Method, device, electronic device and storage medium for generating digital elevation model

Abstract

The present disclosure provides a method, apparatus, electronic device and storage medium for generating a digital elevation model. The method includes: in response to a user's editing operation, acquiring road simulation data; wherein the road simulation data includes a road center line and road configuration parameters of a road to be simulated; drawing a road contour of the road to be simulated according to the road simulation data; performing an expansion process on the road contour to obtain surface points of a road surface area of the road to be simulated; calculating elevation data of each target position of an elevation tile in an elevation space according to the surface points, and generating a road elevation model of the road to be simulated according to the elevation data of the elevation tile. By generating a road elevation model through road simulation data, the embodiment of the present disclosure can generate a road elevation model for the testing process of a driverless vehicle, and solves the problem that the actual working scenario of the driverless vehicle cannot meet the large number of requirements in the testing stage.

Description

Technical Field

[0001] The present disclosure relates to the field of simulation technology, and more particularly, to a method, apparatus, electronic device, and storage medium for generating a digital elevation model. Background Art

[0002] In existing projects, terrain modeling is a very important part. The Digital Elevation Model (DEM) is the basis for various derived terrain models. For example, in the field of unmanned driving in a mine scenario, testing various terrain scenarios is a very important step. During the testing process, it is necessary to construct a corresponding DEM terrain model for testing. In related technologies, drones are usually used to model and determine the DEM terrain model.

[0003] However, the method of determining the DEM terrain model in related technologies requires the support of the actual engineering environment and has a low determination efficiency, which cannot meet the progress requirements in testing. Summary of the Invention

[0004] The embodiments of the present disclosure at least provide a method, apparatus, electronic device, and storage medium for generating a digital elevation model.

[0005] In a first aspect, the embodiments of the present disclosure provide a method for generating a digital elevation model, including:

[0006] Responding to a user's editing operation to obtain road simulation data; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated;

[0007] Drawing the road contour of the road to be simulated according to the road simulation data;

[0008] Performing an expansion process on the road contour to obtain surface points of the surface area of the road to be simulated;

[0009] Calculating elevation data of each target position of an elevation tile in the elevation space according to the surface points, and generating a road elevation model of the road to be simulated according to the elevation data of the elevation tile.

[0010] In an optional implementation, the calculating elevation data of each target position of an elevation tile in the elevation space according to the surface points includes:

[0011] Determining the elevation data of each target position in the elevation tile based on the surface points within the control area of the elevation tile.

[0012] In an optional implementation, the determining the elevation data of each target position in the elevation tile based on the surface points within the control area of the elevation tile includes:

[0013] Determine the target surface points corresponding to each of the target positions of the elevation tiles among the surface points in the control area;

[0014] Calculate the elevation data of the target positions through the elevation values of the target surface points.

[0015] In an alternative embodiment, the determining the target surface points corresponding to each of the target positions of the elevation tiles among the surface points in the control area includes:

[0016] Determine all the surface points as the target surface points among the surface points located in the control area;

[0017] Or

[0018] Determine a preset number of surface points closest to the target positions among the surface points located in the control area as the target surface points.

[0019] In an alternative embodiment, the calculating the elevation data of the target positions through the elevation values of the target surface points includes:

[0020] Determine the position weights of the target surface points based on the distances of the target surface points relative to the target positions;

[0021] Perform weighted summation of the elevation values and the position weights of the target surface points to obtain the elevation data of the target positions.

[0022] In an alternative embodiment, the to-be-simulated road includes retaining walls, and the road surface area includes a retaining wall area and a flat area;

[0023] The calculating the elevation data of each target position of the elevation tiles in the elevation space according to the surface points includes:

[0024] For the first elevation tile including the retaining wall area, determine the elevation data of each of the target positions within the first elevation tile based on the surface points within the control area of the first elevation tile;

[0025] For the second elevation tile including the flat area, determine the elevation data of each target position within the second elevation tile based on the elevation value of any surface point in the flat area.

[0026] In an alternative embodiment, the expanding the road contour to obtain the surface points of the road surface area of the to-be-simulated road includes:

[0027] Along the extending directions of each contour line in the road contour, perform encryption processing on the contour points in the contour lines;

[0028] Perform lateral densification processing on the processed contour line, and determine the surface points of the road surface area based on the contour points on the contour line after densification processing.

[0029] In a second aspect, an embodiment of the present disclosure provides a device for generating a digital elevation model, including:

[0030] An acquisition unit, configured to acquire road simulation data in response to a user's editing operation; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated;

[0031] A drawing unit, configured to draw the road contour of the road to be simulated according to the road simulation data;

[0032] An expansion unit, configured to perform expansion processing on the road contour to obtain the surface points of the road surface area of the road to be simulated;

[0033] A model generation unit, configured to calculate the elevation data of each target position of the elevation tiles in the elevation space according to the surface points, and generate the road elevation model of the road to be simulated according to the elevation data of the elevation tiles.

[0034] In a third aspect, an embodiment of the present disclosure further provides an electronic device, including: a processor, a memory, and a bus, where the memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps in the first aspect, or any possible implementation manner in the first aspect, are executed.

[0035] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps in the first aspect, or any possible implementation manner in the first aspect, are executed.

[0036] In the embodiment of the present disclosure, first, in response to a user's editing operation, road simulation data is acquired; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated; the road contour of the road to be simulated is drawn according to the road simulation data; expansion processing is performed on the road contour to obtain the surface points of the road surface area of the road to be simulated; the elevation data of each target position of the elevation tiles in the elevation space is calculated according to the surface points, and the road elevation model of the road to be simulated is generated according to the elevation data of the elevation tiles.

[0037] In the above embodiments, the method of generating a road elevation model from road simulation data can reduce the dependence on the actual engineering environment, generate a richer road elevation model according to test requirements, and improve the generation efficiency of the road elevation model, thereby solving the problem that the large number of requirements in the test stage cannot be met by actual scene modeling. By drawing a road contour from road simulation data and performing an expansion process on the road contour to obtain surface points of the road surface area, and then determining the road elevation model based on these surface points, a more accurate road elevation model can be obtained, thereby improving the generation accuracy of the road elevation model.

[0038] To make the above objects, features, and advantages of the present disclosure more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, provides a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings required for the embodiments. The drawings here are incorporated into the specification and constitute a part of this specification. These drawings show embodiments that conform to the present disclosure and, together with the specification, are used to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0040] Figure 1 Shows a flowchart of a method for generating a digital elevation model provided by an embodiment of the present disclosure;

[0041] FIG. 2(a) shows a schematic diagram of a painting interface in an editing interface provided by an embodiment of the present disclosure;

[0042] FIG. 2(b) shows a schematic diagram of an input interface for road configuration parameters provided by an embodiment of the present disclosure;

[0043] Figure 3 Shows a schematic diagram of multiple contour lines provided by an embodiment of the present disclosure;

[0044] Figure 4 Shows a schematic diagram after encrypting the contour lines provided by an embodiment of the present disclosure;

[0045] Figure 5 Shows a schematic diagram of the result after performing lateral densification processing on the contour lines provided by an embodiment of the present disclosure;

[0046] Figure 6 Shows a schematic diagram of a control area of an elevation tile provided by an embodiment of the present disclosure;

[0047] Figure 7 A schematic diagram showing the elevation data of each target position in an elevation tile provided by an embodiment of the present disclosure;

[0048] Figure 8 A schematic diagram of a road elevation model provided by an embodiment of the present disclosure;

[0049] Figure 9 A flowchart showing another method for generating a digital elevation model provided by an embodiment of the present disclosure;

[0050] Figure 10 A schematic diagram of a device for generating a digital elevation model provided by an embodiment of the present disclosure;

[0051] Figure 11 A schematic diagram of an electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all of the embodiments. Usually, the components of the embodiments of the present disclosure described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure to be protected, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0054] The term "and / or" in this article merely describes an association relationship and indicates that there can be three relationships. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" in this article means any one of a plurality or any combination of at least two of a plurality. For example, including at least one of A, B, and C can represent any one or more elements selected from the set composed of A, B, and C.

[0055] It has been found through research that in existing projects, terrain modeling is a very important part, and the digital elevation model is the basis for various derived terrain models. For example, in the field of driverless in a mine scene, it is a very important part to test various terrain scenes. During the test process, it is necessary to construct a corresponding DEM terrain model for testing. In related technologies, drones are usually used for modeling to determine the DEM terrain model.

[0056] However, the methods for determining the DEM terrain model in related technologies have the following disadvantages: First, it requires the support of the actual engineering environment, but it is difficult to cover all possible situations in the actually built scene environment; Second, the construction efficiency is low and cannot meet the progress requirements in the test; Third, there may be a large deviation in the accuracy of the actually built scene, which does not match the strict parameterization requirements. Due to these above problems, the overall business progress may be slow.

[0057] Based on the above research, the present disclosure provides a method, device, electronic device and storage medium for generating a digital elevation model. In the embodiments of the present disclosure, first, in response to a user's editing operation, road simulation data is obtained; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated; the road contour of the road to be simulated is drawn according to the road simulation data; the road contour is expanded to obtain the surface points of the road surface area of the road to be simulated; the elevation data of each target position of the elevation tiles in the elevation space is calculated according to the surface points, and the road elevation model of the road to be simulated is generated according to the elevation data of the elevation tiles.

[0058] In the above embodiment, the method of generating a road elevation model through road simulation data can reduce the dependence on the actual engineering environment, can generate a richer road elevation model according to the test requirements, and can improve the generation efficiency of the road elevation model, thus solving the problem that the actual scene modeling cannot meet the large number of requirements in the test stage. By drawing the road contour through the road simulation data and expanding the road contour to obtain the surface points of the road surface area, and then determining the road elevation model based on the surface points, a more accurate road elevation model can be obtained, thereby improving the generation accuracy of the road elevation model.

[0059] To facilitate the understanding of this embodiment, first, a path generation method disclosed in the embodiments of the present disclosure will be introduced in detail. The execution subject of the path generation method provided in the embodiments of the present disclosure is generally an electronic device with certain computing capabilities, and the electronic device includes, for example: a terminal device, a server, or other processing devices. In some possible implementation manners, the path generation method can be implemented by a processor calling computer-readable instructions stored in a memory.

[0060] SeeFigure 1 As shown in the figure, it is a flowchart of a method for generating a digital elevation model provided by an embodiment of the present disclosure. The method includes steps S101 to S104, where:

[0061] S101: In response to a user's editing operation, obtain road simulation data; where the road simulation data includes: the road centerline of the road to be simulated and road configuration parameters.

[0062] Here, the road simulation data includes: the road centerline of the road to be simulated and the road configuration parameters of the road to be simulated.

[0063] In an embodiment of the present disclosure, an editing button can be set in advance in the simulation interface of the simulation editor; then, in response to the user's triggering operation on the editing button, it is determined that an editing operation is detected, and then, an editing interface can be displayed; where the editing interface includes: a painting interface and an input interface for road configuration parameters. For example, as shown in Figure 2(a), it is the painting interface, and as shown in Figure 2(b), it is the input interface for road configuration parameters.

[0064] Next, the user's editing operation on the editing interface can be detected, and the road simulation data can be determined according to the user's editing content on the editing interface.

[0065] For example, as shown in Figure 2(a), the user's painting operation on the painting interface can be detected, and then the road centerline of the road to be simulated can be determined according to the painting operation; where the user can obtain the road centerline of the road to be simulated by means of mouse clicking and painting.

[0066] For example, as shown in Figure 2(b), the user's input operation on the input interface for road configuration parameters can be detected, and then the road configuration parameters of the road to be simulated can be determined according to the input operation. For example, as shown in Figure 2(b), the road configuration parameters (i.e., the lane parameters shown in Figure 2) include: road type, load type, lane width, safety distance, retaining wall width, retaining wall height, curve smoothness and other parameters.

[0067] In an embodiment of the present disclosure, the road to be simulated can include at least one of the following objects: various types of objects such as lanes, retaining walls, guardrails, and indication signs.

[0068] S102: Draw the road contour of the road to be simulated according to the road simulation data.

[0069] Here, the road contour can be understood as the object contour of the objects included in the road to be simulated. For example, it can be a lane line contour, a retaining wall contour.

[0070] In an embodiment of the present disclosure, after obtaining the road simulation data, the simulation editor can determine the road contour of the road to be simulated based on the road simulation data.

[0071] Here, the road contour includes multiple contour lines, and each contour line contains multiple contour points. While drawing the road contour, the simulation editor can also determine the elevation value of each contour point, that is, the distance from the contour point to the absolute base surface along the vertical line direction.

[0072] S103: Perform an expansion process on the road contour to obtain the surface points of the road surface area of the road to be simulated.

[0073] Here, the contour points in the road contour can be expanded. After expansion, the surface points that can cover the road surface area of the road to be simulated can be obtained; among them, the surface points are obtained by expanding the contour points.

[0074] S104: Calculate the elevation data of each target position of the elevation tiles in the elevation space according to the surface points, and generate the road elevation model of the road to be simulated according to the elevation data of the elevation tiles.

[0075] Here, for each elevation tile, multiple target positions can be preset in advance. Through the elevation data of the target positions, the road elevation model of the road to be simulated can be obtained.

[0076] In the above embodiments, the method of generating a road elevation model through road simulation data can reduce the dependence on the actual engineering environment, can generate a richer road elevation model according to the test requirements, and can improve the generation efficiency of the road elevation model at the same time, so as to solve the problem that the actual scene modeling cannot meet the large number of requirements in the test stage. By drawing the road contour through road simulation data and performing an expansion process on the road contour to obtain the surface points of the road surface area, and then determining the road elevation model based on the surface points, a more accurate road elevation model can be obtained, thereby improving the generation accuracy of the road elevation model.

[0077] The above steps will be introduced in detail below in combination with specific embodiments.

[0078] In the embodiments of the present disclosure, first, road simulation data can be obtained.

[0079] In an alternative embodiment, the road simulation data can be obtained in the manner shown in FIGS. 2(a) and 2(b), which will not be described in detail here.

[0080] In another alternative embodiment, a variety of road models can also be set in the simulation editor; among them, each road model includes a corresponding road center line and road configuration parameters. At this time, the simulation editor can detect the user's selection operation on the road model, determine the road model selected by the user based on this selection operation, and determine the road simulation data described in step S101 above based on the road simulation data of the road model selected by the user.

[0081] After obtaining the road simulation data, the road contour of the road to be simulated can be drawn according to the road simulation data. For example, the road contour as shown in Figure 3 can be obtained.

[0082] Here, the simulation editor can first draw the road center line, and then, on the basis of this road center line, draw the road contour line through the road configuration parameters, so as to obtain the road contour as shown in Figure 3 . Next, on the basis of the road contour as shown in Figure 3 , the road contour is expanded to obtain the surface points of the road surface area of the road to be simulated.

[0083] In an alternative embodiment, step S103 of expanding the road contour to obtain the surface points of the road surface area of the road to be simulated specifically includes the following steps:

[0084] Step S11: Along the extension direction of each contour line in the road contour, encrypt the contour points in the contour line;

[0085] Step S12: Perform lateral densification processing on the processed contour line, and determine the surface points of the road surface area based on the contour points on the densified contour line.

[0086] After determining multiple road contours as shown in Figure 3 , the contour line can be expanded, and the surface points of the road surface area of the road to be simulated can be obtained through the expansion.

[0087] In the embodiments of the present disclosure, along the extension direction of the contour line, interpolation data of contour points can be performed. Through the interpolation process, the number of contour points in the contour line can be increased, thereby increasing the density of the contour points in the contour line. For example, for the contour line as shown in Figure 3 , along the extension direction of the contour line, interpolation processing can be performed on the contour points in the contour line, and after processing, the contour line as shown in Figure 4 is obtained. Here, the elevation value of the contour points interpolated in the contour line is the same as the elevation value of the existing contour points in the corresponding contour line.

[0088] After encrypting the contour points, the area between the contour lines can be laterally densified, that is, the encrypted contour lines are extended along the absolute base plane of the road to be simulated. Here, after extending the contour lines, the elevation values of the contour points obtained after extension are the same as those of the corresponding contour points before extension.

[0089] After densifying the contour lines in the schematic diagram as Figure 4 shown, the densification result as Figure 5 shown can be obtained. By densifying the contour lines, the surface points of the road surface area of the road to be simulated can be obtained. At this time, the surface points are each contour point as Figure 5 shown.

[0090] In the above embodiments, by interpolating the contour points in the contour lines, the density of the contour points in the contour lines can be increased. When generating a road elevation model based on the contour lines obtained after interpolation, the model accuracy of the road elevation model can be improved. On this basis, by densifying the area between the contour lines in the contour lines, the elevation values of the respective surface points of the road object can be obtained, thereby providing a data basis for the road elevation model.

[0091] In an alternative embodiment, the above step S104 calculates the elevation data of each target position of the elevation tiles in the elevation space according to the surface points, and specifically includes the following steps:

[0092] Based on the surface points within the control area of the elevation tile, determine the elevation data of each target position within the elevation tile.

[0093] Since the DEM data in the elevation model is strictly arranged according to the horizontal and vertical axes, there are surface points in the elevation values of the surface points generated in the above embodiments that cannot directly assign values to the elevation model, that is, there is data that cannot be directly used to generate the elevation model. In this case, the surface points need to be processed to obtain DEM data that can be used to generate the elevation model.

[0094] Here, the elevation values of the surface points located within the control area of each elevation tile in the elevation space can be determined, and the elevation data of each target position in the elevation tile can be calculated. As Figure 6 shown, Figure 6 the area corresponding to each blue grid in is the elevation tile.

[0095] In the embodiments of the present application, first, the control area of each elevation tile can be determined, and then the surface points located within the control area of each elevation tile among the surface points can be determined. Next, control points can be determined among the surface points, and then the elevation data of the target positions in the elevation tile can be determined according to the control points.

[0096] In the embodiments of the present disclosure, each elevation tile contains multiple target positions. At this time, it is necessary to determine the elevation data of each target position in each elevation tile. For example, as Figure 7 shown is a schematic diagram of the elevation data of each target position in the elevation tile. As Figure 6 and Figure 7 shown, the control area of this elevation tile can be a circular area. As Figure 6 and Figure 7 shown, each circular shape of each color corresponds to an elevation tile, and each elevation tile is surrounded by the corresponding circular control area. At this time, the elevation data of each target position in the corresponding elevation tile can be determined based on the surface points located within the circular control area. Among them, if the road to be simulated includes lane lines and retaining walls, then the target positions include the positions located on the lane lines and also the positions located on the retaining walls. Here, the number of each target position can be determined according to actual needs, and the present disclosure does not make specific limitations on this, as long as it can be achieved.

[0097] Here, for each elevation tile in the elevation space, the elevation data of each target position in the elevation tile can be determined by the above-described method; finally, the elevation data of all target positions of all elevation tiles can be combined to obtain a road elevation model. For example, the following Figure 8 shown road elevation model can be obtained.

[0098] Through the above processing method, the elevation values of the surface points that cannot directly generate an elevation model can be processed, so as to process and obtain elevation data that meets the requirements for generating an elevation model, thereby improving the generation efficiency of the road elevation model and solving the problem that the actual scene modeling cannot meet the large number of requirements in the test stage.

[0099] In an alternative embodiment, the above step of determining the elevation data of each target position in the elevation tile based on the surface points within the control area of the elevation tile specifically includes the following steps:

[0100] First, determine the target surface points corresponding to each target position of the elevation tile among the surface points within the control area;

[0101] Second, calculate the elevation data of the target position through the elevation value of the target surface point.

[0102] In the embodiments of the present disclosure, first, determine the control area of the elevation tile. For example, it is possible to draw as Figure 6 and as Figure 7The control area of the shown circle. Here, the center position of the elevation tile can be determined, and then the radius R of the control area can be determined, where the radius is greater than or equal to half of the diagonal length of the elevation tile. After that, a circular area can be determined with the center position as the center and R as the radius, and this area is the control area of the elevation tile. For example, it can be obtained as shown in Figure 6 and Figure 7 the control area shown.

[0103] After determining the control area, the surface points within the control area among the surface points can be determined, and then the target surface points corresponding to each target position can be determined among the surface points within the control area. Then, based on the elevation values of the target surface points, the elevation data corresponding to the target positions in the elevation tile can be generated.

[0104] Here, the influence degree of each target surface point within the control area on the corresponding target position can be calculated, and then the elevation data of each target position of the elevation tile can be determined according to the influence degree.

[0105] After determining the elevation data of each target position in each elevation tile, the elevation data of each elevation tile can be combined to obtain the road elevation model of the road to be simulated. For example, it can be obtained as shown in Figure 8 the road elevation model shown.

[0106] In the embodiments of the present disclosure, the target surface points corresponding to each target position of the elevation tile can be determined among the surface points of the control area. Here, the following several methods can be used to determine:

[0107] Method 1:

[0108] Determine all the surface points within the control area as the target surface points.

[0109] In this Method 1, all the surface points in the surface points of the control area can be determined as the target surface points. At this time, the influence degree of all the control points (i.e., all the surface points) in the control area on each target position can be calculated, and then the elevation data of each target position of the elevation tile can be determined according to the influence degree.

[0110] Method 2:

[0111] Determine the preset number of surface points closest to the target position among the surface points within the control area as the target surface points.

[0112] In the second method, the distance between each surface point in the control area and the target position can be determined, and the distances are sorted in ascending order. Then, the N (predetermined number) surface points closest to the target position are selected as the target surface points, where N is less than the number of surface points in the target surface points. Among them, the N surface points closest to the target position can be understood as part of the surface points that meet the preset distance requirement.

[0113] In an alternative embodiment, the elevation data of the target position is calculated through the elevation value of the target surface point, and the specific steps are as follows:

[0114] First, based on the distance between the target surface point and the target position, the position weight of the target surface point is determined;

[0115] Second, the elevation value of the target surface point and the position weight are weighted and summed to obtain the elevation data of the target position.

[0116] After determining the target surface points in the manner described in the above Method 1 and Method 2, the position weight of the target surface point relative to the target position can be determined based on the distance between the target surface point and the target position.

[0117] Here, assume that S n represents the distance from the target surface point n to the target position A. At this time, the position weight can be determined by the following formula: W n = 1 / S n 2 .

[0118] After calculating the position weight, the elevation value of the target surface point and the position weight can be weighted and summed, and the result of the weighted sum is used as the elevation data of the target position.

[0119] Here, the elevation value of the target surface point and the position weight can be weighted and summed by the following formula:

[0120] V 目标 = V1*W1 + V2*W2 +.... + V n *W n ;

[0121] Among them, V 目标 represents the elevation data of any target position A, V n represents the elevation value of the target surface point n, and W n represents the position weight of the target surface point n relative to the target position A.

[0122] In the above embodiments, the elevation values of the surface points that cannot directly generate the elevation model can be processed, so as to process and obtain elevation data that meets the requirements for generating the elevation model, thereby improving the generation efficiency of the road elevation model and solving the problem that the actual scene modeling cannot meet the large number of requirements in the test stage.

[0123] In an alternative embodiment, when the road to be simulated includes a retaining wall, the road surface area includes a retaining wall area and a flat area; at this time, the above step of calculating the elevation data of each target position of the elevation tile in the elevation space according to the surface points specifically includes the following steps:

[0124] For the first elevation tile including the retaining wall area, based on the surface points within the control area of the first elevation tile, determine the elevation data of each target position within the first elevation tile;

[0125] For the second elevation tile including the flat area, based on the elevation value of any surface point in the flat area, determine the elevation data of each target position in the second elevation tile.

[0126] In the embodiments of the present application, if the road to be simulated includes a retaining wall and lane lines, then for the elevation tiles including the retaining wall and the lanes, the elevation data of the target positions are determined in different processing manners.

[0127] Since the lane lines are located in the flat area, and the elevation data of the target positions corresponding to the flat area are usually the same; however, the retaining wall is usually an inclined wall, and the elevation values corresponding to different positions on the wall are usually different. For example, in the order from bottom to top, the elevation values corresponding to the corresponding positions on the wall increase in sequence.

[0128] Therefore, in order to further simplify the calculation, the elevation tiles can be divided into the first elevation tiles including the retaining wall area and the second elevation tiles including the flat area, and different methods can be used to calculate the elevation data of the corresponding target positions for the first elevation tiles and the second elevation tiles respectively.

[0129] For example, for the first elevation tile, based on the surface points within the control area of the first elevation tile, determine the elevation data of each target position within the first elevation tile.

[0130] Specifically, when implementing, the above formula V 目标 = V1*W1 + V2*W2 +.... + V n *W n The corresponding algorithm can be used to calculate the elevation data of each target position in the first elevation tile.

[0131] For another example, for the second elevation tile, since the elevation values of this planar region are usually the same, therefore, based on the elevation value of any surface point in this planar region, the elevation data of each target position in the second elevation tile can be determined.

[0132] Adopting the above processing method can further simplify the model generation process, thereby improving the generation efficiency of the road elevation model.

[0133] The following combines Figure 9 to introduce the above method for generating a digital elevation model.

[0134] In this embodiment, it is assumed that the road scenario of the road to be simulated is a mine scenario. In a mine scenario, it is necessary to use transportation equipment based on unmanned driving technology to transport minerals. At this time, in order to ensure the safe driving of the transportation equipment, it is necessary to test and verify the unmanned driving technology of the transportation equipment. In order to improve the robustness of the unmanned driving technology, it is necessary to test the unmanned driving technology of the transportation equipment under various EDM terrain models. However, the method for determining the DEM terrain model in the related technology requires the support of the actual engineering environment and has a low determination efficiency, which cannot meet the requirements for progress in the test. Based on this, the technical solution of the present disclosure proposes a method for generating a digital elevation model, which specifically includes the following steps:

[0135] S1001: In response to the user's editing operation, obtain road simulation data; wherein, the road simulation data includes: the road centerline and road configuration parameters of the road to be simulated.

[0136] Step S1001 is the same as the above step S101, and will not be repeated here.

[0137] S1002: Draw the road contour of the road to be simulated according to the road simulation data.

[0138] Step S1002 is the same as the above step S102, and will not be repeated here.

[0139] S1003: Along the extension direction of each contour line in the road contour, perform encryption processing on the contour points in the contour line.

[0140] S1004: Perform lateral densification processing on the processed contour line, and determine the surface points of the road surface area based on the contour points on the densified contour line.

[0141] S1005: Determine the control area of each elevation tile, and determine the surface points located within the control area.

[0142] S1006: Determine the target surface points corresponding to each target position of the elevation tile among the surface points in the control area.

[0143] S1007: Determine the position weight of the target surface point based on the distance between the target surface point and the target position.

[0144] S1008: Perform weighted summation on the elevation value of the target surface point and the position weight to obtain the elevation data of the target position.

[0145] S1009: Generate a road elevation model of the road to be simulated according to the elevation data of the elevation tiles.

[0146] In the above embodiments, the method of generating a road elevation model through road simulation data can reduce the dependence on the actual engineering environment, can generate a richer road elevation model according to the test requirements, and can improve the generation efficiency of the road elevation model at the same time, thus solving the problem that the large number of requirements in the test stage cannot be met by actual scene modeling. By drawing the road contour with road simulation data and performing expansion processing on the road contour to obtain the surface points of the road surface area, and then determining the road elevation model based on the surface points, a more accurate road elevation model can be obtained, thereby improving the generation accuracy of the road elevation model.

[0147] Those skilled in the art can understand that in the above method of the specific embodiment, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined according to its function and possible internal logic.

[0148] Based on the same inventive concept, an apparatus for generating a digital elevation model corresponding to the method for generating a digital elevation model is further provided in the embodiments of the present disclosure. Since the principle of solving problems by the apparatus in the embodiments of the present disclosure is similar to the above method for generating a digital elevation model in the embodiments of the present disclosure, the implementation of the apparatus can refer to the implementation of the method, and the repeated parts will not be described again.

[0149] Refer to Figure 10 As shown in the figure, a schematic diagram of an apparatus for generating a digital elevation model provided by an embodiment of the present disclosure is shown. The apparatus includes: an acquisition unit 110, a drawing unit 120, an expansion unit 130, and a model generation unit 140; wherein,

[0150] The acquisition unit is configured to acquire road simulation data in response to a user's editing operation; wherein, the road simulation data includes: the road center line of the road to be simulated and road configuration parameters;

[0151] The drawing unit is configured to draw the road contour of the road to be simulated according to the road simulation data;

[0152] An expansion unit for expanding the road contour to obtain surface points of the road surface area of the road to be simulated;

[0153] A model generation unit for calculating elevation data of each target position of elevation tiles in the elevation space based on the surface points, and generating a road elevation model of the road to be simulated according to the elevation data of the elevation tiles.

[0154] In the above embodiments, the method of generating a road elevation model through road simulation data can reduce the dependence on the actual engineering environment, can generate a richer road elevation model according to test requirements, and can improve the generation efficiency of the road elevation model, thereby solving the problem that the large number of requirements in the test stage cannot be met by actual scene modeling. By drawing the road contour with road simulation data, expanding the road contour, obtaining surface points of the road surface area, and then determining the road elevation model based on the surface points, a more accurate road elevation model can be obtained, thereby improving the generation accuracy of the road elevation model.

[0155] In a possible embodiment, the model generation unit is further configured to:

[0156] Determine the elevation data of each target position within the elevation tile based on the surface points within the control area of the elevation tile.

[0157] In a possible embodiment, the model generation unit is further configured to:

[0158] Determine a target surface point corresponding to each target position of the elevation tile among the surface points within the control area;

[0159] Calculate the elevation data of the target position through the elevation value of the target surface point.

[0160] In a possible embodiment, the model generation unit is further configured to:

[0161] Determine all surface points within the control area as the target surface points;

[0162] Or

[0163] Determine a preset number of surface points closest to the target position among the surface points within the control area as the target surface points.

[0164] In a possible embodiment, the model generation unit is further configured to:

[0165] Determine the position weight of the target surface point based on the distance of the target surface point relative to the target position;

[0166] Weight the elevation value of the target surface point and the position weight, and sum them to obtain the elevation data of the target position.

[0167] In a possible implementation, when the road to be simulated includes a retaining wall and the road surface area includes a retaining wall area and a flat area; the model generation unit is further configured to:

[0168] For the first elevation tile including the retaining wall area, based on the surface points within the control area of the elevation tile, determine the elevation data of each target position within the elevation tile;

[0169] For the second elevation tile including the flat area, based on the elevation value of any surface point in the flat area, determine the elevation data of each target position in the second elevation tile.

[0170] In a possible implementation, the expansion processing unit is further configured to:

[0171] Along the extension direction of each contour line in the road contour, encrypt the contour points in the contour line;

[0172] Perform lateral densification processing on the processed contour line, and determine the surface points of the road surface area based on the contour points on the densified contour line.

[0173] The description of the processing flow of each module in the device and the interaction flow between modules can refer to the relevant descriptions in the above method embodiments, and will not be elaborated here.

[0174] Corresponding to Figure 1 the method for generating a digital elevation model in, the embodiments of the present disclosure further provide an electronic device 1100, as Figure 11 shown, which is a schematic structural diagram of the electronic device 1100 provided by the embodiments of the present disclosure, including:

[0175] A processor 111, a memory 112, and a bus 113; the memory 112 is used to store execution instructions, including an internal memory 1121 and an external memory 1122; here, the internal memory 1121 is also called the main memory, which is used to temporarily store the operation data in the processor 111 and the data exchanged with the external memory 1122 such as a hard disk. The processor 111 exchanges data with the external memory 1122 through the internal memory 1121. When the electronic device 1100 runs, the processor 111 communicates with the memory 112 through the bus 113, so that the processor 111 executes the following instructions:

[0176] In response to a user's editing operation, obtain road simulation data; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated;

[0177] Draw the road contour of the road to be simulated according to the road simulation data;

[0178] Perform an expansion process on the road contour to obtain the surface points of the road surface area of the road to be simulated;

[0179] Calculate the elevation data of each target position of the elevation tiles in the elevation space according to the surface points, and generate a road elevation model of the road to be simulated according to the elevation data of the elevation tiles.

[0180] An embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the method for generating a digital elevation model described in the above method embodiment. Wherein, the storage medium may be a volatile or non-volatile computer-readable storage medium.

[0181] An embodiment of the present disclosure also provides a computer program product, which carries program code. The instructions included in the program code can be used to execute the steps of the method for generating a digital elevation model described in the above method embodiment. For details, please refer to the above method embodiment, which will not be elaborated here.

[0182] Among them, the above computer program product can be specifically implemented in a manner of hardware, software, or a combination thereof. In an alternative embodiment, the computer program product is specifically embodied as a computer storage medium. In another alternative embodiment, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0183] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here. In several embodiments provided by the present disclosure, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, and the indirect coupling or communication connection of the devices or units may be in an electrical, mechanical, or other form.

[0184] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0185] In addition, in each embodiment of the present disclosure, each functional unit may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit.

[0186] If the above function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present disclosure, in essence, or the part that contributes to the prior art or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present disclosure. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0187] Finally, it should be noted that: the above-described embodiments are only specific implementation manners of the present disclosure, used to illustrate the technical solutions of the present disclosure, rather than limiting it. The protection scope of the present disclosure is not limited thereto. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present disclosure can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method for generating a digital elevation model, characterized in that, Including: In response to a user's editing operation, obtain road simulation data; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated; Draw the road contour of the road to be simulated according to the road simulation data; Perform an expansion process on the road contour to obtain surface points of the road surface area of the road to be simulated; Based on the surface points within the control area of the elevation tile, determine the elevation data of each target position within the elevation tile, and generate the road elevation model of the road to be simulated, including: Determine the target surface points corresponding to each target position of the elevation tile among the surface points in the control area; based on the distance between the target surface points and the target positions, determine the position weights of the target surface points; perform a weighted sum of the elevation values of the target surface points and the position weights to obtain the elevation data of the target positions.

2. The method according to claim 1, wherein The determining the target surface points corresponding to each target position of the elevation tile among the surface points in the control area includes: Determine all surface points as the target surface points among the surface points located in the control area; or Determine a preset number of surface points closest to the target position as the target surface points among the surface points located in the control area.

3. The method according to claim 1, wherein The road to be simulated includes a retaining wall, and the road surface area includes a retaining wall area and a flat area; The calculating the elevation data of each target position of the elevation tile in the elevation space according to the surface points includes: For a first elevation tile including the retaining wall area, based on the surface points within the control area of the first elevation tile, determine the elevation data of each target position within the first elevation tile; For a second elevation tile including the flat area, based on the elevation value of any surface point in the flat area, determine the elevation data of each target position within the second elevation tile.

4. The method according to claim 1, wherein The performing an expansion process on the road contour to obtain surface points of the road surface area of the road to be simulated includes: Along the extension direction of each contour line in the road contour, perform an encryption process on the contour points in the contour line; Perform a lateral densification process on the processed contour line, and determine the surface points of the road surface area based on the contour points on the contour line after the densification process.

5. A generating device for a digital elevation model, characterized in that, Including: An acquisition unit, configured to obtain road simulation data in response to a user's editing operation; wherein, the road simulation data includes: the road center line and road configuration parameters of the road to be simulated; A drawing unit, configured to draw the road contour of the road to be simulated according to the road simulation data; An expansion unit, configured to perform an expansion process on the road contour to obtain surface points of the road surface area of the road to be simulated; A model generation unit, configured to determine the elevation data of each target position within the elevation tile based on the surface points within the control area of the elevation tile, and generate the road elevation model of the road to be simulated according to the elevation data of the elevation tile; Among them, the model generation unit is further configured to: determine, among the surface points of the control area, the target surface points corresponding to each of the target positions of the elevation tiles; determine the position weights of the target surface points based on the distances between the target surface points and the target positions; and perform weighted summation on the elevation values of the target surface points and the position weights to obtain the elevation data of the target positions.

6. An electronic device, characterized in that, Comprising: a processor, a memory, and a bus, where the memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the method for generating a digital elevation model according to any one of claims 1 to 4 are performed.

7. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is run by the processor, the steps of the method for generating a digital elevation model according to any one of claims 1 to 4 are performed.

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