Generation of road rendering data and road rendering method, device and product

Abstract

The embodiment of the present disclosure discloses a road rendering data generation method and a road rendering method, device and product. The method comprises the following steps: obtaining the height value of a datum line point on a datum line of a road according to the height value of a track point on the road; taking the height value of the datum line point as a reference, determining the height value of a road surface point and a marking line point of the road, so as to render the road surface and the road marking line of the road according to the height value; wherein the road surface point comprises a point on the left and right boundary lines of the road, the marking line point comprises a point on the road marking line of the road, the height value of the corresponding road surface point on the left and right boundary lines of the road is consistent and equal to the height value of the corresponding datum line point, and the height value of the marking line point and the corresponding road surface point on the left and right boundary lines is consistent. The technical scheme can reduce the amount of map data when rendering the road, and greatly reduce the rendering cost.

Description

Technical Field

[0001] This disclosure relates to the field of map rendering technology, specifically to a method, device, and product for generating road rendering data and road rendering. Background Technology

[0002] With the development of location-based services (LBS), more and more application software integrates service capabilities related to electronic maps. In order to make the geographical features expressed by electronic maps consistent with those in the real world, electronic maps are evolving from ordinary maps to more refined and high-precision maps.

[0003] Compared to ordinary maps, high-definition maps include richer road information, such as lane location information, lane direction information, and roadside ancillary facilities information. When lane location information is expressed using three-dimensional spatial coordinates, if the road surface in the real world is uneven, then the lane surfaces included in the high-definition map will not be on the same plane. This will result in an excessively large amount of data in the lane-level map rendering data built based on the high-definition map, affecting map rendering performance. Summary of the Invention

[0004] To address the problems in the related technologies, this disclosure provides a method, device, and product for generating road rendering data and rendering roads.

[0005] In a first aspect, this disclosure provides a method for generating road rendering data.

[0006] Specifically, the method for generating the road rendering data includes:

[0007] Based on the height values ​​of the trajectory points on the road, obtain the height values ​​of the baseline points on the road's baseline.

[0008] Based on the height value of the baseline point, the height values ​​of the road surface point and the road marking point are determined so as to render the road surface and road markings accordingly.

[0009] The road surface points include points on the left and right boundary lines of the road, and the road marking points include points on the road markings of the road. The height values ​​of the corresponding road surface points on the left and right boundary lines of the road are consistent and equal to the height values ​​of the corresponding baseline points. The height values ​​of the road marking points are consistent with the height values ​​of the corresponding road surface points on the left and right boundary lines.

[0010] Secondly, this disclosure provides a road rendering method, wherein...

[0011] The method for obtaining the height values ​​of road surface points and road marking points according to any one of the first aspects further includes:

[0012] Based on the height values ​​of the road surface points, road rendering data is generated to obtain the road surface model of the road. The mesh in the road surface model is formed by the road surface points located on the left and right boundary lines.

[0013] The road markings are rendered based on the height values ​​of the marking points to obtain the road marking model within the road.

[0014] Thirdly, this disclosure provides an apparatus for generating road rendering data, including:

[0015] The acquisition module is configured to acquire the height values ​​of baseline points on the road's baseline based on the height values ​​of the trajectory points originally collected on the road.

[0016] The determination module is configured to determine the height values ​​of road surface points and road marking points based on the height values ​​of the baseline points. The road surface points include points on the left and right boundary lines of the road, and the road marking points include points on the road markings of the road. The height values ​​of the corresponding road surface points on the left and right boundary lines of the road are consistent, and the height values ​​of the road marking points are consistent with the height values ​​of the corresponding road surface points on the left and right boundary lines.

[0017] The rendering module is configured to generate road rendering data based on the height values ​​of the road surface points to obtain the road surface model of the road; and to render road markings based on the height values ​​of the road marking points to obtain the road marking model within the road. The mesh in the road surface model is formed by the road surface points located on the left and right boundary lines.

[0018] Fourthly, this disclosure provides an apparatus for generating road rendering data, comprising:

[0019] The height value acquisition module is configured to acquire the height values ​​of the road surface points and road marking points according to the method described in any one of the first aspects.

[0020] The road surface generation module is configured to generate road rendering data based on the height values ​​of the road surface shape points, thereby obtaining the road surface model of the road. The mesh in the road surface model is formed by the road surface shape points located on the left and right boundary lines.

[0021] The road marking generation module is configured to render the road markings based on the height values ​​of the marking points to obtain a road marking model within the road.

[0022] Fifthly, embodiments of this disclosure provide an electronic device including a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method as described in any one of the first or second aspects.

[0023] In a sixth aspect, embodiments of this disclosure provide a computer-readable storage medium having computer instructions stored thereon that, when executed by a processor, implement the method as described in any one of the first or second aspects.

[0024] In a seventh aspect, this disclosure provides a computer program product including computer instructions that, when executed by a processor, implement the method steps as described in any one of the first or second aspects.

[0025] Eighthly, this disclosure provides a navigation method in which a navigation route is obtained based on an electronic map, calculated at least based on a starting point, an ending point, and road conditions, and navigation guidance is performed based on the navigation route. The acquisition of the road surface model in the electronic map is implemented based on the method described in any one of the second aspects.

[0026] According to the technical solution provided in this disclosure, the height values ​​of the baseline points on the road can be obtained based on the height values ​​of the trajectory points on the road. Then, using the height values ​​of the baseline points as a reference, the height values ​​of the road surface points and the road marking points are determined. The height values ​​of the corresponding road surface points on the left and right boundaries of the road are consistent, and the height values ​​of the road marking points are consistent with the height values ​​of the corresponding road surface points on the left and right boundaries. In this way, the left and right heights of the road can be flattened to the same height as the corresponding baseline points, and the height values ​​of the road markings on the road can also be adjusted to the same height as the left and right sides of the road surface. Therefore, when rendering the road and its road markings based on these height values, it is not necessary to consider the overlapping problem caused by unevenness on the left and right sides, and a large grid can be used for rendering. In this way, the number of grids in the rendered road surface model is greatly reduced, the amount of map data is greatly reduced, and the rendering cost is reduced.

[0027] According to the technical solution provided in this disclosure, during road rendering, the left and right heights of the road can be flattened to the same height as the corresponding baseline points. Simultaneously, the height values ​​of the road markings on the road can also be adjusted to the same height as the left and right road surfaces. This allows for the generation of road rendering data based on the height values ​​of the road surface points, resulting in a road surface model constructed from a large grid formed by road surface points located on the left and right boundary lines. Road markings are then rendered based on the height values ​​of the marking points, resulting in a road marking model within the road. This ensures that the rendered road markings are not obscured by the road surface model constructed from the large grid. Compared to the road model constructed from small grids formed by lane boundary points in the prior art, the number of grids in this rendered road surface model is significantly reduced, lowering rendering overhead and map data volume.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0029] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0030] Figure 1 This diagram illustrates the original data collected regarding the height characteristics of the road surface.

[0031] Figure 2 A flowchart illustrating a method for generating road rendering data according to an embodiment of the present disclosure;

[0032] Figure 3A A rendered schematic diagram of a road surface according to an embodiment of the present disclosure is shown;

[0033] Figure 3B A schematic diagram of road topology relationships according to embodiments of the present disclosure is shown;

[0034] Figure 4A A flowchart illustrating a road rendering method according to an embodiment of the present disclosure is shown;

[0035] Figure 4B This diagram illustrates an application scenario of a road rendering method according to an embodiment of the present disclosure.

[0036] Figure 4C A schematic diagram of a road topology according to an embodiment of the present disclosure is shown.

[0037] Figure 5A A structural block diagram of an apparatus for generating road rendering data according to an embodiment of the present disclosure is shown;

[0038] Figure 5BA structural block diagram of a road rendering apparatus according to an embodiment of the present disclosure is shown;

[0039] Figure 6 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown;

[0040] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown. Detailed Implementation

[0041] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0042] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0043] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] In this disclosure, the acquisition of user information or user data is done with the user's authorization or confirmation, or by the user's active choice.

[0045] As mentioned above, high-definition maps include richer road information compared to ordinary maps, such as lane location information, lane direction information, and roadside ancillary facilities information. When lane location information is expressed using three-dimensional spatial coordinates, if the road surface in the real world is uneven, then the lane surfaces included in the high-definition map will not be on the same plane. This will lead to an excessively large amount of data in the lane-level map rendering data built based on the high-definition map, affecting map rendering performance. For example, Figure 1 This diagram illustrates the original road surface height characteristics. Figure 1 As shown, the road surface of a curved road is higher on the outside and lower on the inside. Figure 1 When generating lane-level map rendering data for the road shown, to prevent road element models (such as lane lines and travel arrows) from being occluded by the created road surface model, the triangular mesh constituting the road surface needs to be as follows: Figure 1 As shown, the lane triangular mesh 101 formed by lane boundary points results in an excessive number of triangular meshes, which in turn leads to an excessive amount of map data.

[0046] This disclosure provides a method for generating road rendering data. The method uses the baseline points on the road's baseline as a reference and adjusts the left and right heights of the road to the same height as the corresponding baseline points. This allows the use of large grids located at the left and right boundaries of the road to construct the road surface model. At the same time, the height values ​​of the road markings on the road are also adjusted to the same height as the left and right sides of the road surface. Thus, the rendered road markings will not be obscured by the road surface model constructed by the large grids. This reduces the number of grids in the road surface model, reduces the amount of map data, and greatly reduces rendering overhead.

[0047] Figure 2 A flowchart illustrating a method for generating road rendering data according to an embodiment of the present disclosure is shown. Figure 2 As shown, the method for generating road rendering data includes the following steps S201-S202:

[0048] In step S201, the height values ​​of the baseline points on the road are obtained based on the height values ​​of the trajectory points on the road.

[0049] In step S202, the height values ​​of the road surface points and road marking points are determined based on the height values ​​of the baseline points, so as to render the road surface and road markings accordingly.

[0050] In one possible implementation, the method for generating road rendering data is applicable to devices such as computers, computing devices, servers, and server clusters capable of generating road rendering data.

[0051] In one possible implementation, when the data collection vehicle is traveling on the road, the data collection equipment installed on the vehicle can locate the trajectory points of the vehicle traveling on the road and the height values ​​of each trajectory point.

[0052] In one possible implementation, the road baseline refers to a line that indicates the shape of the road; for example, the road baseline could be the road centerline. The baseline shape point refers to a point on the baseline that determines the shape of the baseline.

[0053] In one possible implementation, the height of the baseline point on the road's baseline can be determined based on the height values ​​of the trajectory points corresponding to the baseline point. For example, the average height value of the trajectory points corresponding to the baseline point can be used as the height value of the baseline point. These trajectory points can be multiple trajectory points located on the same plane as the baseline point, perpendicular to the road's direction of travel. Alternatively, the height value of the trajectory point closest to the baseline point can be used as the height value of the baseline point. The specific method for obtaining the height value of the baseline point is not limited here, as long as the obtained height value of the baseline point on the road's baseline can reflect the slope change of the road in the direction of travel to a certain extent.

[0054] In one possible implementation, the road surface shape point refers to a point on the road surface that determines the shape of the road surface, and the road surface shape point is located on the left and right boundary lines of the road. The road marking shape point refers to a point on the road marking that determines the shape of the road marking, and the road marking shape point can be a road marking boundary point.

[0055] In one possible implementation, the height of a baseline point on the road's reference line can be used as a benchmark. The height of this baseline point can then be determined as the height of the corresponding road surface point or road marking point. This ensures that the heights of the corresponding road surface points on the left and right boundary lines that point to the same baseline point are consistent, thus flattening the road's left and right elevations to match the corresponding baseline points. Similarly, the heights of the road marking points corresponding to the same baseline point are also consistent, allowing the height of the road markings to be adjusted to be at the same level as the left and right sides of the road surface, preventing the rendered road marking model from being obscured.

[0056] In one possible implementation, Figure 3A A rendered schematic diagram of a road surface according to an embodiment of the present disclosure is shown, such as... Figure 3A As shown, road surface rendering can be performed based on the height values ​​of road surface points on the left and right boundary lines of the road, unlike in existing technologies. Figure 1 The road surface rendering shown is not based on the height value of the point in the middle of the road surface, but rather on the grid 301 formed by the road surface shape points on the left and right boundary lines. The grid in this road model can be... Figure 3A The triangular mesh shown can also be other shapes such as quadrilateral meshes; at the same time, since the height value of the road markings on the road is also adjusted to be at the same height as the left and right sides of the road, the road marking model within the road obtained by rendering the road markings based on the height value of the marking points will not be obscured by the road surface model constructed by the large mesh.

[0057] This implementation method can obtain the height values ​​of the baseline points on the road's baseline based on the height values ​​of the trajectory points on the road. Then, using the height values ​​of the baseline points as a reference, the height values ​​of the road surface points and road marking points are determined. The height values ​​of the corresponding road surface points on the left and right boundaries of the road are consistent, and the height values ​​of the road marking points are consistent with the height values ​​of the corresponding road surface points on the left and right boundaries. In this way, the left and right heights of the road can be flattened to the same height as the corresponding baseline points, and the height values ​​of the road markings on the road can also be adjusted to the same height as the left and right sides of the road surface. Therefore, when rendering the road and its road markings based on these height values, there is no need to consider the overlapping problem caused by unevenness on the left and right sides. Larger grids can be used for rendering, thus greatly reducing the number of grids in the rendered road surface model, significantly reducing the amount of map data, and reducing rendering costs.

[0058] In one possible implementation, in the above method for generating road rendering data, obtaining the height values ​​of baseline points on the road's baseline based on the height values ​​of trajectory points on the road includes:

[0059] Based on the elevation values ​​of trajectory points on the intersection road that directly connects to the intersection and the road topology relationship between the intersection and the intersection road, the elevation values ​​of the baseline points on the baseline of the intersection road and the elevation values ​​of the intersection surface are determined to ensure a smooth connection between the intersection and the intersection road.

[0060] In this embodiment, for roads directly connected to an intersection, in order to ensure a smooth connection between the intersection surface and the road surface of the roads connected to it, it is necessary to obtain the road topology relationship between the intersection and the roads directly connected to it. This road topology relationship indicates the connection relationship between the intersection and each road. In this way, the height values ​​of the trajectory points on the intersection road can be referenced, and the height values ​​of the baseline points on the baseline of the intersection road and the height values ​​of the intersection surface can be determined according to the road topology relationship between the intersection and the roads connected to it, so that the height values ​​at the connection between the intersection and the roads are consistent, ensuring a smooth connection between the intersection and the roads.

[0061] It should be noted that the height value of the intersection surface can be a single height value, meaning that the intersection surface is a plane at the same height.

[0062] In one possible implementation, determining the height values ​​of the baseline points on the baseline of the intersection road and the height value of the intersection surface based on the height values ​​of the trajectory points on the intersection road connecting the intersection and the road topology relationship between the intersection and the intersection road includes:

[0063] Based on the height values ​​of the trajectory points on the road at the intersection, the initial height values ​​of the baseline points of the road at the intersection are obtained. The initial height values ​​of the baseline points of the road at the intersection are the average of the height values ​​of the trajectory points corresponding to the baseline points.

[0064] Based on the road topology, the initial height values ​​of multiple target baseline points are averaged to obtain the height value of the intersection surface; the target baseline points are the baseline points at the intersection junctions of the roads connected to the intersection.

[0065] The height value of the target baseline point on the road connecting to the intersection is determined as the height value of the intersection surface. The height value of the baseline point on the road farthest from the intersection is determined as its initial height value. Based on the distance between the baseline point of the road's baseline and the intersection surface, the height values ​​of each baseline point on the road's baseline are determined.

[0066] In this embodiment, for an intersection road, the initial height value of the baseline point of the intersection road can be directly calculated based on the height value of the trajectory point on the intersection road. For example, the average height value of the trajectory points corresponding to the baseline point can be determined as the initial height value of the baseline point. The trajectory point corresponding to the baseline point can be multiple trajectory points located on the same plane as the baseline point on a plane perpendicular to the road driving direction.

[0067] In this embodiment, the initial height values ​​of the baseline points at the intersection junctions of multiple intersections connected to the intersection can be averaged to obtain the height value of the intersection surface; for example, Figure 3B A schematic diagram of road topology relationships according to embodiments of the present disclosure is shown, such as... Figure 3B As shown, intersection 302 connects five roads. The height h1 of the intersection surface can be obtained by averaging the initial height values ​​of the target baseline points (points A1, A2, A3, A4, and A5) at the junction with intersection 302, where the baselines of these five roads meet. It should be noted that the height h1 of the intersection surface can also be calculated by averaging the height values ​​of the trajectory points on the intersection surface; this is not a limitation.

[0068] In this implementation, the baseline of each intersection includes two endpoints: one endpoint is the target baseline point connecting to the intersection, and the other endpoint is the baseline point furthest from the intersection. The height of the target baseline point can be the height of the intersection surface. For example,... Figure 3BThe baselines of the five roads connecting to the intersection are shown. The height of the baseline points A1, A2, A3, and A5 at the intersection junction is the intersection surface height h1. This ensures that the height of the intersection and its connecting roads remains consistent at the junction, guaranteeing a smooth transition. For the baseline point furthest from the intersection, its height can be determined as the initial height of that point. For example,... Figure 3B As shown, the baseline of the road connecting the intersection is L2. The height of the baseline point B2, which is farthest from the intersection, is the initial height of B2. This ensures that the road at the intersection and the road connected to it at one end (B2) are consistent at the connection point, guaranteeing a smooth transition between the road at the intersection and the road connected to it at the other end.

[0069] In this embodiment, the above method has determined the height values ​​of the baseline points at both ends of the road at each intersection. This allows the height values ​​of the baseline points to be determined based on the distance between these baseline points and the intersection surface, ensuring that the height values ​​of the baseline points in different directions gradually increase or decrease from the intersection surface height h1 to the height value of the baseline point furthest from the intersection in that direction, thus ensuring that the change of the baseline points is smooth.

[0070] In one possible implementation, obtaining the height value of the baseline point on the road's baseline based on the height value of the trajectory point on the road includes:

[0071] For non-intersection roads that are not directly connected to intersections, the height values ​​of the baseline points on the baseline of the non-intersection road are obtained based on the height values ​​of the trajectory points on the non-intersection road; wherein, the height values ​​of the baseline points on the baseline of the non-intersection road are the average values ​​of the height values ​​of the trajectory points corresponding to the baseline points.

[0072] In this implementation, roads in the road network can be divided into non-intersection roads and intersection roads based on whether they are directly connected to intersections. Non-intersection roads are those indirectly connected to intersections via other roads, while intersection roads are those directly connected to intersections.

[0073] In this embodiment, for non-intersection roads, the height value of the baseline point of the baseline of the non-intersection road can be directly calculated based on the height value of the trajectory point on the non-intersection road. For example, the average height value of the trajectory points corresponding to the baseline point can be determined as the height value of the baseline point. The trajectory point corresponding to the baseline point can be multiple trajectory points located on the same plane as the baseline point on a plane perpendicular to the road driving direction.

[0074] In one possible implementation, the method may further include the following steps:

[0075] The height value of the intersection surface is determined as the height value of the road markings within the intersection.

[0076] In this embodiment, the intersection surface created using the original acquired height values ​​in the prior art is also tilted. To avoid the intersection surface model obscuring the road marking model within the intersection, a small grid is needed to construct the intersection surface model. This results in an excessive amount of map data. To reduce the amount of map data and prevent the road markings within the intersection from being obscured, the height value of the intersection surface can be determined as the height value of the road markings within the intersection. This adjusts the height value of the road markings to be consistent with the height value of the entire intersection surface. Thus, based on the height value of the intersection surface, a large grid can be used to render the intersection surface, obtaining the intersection surface model. Simultaneously, the road marking model within the intersection, rendered based on the height value of the road markings, is at the same height as the intersection surface model and will not be obscured by the intersection surface.

[0077] In one possible implementation, the method further includes:

[0078] If two roads are parallel roads in opposite directions, then the two roads share a common baseline;

[0079] Based on the height values ​​of the trajectory points on the two roads, the height values ​​of the baseline points on the common baseline are obtained.

[0080] In this embodiment, such as Figure 3B Roads a and b shown are parallel roads running in opposite directions. The two roads are approximately parallel, and their slopes are roughly the same. To ensure that the two parallel roads have the same elevation and there is no gap between them, they can share a common baseline. For example, as... Figure 3B As shown, road a and road b share a common baseline L4.

[0081] In this embodiment, the height value of the baseline point on the common baseline can be obtained based on the height values ​​of the trajectory points on the two roads. The specific method can be found in the description of the above embodiment. If the two roads are not intersection roads, the height value of the baseline point on the common baseline of the two roads is obtained based on the height values ​​of the trajectory points on the two roads; wherein, the height value of the baseline point on the common baseline of the two roads is the average of the height values ​​of the trajectory points on the two roads corresponding to the baseline point. If the two roads are intersection roads, the initial height value of the baseline point on the common baseline of the two roads is obtained based on the height values ​​of the trajectory points on the two roads; wherein, the initial height value of the baseline point on the common baseline of the two roads is the average of the height values ​​of the trajectory points on the two roads corresponding to the baseline point; then, the height value of each baseline point on the common baseline is determined based on the distance between the baseline point on the common baseline and the intersection surface. The specific calculation scheme is not detailed here.

[0082] In one possible implementation, the method may further include the following steps:

[0083] If two roads that are not in the same direction are connected by a connecting road, then the height value of the baseline point adjacent to the connecting road in the baseline of the two roads is determined as the height value of the two ends of the baseline of the connecting road.

[0084] The height values ​​of the baseline points on the baseline of the connecting road are determined based on the height values ​​at both ends of the baseline.

[0085] In this embodiment, such as Figure 3B As shown, roads c and b are two roads that are not in the same direction. These two roads are connected by a connecting road, namely road d. At this time, the baseline point C1 of road c adjacent to road d can be taken as the height value of one end of the baseline of road d, and the baseline point C2 of road b adjacent to road b in the baseline L3 can be taken as the height value of the other end of the baseline of road d. In this way, the height values ​​of the baseline at both ends of road d are obtained. Then, based on the height values ​​of the baseline at both ends of road d, the height values ​​of the baseline points on the baseline of road d can be determined. The height values ​​of the baseline points on the baseline of road d gradually increase or decrease from the height value at one end to the height value at the other end.

[0086] In one possible implementation, the method for generating road rendering data described above, wherein determining the height values ​​of road surface points and lane marking points based on the height values ​​of the baseline points can be achieved through the following steps:

[0087] The height values ​​of the baseline points at both ends of the road are determined as the height values ​​of the road surface points at both ends of the road.

[0088] For all other road surface points except the two end road surface points, the height value of the baseline point closest to the other road surface point is determined as the height value of the other road surface point;

[0089] The height value of the reference line point closest to the caliper point is determined as the height value of the caliper point.

[0090] In this embodiment, such as Figure 3A As shown, the height value of the baseline point D1 at one end of the road's baseline can be determined as the height values ​​of the road surface points D2 and D3 at that end of the road, and the height value of the baseline point D4 at the other end of the road's baseline can be determined as the height values ​​of the road surface points D5 and D6 at the other end of the road. This ensures the continuity between the height values ​​at both ends of the road surface and the height values ​​of the roads it connects to.

[0091] In this embodiment, for other road surface points besides the two end road surface points, such as road surface point D7, the height value of road surface point D7 can be determined as the height value of the reference line point D8 closest to road surface point D7.

[0092] In this embodiment, for a road marking point, the height value of the nearest baseline point can be determined as the height value of the road marking point. In this way, the height value of the road marking can be adjusted to change with the height value of the baseline, just like the height value of the road.

[0093] It should be noted that, for a shared baseline, the height values ​​of the road surface points and marking points of each road sharing the shared baseline are determined based on the height values ​​of the shared baseline points, using the method described above.

[0094] Figure 4A A flowchart illustrating a road rendering method according to an embodiment of the present disclosure is shown. Figure 4A As shown, the road rendering method includes the following steps S401-S403:

[0095] In step S401, the height values ​​of the road surface shape points and road marking shape points are obtained according to the above-mentioned method for generating road rendering data;

[0096] In step S402, road rendering data is generated based on the height values ​​of the road surface points to obtain the road surface model. The mesh in the road surface model is formed by the road surface points located on the left and right boundary lines.

[0097] In step S403, road markings are rendered based on the height values ​​of the marking points to obtain a road marking model within the road.

[0098] In one possible implementation, the road rendering method is applicable to devices such as computers, computing devices, servers, and server clusters capable of performing road rendering.

[0099] In one possible implementation, the aforementioned method for generating road rendering data can be used. Using the height of a baseline point on the road's baseline as a reference, the height of the baseline point is determined to be the height of the corresponding road surface point or road marking point. This ensures that the heights of the corresponding road surface points on the left and right boundary lines that correspond to the same baseline point are consistent, thus flattening the left and right heights of the road to the same height as the corresponding baseline point. Similarly, the heights of the road marking points corresponding to the same baseline point are also consistent, thereby adjusting the height of the road markings to be at the same height as the left and right sides of the road surface, preventing the rendered road marking model from being obscured.

[0100] In one possible implementation, such as Figure 3A As shown, road surface rendering can be performed based on the height values ​​of road surface points on the left and right boundary lines of the road, unlike in existing technologies. Figure 1 The road surface rendering shown is not based on the height value of the point in the middle of the road surface, but rather on the grid 301 formed by the road surface shape points on the left and right boundary lines. The grid in this road model can be... Figure 3A The triangular mesh shown can also be other shapes such as quadrilateral meshes; at the same time, since the height value of the road markings on the road is also adjusted to be at the same height as the left and right sides of the road, the road marking model within the road obtained by rendering the road markings based on the height value of the marking points will not be obscured by the road surface model constructed by the large mesh.

[0101] In this embodiment, during road rendering, the left and right heights of the road can be flattened to the same height as the corresponding baseline points. Simultaneously, the height values ​​of the road markings on the road are also adjusted to the same height as the left and right road surfaces. This allows for the generation of road rendering data based on the height values ​​of the road surface points, resulting in a road surface model constructed from a large grid formed by road surface points located on the left and right boundary lines. Road markings are then rendered based on the height values ​​of the marking points, resulting in a road marking model within the road. This method ensures that the rendered road markings are not obscured by the road surface model constructed from the large grid. Compared to existing road models constructed from small grids formed by lane boundary points, this significantly reduces the number of grids, lowering rendering overhead and map data volume.

[0102] In one possible implementation, when there is an intersection, the method acquires the height value of the intersection face and the height value of the road markings within the intersection; the method further includes:

[0103] The intersection surface is rendered based on its height value to obtain the intersection surface model;

[0104] The road markings are rendered based on their height values ​​within the intersection to obtain a road marking model within the intersection.

[0105] In this embodiment, the intersection surface created using the original acquired height values ​​in the prior art is also tilted. To avoid the intersection surface model obscuring the road marking model within the intersection, a small grid is needed to construct the intersection surface model. This results in an excessive amount of map data. To reduce the amount of map data and prevent the road markings within the intersection from being obscured, the height value of the intersection surface can be determined as the height value of the road markings within the intersection. This adjusts the height value of the road markings to be consistent with the height value of the entire intersection surface. Thus, based on the height value of the intersection surface, a large grid can be used to render the intersection surface, obtaining the intersection surface model. Simultaneously, the road marking model within the intersection, rendered based on the height value of the road markings, is at the same height as the intersection surface model and will not be obscured by the intersection surface.

[0106] This disclosure also discloses a navigation service, wherein, based on the aforementioned tunnel modeling method, a display result of a tunnel model of the area where the navigated object is located is obtained, and navigation guidance services for the navigated object in a corresponding scenario are provided based on the display result of the tunnel model. The corresponding scenario is one or more combinations of AR navigation, elevated road navigation, or main and auxiliary road navigation.

[0107] This disclosure also discloses a navigation method, wherein a navigation route is obtained based on an electronic map, calculated at least based on the starting point, the destination, and road conditions, and navigation guidance is performed based on the navigation route. The acquisition of the road model on the electronic map is implemented based on any of the methods described above.

[0108] Figure 4B A schematic diagram illustrating an application scenario of a road rendering method according to an embodiment of this disclosure is shown. For example... Figure 4B As shown, when the cloud server 41 creates a map, it can obtain the height values ​​of trajectory points on the road by collecting data from vehicles 42, such as crowdsourced vehicles or professional data locomotives. Then, it uses the road rendering method provided in this disclosure to generate a road surface model and a road marking model. When a mobile terminal 43, such as a mobile phone, tablet, IoT (Internet of Things) device, vehicle terminal, or other device capable of displaying electronic maps, requests 3D map data for display, these road models can be sent to the mobile terminal for display.

[0109] For example, the method for generating the road rendering data described above may include the following steps:

[0110] S1. Obtain the road topology. For example... Figure 4C This illustrates the topological relationships between roads, where lines represent road lines, dots represent nodes connecting road lines, and dashed lines represent the relationship between nodes and roads (the beginning and end of a road line can be bound to a node via dashed lines; the beginning and end of a road line connected to the same node may not be in the same position, but they are all on the same road cross-section). Figure 4C The roads corresponding to the road topology shown are as follows: Figure 3B As shown.

[0111] S2. Select a height baseline for each road (e.g., Figure 3B In the L0-L6 section, the left and right elevations of the road need to be aligned with this baseline. Figure 3B The polygons in the diagram represent the road surface and intersection surface, and L0-L6 represent the road baseline. The height of the road is expressed by the height of the baseline.

[0112] S3. Calculate the height of the baseline, ensuring that the height does not change abruptly, remains smooth at road junctions, and is seamless at intersections.

[0113] a. Calculate the intersection surface height by averaging the initial height values ​​of the target baseline points. Simultaneously, assign the intersection surface height to the target baseline points (i.e.,...). Figure 3B(A1 to A5) are used as the height values ​​of the target baseline points; wherein, the target baseline points are the baseline points of the roads connected to the intersection at the intersection junction;

[0114] b. For roads at intersections, determine the height values ​​of the starting and ending points of the baseline. The height value of the starting point of the baseline is the height value of the baseline point at the intersection junction, and the height value of the ending point of the baseline, i.e., the height value of the baseline point farthest from the intersection, is its initial height value.

[0115] c. Calculate the height of the baseline points between the start and end points using the distance between the baseline points and the intersection surface, ensuring the continuity of the baseline height. Using the distance to the intersection surface as a reference is important because this value is continuous throughout the entire two-dimensional plane, without any discontinuous jumps.

[0116] d. For non-intersection roads that are not directly connected to intersections, obtain the height value of the baseline points on the baseline of the non-intersection road based on the height value of the trajectory points on the non-intersection road. This ensures that the height values ​​between non-intersection roads and between intersection roads and non-intersection roads remain continuous.

[0117] S4. Adjust the height values ​​of the road surface points and map them onto the baseline; for example... Figure 3A As shown, the height value of the road surface point can be mapped to the height value of the nearest baseline point. In order to maintain the continuity of the height value, the first and last points of the road surface point need to be directly mapped to the first and last points of the baseline instead of using the nearest point (which may result in projection error).

[0118] The above mapping shows that the height values ​​of each road start from the height value of the intersection surface and gradually expand outward to non-intersection roads, with a smooth transition between each road.

[0119] S5. Adjust the road marking elements such as lane arrows and lane lines within the road to the corresponding baseline height.

[0120] In existing technologies, constructing the road surface model directly using the original lane triangular mesh without flattening the intersection and road surface results in a 2-3 times increase in the number of triangles, significantly increasing rendering overhead. Furthermore, since intersections are not planar, road surface elements require a mating operation to avoid being obscured by the intersection surface, which also incurs additional computational costs. This implementation method reduces the number of triangular meshes in rendering by flattening the road surface elements, while maintaining the rendering effect as close as possible to the original data.

[0121] Figure 5AA structural block diagram of a road rendering data generation apparatus according to an embodiment of the present disclosure is shown. This apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 5A As shown, the device for generating road rendering data includes:

[0122] The acquisition module 501 is configured to acquire the height value of the baseline point on the road based on the height value of the trajectory point on the road.

[0123] The first determining module 502 is configured to determine the height values ​​of the road surface shape points and road marking shape points of the road based on the height values ​​of the reference line shape points, so as to render the road surface and road markings of the road accordingly.

[0124] The road surface points include points on the left and right boundary lines of the road, and the road marking points include points on the road markings of the road. The height values ​​of the corresponding road surface points on the left and right boundary lines of the road are consistent and equal to the height values ​​of the corresponding baseline points. The height values ​​of the road marking points are consistent with the height values ​​of the corresponding road surface points on the left and right boundary lines.

[0125] In one possible implementation, the acquisition module 501 is configured to:

[0126] Based on the elevation values ​​of trajectory points on the intersection road that directly connects to the intersection and the road topology relationship between the intersection and the intersection road, the elevation values ​​of the baseline points on the baseline of the intersection road and the elevation values ​​of the intersection surface are determined to ensure a smooth connection between the intersection and the intersection road.

[0127] In one possible implementation, the part of the acquisition module 501 that determines the height value of the baseline point on the baseline of the intersection road and the height value of the intersection surface based on the height value of the trajectory point on the intersection road connecting the intersection and the road topology relationship between the intersection and the intersection road is configured as follows:

[0128] Based on the height values ​​of the trajectory points on the road at the intersection, the initial height values ​​of the baseline points of the road at the intersection are obtained. The initial height values ​​of the baseline points of the road at the intersection are the average of the height values ​​of the trajectory points corresponding to the baseline points.

[0129] Based on the road topology, the initial height values ​​of multiple target baseline points are averaged to obtain the height value of the intersection surface; the target baseline points are the baseline points at the intersection junctions of the roads connected to the intersection.

[0130] The height value of the target baseline point on the road connecting to the intersection is determined as the height value of the intersection surface. The height value of the baseline point on the road farthest from the intersection is determined as its initial height value. Based on the distance between the baseline point of the road's baseline and the intersection surface, the height values ​​of each baseline point on the road's baseline are determined.

[0131] In one possible implementation, the acquisition module 501 is configured to:

[0132] For non-intersection roads that are not directly connected to intersections, the height values ​​of the baseline points on the baseline of the non-intersection road are obtained based on the height values ​​of the trajectory points on the non-intersection road; wherein, the height values ​​of the baseline points on the baseline of the non-intersection road are the average values ​​of the height values ​​of the trajectory points corresponding to the baseline points.

[0133] In one possible implementation, the device further includes:

[0134] The second determining module is configured to determine the height value of the intersection surface as the height value of the road markings within the intersection.

[0135] In one possible implementation, the device further includes:

[0136] If two roads are parallel roads in opposite directions, then the two roads share a common baseline.

[0137] In one possible implementation, the device further includes:

[0138] The third determining module is configured to, if two roads that are not in the same direction are connected by a connecting road, determine the height value of the baseline point adjacent to the connecting road in the baseline of the two roads as the height value of the two ends of the baseline of the connecting road.

[0139] The fourth determining module is configured to determine the height value of the baseline point on the baseline of the connecting road based on the height values ​​at both ends of the baseline of the connecting road.

[0140] In one possible implementation, the first determining module 502 is configured to:

[0141] The height values ​​of the baseline points at both ends of the road are respectively determined as the height values ​​of the road surface points at both ends of the road.

[0142] For all other road surface points except the two end road surface points, the height value of the baseline point closest to the other road surface point is determined as the height value of the other road surface point;

[0143] The height value of the reference line point closest to the caliper point is determined as the height value of the caliper point.

[0144] Figure 5B A structural block diagram of a road rendering apparatus according to an embodiment of the present disclosure is shown. This apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 5B As shown, the road rendering device includes:

[0145] The data generation module 503 is configured to obtain the height values ​​of the road surface shape points and the road marking shape points according to the above-mentioned method for generating road rendering data;

[0146] The road surface generation module 504 is configured to generate road rendering data based on the height values ​​of the road surface shape points to obtain the road surface model of the road. The mesh in the road surface model is formed by the road surface shape points located on the left and right boundary lines.

[0147] The road marking generation module 505 is configured to render road markings based on the height values ​​of the marking points to obtain a road marking model within the road.

[0148] The technical terms and features mentioned in this device implementation are the same or similar. For the explanation and description of the technical terms and features involved in this device, please refer to the explanation of the above method implementation, which will not be repeated here.

[0149] This disclosure also discloses an electronic device. Figure 6 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0150] like Figure 6 As shown, the electronic device 600 includes a memory 601 and a processor 602, wherein the memory 601 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 602 to implement the method according to embodiments of the present disclosure.

[0151] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown.

[0152] like Figure 7As shown, the computer system 700 includes a processing unit 701, which can execute various processes described in the above embodiments according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage section 708 into a random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the computer system 700. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0153] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed. The processing unit 701 can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0154] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising computer instructions that, when executed by a processor, implement the steps of the methods described above. In such embodiments, the computer program product can be downloaded and installed from a network via communication section 709, and / or installed from removable media 711.

[0155] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0156] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0157] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in this disclosure.

[0158] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A method for generating road rendering data, wherein, include: Based on the height values ​​of the trajectory points on the road, the height values ​​of the baseline points on the road's baseline are obtained, where the baseline is a line that can indicate the shape of the road. Based on the height value of the baseline point, the height values ​​of the road surface point and the road marking point are determined so as to render the road surface and road markings accordingly. The road surface points include points on the left and right boundary lines of the road, and the road marking points include points on the road markings of the road. The height values ​​of the corresponding road surface points on the left and right boundary lines of the road are consistent and equal to the height values ​​of the corresponding baseline points. The height values ​​of the road marking points are consistent with the height values ​​of the corresponding road surface points on the left and right boundary lines.

2. The method according to claim 1, wherein, The step of obtaining the height value of the baseline point on the road's baseline based on the height value of the trajectory point on the road includes: Based on the elevation values ​​of trajectory points on the intersection road that directly connects to the intersection and the road topology relationship between the intersection and the intersection road, the elevation values ​​of the baseline points on the baseline of the intersection road and the elevation values ​​of the intersection surface are determined to ensure a smooth connection between the intersection and the intersection road.

3. The method according to claim 2, wherein, The step of determining the height values ​​of the baseline points on the baseline of the intersection road and the height values ​​of the intersection surface based on the height values ​​of the trajectory points on the intersection road and the road topology relationship between the intersection and the intersection road includes: Based on the height values ​​of the trajectory points on the road at the intersection, the initial height values ​​of the baseline points of the road at the intersection are obtained. The initial height values ​​of the baseline points of the road at the intersection are the average of the height values ​​of the trajectory points corresponding to the baseline points. Based on the road topology, the initial height values ​​of multiple target baseline points are averaged to obtain the height value of the intersection surface; the target baseline points are the baseline points at the intersection junctions of the roads connected to the intersection. The height value of the target baseline point on the road connecting to the intersection is determined as the height value of the intersection surface. The height value of the baseline point on the road farthest from the intersection is determined as its initial height value. Based on the distance between the baseline point of the road's baseline and the intersection surface, the height values ​​of each baseline point on the road's baseline are determined.

4. The method according to claim 1, wherein, The step of obtaining the height value of the baseline point on the road's baseline based on the height value of the trajectory point on the road includes: For non-intersection roads that are not directly connected to intersections, the height values ​​of the baseline points on the baseline of the non-intersection road are obtained based on the height values ​​of the trajectory points on the non-intersection road; wherein, the height values ​​of the baseline points on the baseline of the non-intersection road are the average values ​​of the height values ​​of the trajectory points corresponding to the baseline points.

5. The method according to claim 2, wherein, The method further includes: The height value of the intersection surface is determined as the height value of the road markings within the intersection.

6. The method according to any one of claims 1 to 5, wherein, The method further includes: If two roads are parallel roads in opposite directions, then the two roads share a common baseline; Based on the height values ​​of the trajectory points on the two roads, the height values ​​of the baseline points on the common baseline are obtained.

7. The method according to any one of claims 2-4, wherein, The method further includes: If two roads that are not in the same direction are connected by a connecting road, then the height value of the baseline point adjacent to the connecting road in the baseline of the two roads is determined as the height value of the two ends of the baseline of the connecting road. The height values ​​of the baseline points on the baseline of the connecting road are determined based on the height values ​​at both ends of the baseline.

8. The method according to claim 1, wherein, The process of determining the height values ​​of road surface points and lane marking points based on the height values ​​of the baseline points includes: The height values ​​of the baseline points at both ends of the road are respectively determined as the height values ​​of the road surface points at both ends of the road. For all other road surface points except the two end road surface points, the height value of the baseline point closest to the other road surface point is determined as the height value of the other road surface point; The height value of the reference line point closest to the caliper point is determined as the height value of the caliper point.

9. A road rendering method, wherein, The method for obtaining the height values ​​of road surface features and road marking features according to any one of claims 1-8, the method further comprising: Based on the height values ​​of the road surface points, road rendering data is generated to obtain the road surface model of the road. The mesh in the road surface model is formed by the road surface points located on the left and right boundary lines. The road markings are rendered based on the height values ​​of the marking points to obtain the road marking model within the road.

10. The method according to claim 9, wherein, When there is an intersection, the method further includes obtaining the height value of the intersection face and the height value of the road markings within the intersection. The intersection surface is rendered based on its height value to obtain the intersection surface model; The road markings are rendered based on their height values ​​within the intersection to obtain a road marking model within the intersection.

11. An electronic device comprising a memory and a processor; wherein, The memory is used to store one or more computer instructions, which are executed by the processor to implement the steps of the method according to any one of claims 1 to 10.

12. A computer program product comprising computer instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1 to 10.

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