrect floor information, which will lead to inaccurate parking lot location search. Summary of the Invention

[0004] This application provides a method, apparatus, and device for determining the elevation of parking lot map data, in order to at least solve one of the above-mentioned technical problems.

[0005] According to one aspect of this application, a method for determining the elevation of parking lot map data is provided, comprising:

[0006] Traverse all road lines and / or center lines in the parking lot map data and obtain the geometric points to be assigned on each road line and / or center line. The parking lot map data includes spatial data in shp format.

[0007] For each geometric point to be assigned a value on a road line and / or center line, obtain the point cloud data in a preset buffer area of ​​the geometric point to be assigned a value;

[0008] Obtain the elevation values ​​of each point in the point cloud data, and determine the elevation of the geometric points to be assigned on each road line and / or centerline based on the average elevation values ​​of each point in the point cloud data;

[0009] The elevations of the geometric points to be assigned on each road line and / or centerline are smoothed, and the average elevation of all smoothed elevations is obtained to determine the final elevation of the parking lot map data based on the average elevation.

[0010] In one implementation, the method for obtaining the preset buffer area includes:

[0011] For each road line and / or centerline on the plane, a circular region is generated with the geometric point to be assigned as the center and a preset filter length as the radius, and the circular region is determined as the preset buffer region of the geometric point to be assigned.

[0012] In one implementation, the smoothing of the elevation of the geometric points to be assigned on each road line and / or centerline includes:

[0013] For each geometric point to be assigned a value on a road line and / or center line, based on the elevation of the geometric point to be assigned a value, determine the geometric points to be smoothed among the geometric points to be assigned a value, and smooth the elevation of the geometric points to be smoothed.

[0014] In one implementation, determining the geometric points to be smoothed among the geometric points to be assigned based on the elevation of the geometric points to be assigned includes:

[0015] The geometric points to be assigned are sorted according to their elevation values, and the geometric point with the smallest elevation and the second smallest elevation are selected.

[0016] If the elevation difference between the geometric point to be assigned the lowest elevation and the geometric point to be assigned the second lowest elevation is less than or equal to a first preset threshold, and the slope value between them is greater than a second preset threshold, then the other geometric points to be assigned, excluding the geometric points to be assigned the lowest elevation and the geometric point to be assigned the second lowest elevation, are determined as geometric points to be smoothed.

[0017] In one embodiment, the smoothing process for the geometric points to be smoothed includes:

[0018] Obtain the distance between the geometric point to be smoothed and the geometric point to be assigned the minimum elevation;

[0019] Based on the distance, the slope value, and the elevation of the geometric point to be assigned the minimum elevation, the smoothed elevation of the geometric point to be smoothed is obtained, and the smoothed elevation is assigned to the geometric point to be smoothed.

[0020] In one implementation, after determining the final elevation of the parking lot map data based on the average elevation, the method further includes:

[0021] The parking lot map data is updated based on the final elevation, and the updated parking lot data is sent to the target terminal so that the target terminal can determine the location of the corresponding parking lot based on the updated parking lot data.

[0022] According to a second aspect of this application, an elevation determination device for parking lot map data is provided, comprising:

[0023] The geometric point determination module is configured to traverse all road lines and / or center lines in the parking lot map data and obtain the geometric points to be assigned on each road line and / or center line.

[0024] The first elevation determination module is configured to acquire point cloud data of the geometric points to be assigned in a preset buffer area for each road line and / or centerline; acquire the elevation value of each point in the point cloud data; and determine the elevation of each geometric point to be assigned on the road line and / or centerline based on the average elevation value of each point in the point cloud data.

[0025] The elevation smoothing module is configured to smooth the elevation of each geometric point to be assigned on each road line and / or centerline.

[0026] The second elevation determination module is configured to obtain the average elevation of all elevations after smoothing, so as to determine the final elevation of the parking lot map data based on the average elevation.

[0027] In one embodiment, the method for obtaining the preset buffer area includes: for each road line and / or center line on the plane, generating a circular area with the geometric point to be assigned as the center and a preset filter length as the radius, and determining the circular area as the preset buffer area of ​​the geometric point to be assigned.

[0028] In one implementation, the elevation smoothing module includes:

[0029] The smoothing point determination unit is configured to determine the smoothing point among the geometric points to be assigned based on the elevation of each geometric point to be assigned on each road line and / or center line.

[0030] A smoothing unit is configured to smooth the elevation of the geometric point to be smoothed.

[0031] In one embodiment, the smoothing point determination unit is specifically configured to sort the geometric points to be assigned according to their elevation values, and select the geometric point to be assigned with the smallest elevation and the second smallest elevation; if the elevation difference between the geometric point to be assigned with the smallest elevation and the second smallest elevation is less than or equal to a first preset threshold, and the slope value between them is greater than a second preset threshold, then the other geometric points to be assigned besides the geometric point to be assigned with the smallest elevation and the second smallest elevation are determined as geometric points to be smoothed.

[0032] In one embodiment, the smoothing processing unit is specifically configured to obtain the distance between the geometric point to be smoothed and the geometric point to be assigned the minimum elevation; obtain the smoothed elevation of the geometric point to be smoothed based on the distance, the slope value, and the elevation of the geometric point to be assigned the minimum elevation, and assign the smoothed elevation to the geometric point to be smoothed.

[0033] In one implementation, the parking lot map data is spatial data in shp format.

[0034] In one embodiment, the device further includes:

[0035] The data transmission module is configured to update the parking lot map data based on the final elevation and send the updated parking lot data to the target terminal, so that the target terminal can determine the location of the corresponding parking lot based on the updated parking lot data.

[0036] According to a third aspect of this application, an electronic device is provided, comprising: a processor, and a memory communicatively connected to the processor;

[0037] The memory stores computer-executed instructions;

[0038] The processor executes computer execution instructions stored in the memory to implement the elevation determination method for the parking lot map data.

[0039] According to a fourth aspect of this application, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, are used to implement the elevation determination method for parking lot map data.

[0040] According to a fifth aspect of this application, a computer program product is provided, comprising a computer program, which, when executed by a processor, describes a method for determining the elevation of parking lot map data.

[0041] The elevation determination method, apparatus, and equipment for parking lot map data provided in this application involve traversing all road lines and / or center lines in the parking lot map data and obtaining geometric points to be assigned on each road line and / or center line; for each geometric point to be assigned on the road line and / or center line, obtaining point cloud data of the geometric point to be assigned in a preset buffer area, obtaining the elevation value of each point in the point cloud data, and determining the elevation of each geometric point to be assigned on the road line and / or center line based on the average elevation value of each point in the point cloud data; smoothing the elevation of each geometric point to be assigned on the road line and / or center line, and obtaining the average elevation of all smoothed elevations, so as to determine the final elevation of the parking lot map data based on the average elevation. In this process, on the one hand, by determining the elevation of the parking lot map data, users can use the elevation of the parking lot map data to find the parking lot location. Since the determined elevation of the parking lot map data is a constant value, users can quickly and accurately determine the location of the parking lot based on the elevation information of the parking lot map data even if there is no floor information or the floor information is incorrect, effectively improving the user's parking experience. On the other hand, by using buffer point cloud data, the elevation of the geometric points to be assigned is determined and the elevation is smoothed, so as to efficiently assign elevation to the parking lot map, with a fast processing speed, and at the same time improve the accuracy of the elevation assignment of parking lot data. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] Figure 1 A flowchart illustrating a method for determining the elevation of parking lot map data provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the preset buffer area in the embodiments of this application;

[0045] Figure 3 Examples of embodiments in this application Figure 1 A flowchart illustrating step S104;

[0046] Figure 4 This is a comparison image of the elevation of the geometric points to be assigned values ​​on the road line or center line in the embodiments of this application before and after smoothing;

[0047] Figure 5 A flowchart illustrating another method for determining the elevation of parking lot map data provided in this application embodiment;

[0048] Figure 6 This is a schematic diagram of the structure of a device for determining the elevation of parking lot map data provided in an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0050] Figure 8 This is a block diagram of a terminal device provided in an exemplary embodiment of this application.

[0051] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0052] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0053] The following explanation of the embodiments of this application is based on application scenarios. The elevation determination method for parking map data provided in the embodiments of this application can be applied to intelligent driving application scenarios, and more specifically, to autonomous driving application scenarios based on vehicle cloud computing. For example, the execution subject of the method provided in the embodiments of this application can be a server, and more specifically, for example, the server of the parking map producer. The following description uses the server as the execution subject of the method provided in the embodiments of this application.

[0054] Optionally, a network connection is established between the server and the intelligent vehicle. The server generates parking lot map data and transmits it to the intelligent vehicle. The intelligent vehicle can then use the parking lot map data for tasks such as reverse vehicle location, parking space search, and route planning within the parking lot. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, and cloud computing.

[0055] In related technologies, the parking lot map data generated in the above process is usually a two-dimensional map data generated for the elements within the parking lot. It is mainly used to meet the user's visualization needs within the parking lot. Therefore, when users need to find the location of a parking lot, they usually need to find the location of the corresponding parking lot based on the floor information attached to the parking lot map. However, since the floor information is usually added on the basis of the parking lot map, it may contain incorrect floor information, which may lead to inaccurate parking lot location search.

[0056] In view of this, embodiments of this application provide a method, apparatus, and device for determining the elevation of parking lot map data. The method involves traversing all road lines and / or center lines in the parking lot map data and obtaining geometric points to be assigned on each road line and / or center line. Then, for each geometric point to be assigned on the road line and / or center line, point cloud data of the geometric point to be assigned in a preset buffer area is obtained, and the elevation value of each point in the point cloud data is obtained. The elevation of each geometric point to be assigned on the road line and / or center line is determined based on the average elevation value of each point in the point cloud data. The elevation of each geometric point to be assigned on the road line and / or center line is smoothed, and the average elevation of all smoothed elevations is obtained. The final elevation of the parking lot map data is then determined based on the average elevation.

[0057] In the above process, by determining the elevation of the parking lot map data, users can use the elevation of the parking lot map data to find the parking lot location. Since the determined elevation of the parking lot map data is a fixed value, that is, each parking lot map corresponds to one elevation, users can quickly and accurately determine the location of the parking lot based on the elevation information of the parking lot map data even if there is no floor information or the floor information is incorrect, effectively improving the user's parking experience. In addition, in this embodiment, the point cloud data corresponding to the parking lot is used to assign an elevation to the parking lot map, which is faster. The elevation of each road line and / or center line is smoothed, which can effectively remove noise interference and ensure that the processed data can fit the point cloud well, resulting in high processing accuracy. Furthermore, the method of determining the elevation of the parking lot map using the method provided in this embodiment can achieve batch processing, which is efficient and fast.

[0058] It should be noted that the elevation determination method for parking lot map data provided in this embodiment is not only applicable to the application scenario of users searching for parking lot locations, but in some other embodiments, users can also use the elevation information of the parking lot map data for other applications, such as using the elevation information to decorate or renovate the parking lot.

[0059] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that these specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0060] 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0061] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a method for determining the elevation of parking lot map data provided in an embodiment of this application. The method includes steps S101-S105.

[0062] Step S101: Traverse all road lines and / or center lines in the parking lot map data and obtain the geometric points to be assigned on each road line and / or center line.

[0063] In parking lot map data, road lines and center lines are geometric features. Parking lot maps typically contain both road lines and center lines. When both road lines and center lines exist, the geometric points to be assigned values ​​are obtained from both. In some examples, only road lines may exist, in which case only the geometric points to be assigned values ​​for those road lines need to be obtained. This embodiment traverses all road lines and / or center lines in the parking lot map data to obtain the geometric points to be assigned values ​​for each road line and / or center line. This not only improves the efficiency of elevation confirmation but also effectively improves the accuracy of elevation confirmation for parking lot maps.

[0064] Among them, the geometric points to be assigned values, that is, the geometric points to be assigned elevations, can be understood to include many geometric points to be assigned values ​​on each road line and / or centerline.

[0065] In this embodiment, the parking lot map data uses the spatial data shp format.

[0066] As is understandable, spatial data (Shapefile, or Shp) format is a non-topological, simple format used to store the geometric location and attribute information of geographic features. Geographic features in a shapefile can be represented as points, lines, or polygons (regions). The workspace containing the shapefile can also contain dBASE tables, which are used to store additional attributes of features that can be connected to the shapefile.

[0067] In this embodiment, the map data format adopts the shapefile format. Since data is entered into the corresponding field for each coordinate point, and the data field can be defined in advance, the corresponding geometric points and their information can be quickly obtained during the elevation determination process, which effectively improves the processing speed of geometric points.

[0068] Step S102: For each geometric point to be assigned a value on each road line and / or centerline, obtain the point cloud data of the geometric point to be assigned a value in a preset buffer area; Step S103: Obtain the elevation value of each point in the point cloud data, and determine the elevation of each geometric point to be assigned a value on each road line and / or centerline based on the average elevation value of each point in the point cloud data.

[0069] In this embodiment, by determining the elevation of each road line and centerline, or the elevation of the geometric points to be assigned on each road line, and then smoothing the elevation of the geometric points to be assigned on each road line and / or centerline in subsequent steps, and finally determining the elevation value of the parking lot map data based on the average of the smoothed elevations, the efficiency and accuracy of elevation determination can be improved.

[0070] Specifically, by acquiring point cloud data within a certain range (preset buffer) of the geometric point to be assigned, and statistically analyzing the elevation values ​​of all point cloud data, the elevation of the geometric point to be assigned is obtained based on the average elevation values ​​of the point cloud data within that range. In other words, assigning the average elevation values ​​of the point cloud data to the geometric point to be assigned can improve the accuracy of the elevation of the geometric point to be assigned.

[0071] It should be noted that those skilled in the art can adapt the preset buffer to specific applications. In a preferred embodiment, the method for obtaining the preset buffer area may include the following process:

[0072] For each road line and / or centerline on the plane, a circular region is generated with the geometric point to be assigned as the center and a preset filter length as the radius, and the circular region is determined as the preset buffer region of the geometric point to be assigned.

[0073] Specifically, the point P(x) of the geometric point to be assigned a value in the road line. P y P Taking point P as an example, the preset buffer zone is defined as a circular region obtained in the XOY plane of the road line or centerline, with P as the center and a preset filter length l as the radius. Figure 2 As shown. Point clouds within the region are retained, while point clouds outside the region are discarded. The retained point clouds... It can be obtained using the following formula:

[0074]

[0075] In equation (1), n∈[0, N-1], and N is the total number of point clouds. Traversing all point clouds yields the set of points Sp = {(P...} n )|i=0,2,...,N-1}.

[0076] Step S104: Smooth the elevation of the geometric points to be assigned on each road line and / or centerline, and obtain the average elevation of all the smoothed elevations.

[0077] In this embodiment, considering the potential errors in the elevation values ​​of the assigned geometric points on the obtained road lines or center lines—for example, the elevation differences between the geometric points to be assigned on the same road line may be too large or too small—this embodiment aims to reduce these errors and improve the accuracy of the final elevation determination. Before calculating the elevation values, this embodiment first performs a smoothing process on the geometric points to be assigned on the road lines or center lines. After the smoothing process, the average elevation of all elevations is obtained to determine the final elevation of the parking lot map data.

[0078] In one implementation, to improve the efficiency of elevation smoothing and thus improve the efficiency of elevation determination, such as... Figure 3 In step S104, the elevation of the geometric points to be assigned in each road line and / or centerline is smoothed, which may include the following steps:

[0079] Step S104a: For each geometric point to be assigned a value on each road line and / or center line, determine the geometric points to be smoothed among the geometric points to be assigned a value based on the elevation of the geometric points to be assigned a value, and smooth the elevation of the geometric points to be smoothed.

[0080] Considering that there are many geometric points to be assigned on the road line or centerline, it is not necessary to smooth all of them. By identifying the geometric points that need to be smoothed and smoothing them, the efficiency of elevation smoothing can be effectively improved.

[0081] Furthermore, in this embodiment, the geometric points to be smoothed are determined according to the elevation of the geometric points to be assigned, thereby improving the efficiency and accuracy of smoothing point determination. Specifically, step S104a, determining the geometric points to be smoothed among the geometric points to be assigned based on their elevations, may include the following steps:

[0082] The geometric points to be assigned are sorted according to their elevation values, and the geometric point with the smallest elevation and the second smallest elevation are selected.

[0083] If the elevation difference between the geometric point to be assigned the lowest elevation and the geometric point to be assigned the second lowest elevation is less than or equal to a first preset threshold, and the slope value between them is greater than a second preset threshold, then the other geometric points to be assigned, excluding the geometric points to be assigned the lowest elevation and the geometric point to be assigned the second lowest elevation, are determined as geometric points to be smoothed.

[0084] Specifically, iterate through each road line and centerline after elevation assignment, find the elevation values ​​of all points to be assigned on the road line or centerline, sort them in ascending order, and select the point with the lowest elevation z. min The geometric point P to be assigned a value min With elevation second smallest z′ min The geometric point P′ to be assigned a value min And corresponding indices i and i′ can be added to it. If the second smallest value minus the smallest value is greater than the first preset threshold (e.g., 1m), then the elevation of the road line or centerline can be refreshed to the minimum value; otherwise, the minimum value point P is further calculated. min to the second smallest point P′ min The slope changes, and if the slope angle is less than a second preset threshold (e.g., 2°), it is considered flat ground, and the elevation of the entire road line or centerline is refreshed to the minimum value. This process is equivalent to directly smoothing the elevation of the entire road line or centerline, effectively improving the smoothing efficiency.

[0085] If P min and P′ min If the elevation difference between the two points is less than or equal to a first preset threshold, and the slope value between them is greater than a second preset threshold, it indicates that the road line or centerline has a slope change and a significant elevation change. This is because the geometric points to be assigned on the road line or centerline may have significant elevation changes. In this embodiment, P... min and P′ min Other points besides the point cloud are identified as points to be smoothed and smoothed to better remove noise interference and ensure that the processed data fits the point cloud well.

[0086] It should be noted that those skilled in the art can adapt the first preset threshold and the second preset threshold to their actual applications. In addition to the values ​​exemplified above, other values ​​can also be set in other embodiments. This embodiment does not impose any specific limitations on this.

[0087] Further, the smoothing process for the geometric points to be smoothed in step S104a may include the following steps:

[0088] Obtain the distance between the geometric point to be smoothed and the geometric point to be assigned the minimum elevation;

[0089] Based on the distance, the slope value, and the elevation of the geometric point to be assigned the minimum elevation, the smoothed elevation of the geometric point to be smoothed is obtained, and the smoothed elevation is assigned to the geometric point to be smoothed.

[0090] Specifically, calculate the geometric point P to be smoothed. n To P min distance l n , then l n ×slope is the geometric point P to be smoothed. n Distance P min The elevation difference, then combined with P min elevation value z min Based on the principle of road surface inclination, P is calculated. n New elevation z n And assign the value to P n Repeat this process until all points have been processed. The slope can be calculated using the following formula:

[0091]

[0092] Equation (2) indicates that if i < i′, This indicates that an uphill slope is along the direction of travel; conversely, a downhill slope is along the opposite direction. For example... Figure 4 As shown, the lines connecting points with large and irregular elevation differences (i.e., dark-colored lines) represent the elevation distribution before smoothing, while the lines connecting points with smoother elevation differences (i.e., light-colored lines) represent the elevation distribution after smoothing. It should be noted that... Figure 4 The elevation changes shown are just one possible example. In practical applications, the difference between the elevation changes before and after smoothing is smaller, or the linear trend is more consistent.

[0093] Understandable, if point P n In P min Previously, i.e., n < i, then z n =z min -l n ×slope; if n > i, then z n =Z min +l n ×slope.

[0094] Step S105: Determine the final elevation of the parking lot map data based on the average elevation.

[0095] In this embodiment, by determining the elevation of the parking lot map data, users can use the elevation of the parking lot map data to find the parking lot location. Since the determined elevation of the parking lot map data is a fixed value, that is, each parking lot map corresponds to one elevation, users can quickly and accurately determine the location of the parking lot based on the elevation information of the parking lot map data even if there is no floor information or the floor information is incorrect, effectively improving the user's parking experience. In addition, this embodiment uses the point cloud data corresponding to the parking lot to assign an elevation to the parking lot map, which is faster. The elevation of each road line and / or center line is smoothed, which can effectively remove noise interference and ensure that the processed data can fit the point cloud well, resulting in high processing accuracy. Furthermore, the method of determining the elevation of the parking lot map provided in this embodiment can achieve batch processing, which is more efficient and faster.

[0096] Please refer to Figure 5 , Figure 5 This is a flowchart illustrating another method for determining the elevation of parking lot map data provided in this application embodiment. Based on the above embodiment, this embodiment, after determining the final elevation of the parking lot, assigns the elevation value to the parking lot map data, updates the corresponding parking lot data, and then transmits it to the target terminal to further improve the user experience. Specifically, in addition to the above steps S101-S105, this embodiment, after determining the final elevation of the parking lot map data based on the average elevation in step S105, also includes step S501.

[0097] Step S501: Update the parking lot map data based on the final elevation, and send the updated parking lot data to the target terminal so that the target terminal can determine the location of the corresponding parking lot based on the updated parking lot data.

[0098] Understandably, the target terminal can be a parking user's mobile phone or a driving terminal. This embodiment utilizes the method of directly assigning elevation data to parking lot map data, transforming the parking lot map data from two-dimensional data into three-dimensional data. The elevation information of the parking lot is more intuitive, further optimizing the user's parking experience.

[0099] According to a second aspect of this application, this embodiment also provides an elevation determination device for parking lot map data, such as... Figure 6 As shown, it includes a geometric point determination module 61, a first elevation determination module 62, an elevation smoothing module 63, and a second elevation determination module 64, wherein,

[0100] The geometric point determination module 61 is configured to traverse all road lines and / or center lines in the parking lot map data and obtain the geometric points to be assigned on each road line and / or center line.

[0101] The first elevation determination module 62 is configured to acquire point cloud data of the geometric points to be assigned in a preset buffer area for each road line and / or centerline; acquire the elevation value of each point in the point cloud data; and determine the elevation of each geometric point to be assigned on the road line and / or centerline based on the average elevation value of each point in the point cloud data.

[0102] Elevation smoothing module 63 is configured to smooth the elevation of the geometric points to be assigned on each road line and / or centerline;

[0103] The second elevation determination module 64 is configured to obtain the average elevation of all elevations after smoothing, so as to determine the final elevation of the parking lot map data based on the average elevation.

[0104] In one embodiment, the method for obtaining the preset buffer area includes: for each road line and / or center line on the plane, generating a circular area with the geometric point to be assigned as the center and a preset filter length as the radius, and determining the circular area as the preset buffer area of ​​the geometric point to be assigned.

[0105] In one embodiment, the elevation smoothing module 63 includes:

[0106] The smoothing point determination unit is configured to determine the smoothing point among the geometric points to be assigned based on the elevation of each geometric point to be assigned on each road line and / or center line.

[0107] A smoothing unit is configured to smooth the elevation of the geometric point to be smoothed.

[0108] In one embodiment, the smoothing point determination unit is specifically configured to sort the geometric points to be assigned according to their elevation values, and select the geometric point to be assigned with the smallest elevation and the second smallest elevation; if the elevation difference between the geometric point to be assigned with the smallest elevation and the second smallest elevation is less than or equal to a first preset threshold, and the slope value between them is greater than a second preset threshold, then the other geometric points to be assigned besides the geometric point to be assigned with the smallest elevation and the second smallest elevation are determined as geometric points to be smoothed.

[0109] In one embodiment, the smoothing processing unit is specifically configured to obtain the distance between the geometric point to be smoothed and the geometric point to be assigned the minimum elevation; obtain the smoothed elevation of the geometric point to be smoothed based on the distance, the slope value, and the elevation of the geometric point to be assigned the minimum elevation, and assign the smoothed elevation to the geometric point to be smoothed.

[0110] In one implementation, the parking lot map data is spatial data in shp format.

[0111] In one embodiment, the device further includes:

[0112] The data transmission module is configured to update the parking lot map data based on the final elevation and send the updated parking lot data to the target terminal, so that the target terminal can determine the location of the corresponding parking lot based on the updated parking lot data.

[0113] According to a third aspect of this application, an electronic device is provided, such as... Figure 7 As shown, it includes: a processor 71, and a memory 72 communicatively connected to the processor 71;

[0114] The memory 71 stores computer-executed instructions;

[0115] The processor 72 executes computer execution instructions stored in the memory 71 to implement the elevation determination method for the parking lot map data, wherein the memory 72 and the processor 71 are connected via a bus 73.

[0116] For relevant instructions, please refer to the corresponding text. Figures 2-5 The relevant descriptions and effects of the steps in the corresponding embodiments are understood, and will not be elaborated on here.

[0117] According to a fourth aspect of this application, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, are used to implement the elevation determination method for parking lot map data.

[0118] For relevant instructions, please refer to the corresponding text. Figures 2-5 The relevant descriptions and effects of the steps in the corresponding embodiments are understood, and will not be elaborated on here.

[0119] According to a fifth aspect of this application, a computer program product is provided, comprising a computer program, which, when executed by a processor, describes a method for determining the elevation of parking lot map data.

[0120] For relevant instructions, please refer to the corresponding text. Figures 2-5 The relevant descriptions and effects of the steps in the corresponding embodiments are understood, and will not be elaborated on here.

[0121] This application also provides a chip, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory to execute the elevation determination method for parking lot map data.

[0122] For relevant instructions, please refer to the corresponding text. Figures 2-5 The relevant descriptions and effects of the steps in the corresponding embodiments are understood, and will not be elaborated on here.

[0123] The computer-readable storage medium can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0124] Figure 8 This is a block diagram illustrating an exemplary embodiment of the present application of a terminal device 800, which may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc.

[0125] The terminal device 800 may include one or more of the following components: processing component 802, memory 804, power supply component 806, multimedia component 808, audio component 810, input / output (I / O) interface 812, sensor component 814, and communication component 816.

[0126] Processing component 802 typically controls the overall operation of terminal device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0127] Memory 804 is configured to store various types of data to support operation on terminal device 800. Examples of this data include instructions for any application or method operating on terminal device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0128] Power supply component 806 provides power to various components of terminal device 800. Power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to terminal device 800.

[0129] Multimedia component 808 includes a screen that provides an output interface between terminal device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When terminal device 800 is in an operating mode, such as a shooting mode or video mode, the front-facing camera and / or rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0130] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when terminal device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0131] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0132] Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of terminal device 800. For example, sensor assembly 814 can detect the on / off state of terminal device 800, the relative positioning of components such as the display and keypad of terminal device 800, changes in the position of terminal device 800 or a component of terminal device 800, the presence or absence of user contact with terminal device 800, the orientation or acceleration / deceleration of terminal device 800, and temperature changes of terminal device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0133] Communication component 816 is configured to facilitate wired or wireless communication between terminal device 800 and other devices. Terminal device 800 can access wireless networks based on communication standards, such as WiFi, 3G, 4G, 5G, or other standard communication networks, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0134] In an exemplary embodiment, the terminal device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the functions described in this application. Figures 2-5 The method provided in any of the corresponding embodiments.

[0135] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of a terminal device 800 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0136] This application also provides a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of a terminal device, enables the terminal device 800 to perform the above-described embodiments of this application. Figures 2-5 The method provided in any of the corresponding embodiments.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0138] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0139] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for elevation determination of parking lot map data, characterized by, include: Traverse all road lines and / or center lines in the parking lot map data and obtain the geometric points to be assigned on each road line and / or center line. The parking lot map data includes spatial data in shp format. For each geometric point to be assigned a value on a road line and / or center line, obtain the point cloud data of the geometric point to be assigned a value in a preset buffer area; Obtain the elevation values ​​of each point in the point cloud data, and determine the elevation of the geometric points to be assigned on each road line and / or centerline based on the average elevation values ​​of each point in the point cloud data; The elevations of the geometric points to be assigned values ​​on each road line and / or centerline are smoothed, and the average elevation of all smoothed elevations is obtained to determine the final elevation of the parking lot map data based on the average elevation. The smoothing process for the elevation of the geometric points to be assigned on each road line and / or centerline includes: For each geometric point to be assigned a value on a road line and / or center line, based on the elevation of the geometric point to be assigned a value, determine the geometric points to be smoothed among the geometric points to be assigned a value, and smooth the elevation of the geometric points to be smoothed.

2. The method according to claim 1, characterized in that, The methods for obtaining the preset buffer area include: For each road line and / or centerline on the plane, a circular region is generated with the geometric point to be assigned as the center and a preset filter length as the radius, and the circular region is determined as the preset buffer region of the geometric point to be assigned.

3. The method according to claim 1, characterized in that, The step of determining the geometric points to be smoothed among the geometric points to be assigned based on the elevation of the geometric points to be assigned includes: The geometric points to be assigned are sorted according to their elevation values, and the geometric point with the smallest elevation and the second smallest elevation are selected. If the elevation difference between the geometric point to be assigned the lowest elevation and the geometric point to be assigned the second lowest elevation is less than or equal to a first preset threshold, and the slope value between them is greater than a second preset threshold, then the other geometric points to be assigned, excluding the geometric points to be assigned the lowest elevation and the geometric point to be assigned the second lowest elevation, are determined as geometric points to be smoothed.

4. The method according to claim 3, characterized in that, The elevation smoothing process for the geometric points to be smoothed includes: Obtain the distance between the geometric point to be smoothed and the geometric point to be assigned the minimum elevation; Based on the distance, the slope value, and the elevation of the geometric point to be assigned the minimum elevation, the smoothed elevation of the geometric point to be smoothed is obtained, and the smoothed elevation is assigned to the geometric point to be smoothed.

5. The method according to claim 1, characterized in that, After determining the final elevation of the parking lot map data based on the average elevation, the method further includes: The parking lot map data is updated based on the final elevation, and the updated parking lot data is sent to the target terminal so that the target terminal can determine the location of the corresponding parking lot based on the updated parking lot data.

6. A device for determining the elevation of parking lot map data, characterized in that, include: The geometric point determination module is configured to traverse all road lines and / or center lines in the parking lot map data and obtain the geometric points to be assigned on each road line and / or center line. The first elevation determination module is configured to acquire point cloud data of the geometric points to be assigned in a preset buffer area for each road line and / or centerline; acquire the elevation value of each point in the point cloud data; and determine the elevation of each geometric point to be assigned on the road line and / or centerline based on the average elevation value of each point in the point cloud data. The elevation smoothing module is configured to smooth the elevation of each geometric point to be assigned on each road line and / or centerline. The second elevation determination module is configured to obtain the average elevation of all elevations after smoothing, so as to determine the final elevation of the parking lot map data based on the average elevation. The elevation smoothing module includes: The smoothing point determination unit is configured to determine the smoothing point among the geometric points to be assigned based on the elevation of each geometric point to be assigned on each road line and / or center line. A smoothing unit is configured to smooth the elevation of the geometric point to be smoothed.

7. An electronic device, comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method for determining the elevation of parking lot map data as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for determining the elevation of parking lot map data as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the elevation of parking lot map data as described in any one of claims 1 to 5.

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