Navigation map generation method and device

Abstract

The invention provides a navigation map generation method and device. The method comprises the following steps: controlling a mobile tool to collect an environment image about the surrounding environment in a driving process on a target road section, and obtaining an image data set for constructing a navigation map of the target road section; according to a preset time length and the acquisition time of each environment image, the plurality of environment images in the image data set are divided into a plurality of image groups, and each image group comprises a plurality of environment images; based on the image information of each environment image, dividing the plurality of environment images in each image group into a live-action road form graph and a live-action site graph; according to the live-action road shape graph and the live-action site graph in each image group, generating a navigation road shape graph corresponding to each image group; generating a traffic limit table of the target road section based on the traffic rule of the target road section; and generating a navigation map according to the traffic limit table and the plurality of navigation road charts. By adopting the technical means, the problems of low navigation map generation efficiency and accuracy in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of map drawing technology, and in particular to a method and device for generating a navigation map. Background Art

[0002] Navigation in common scenarios can use satellites to generate navigation maps, but for some areas that cannot be monitored by satellites, it is obviously impossible to use satellites to directly generate navigation maps. At present, for this situation, either cartographers construct vector graphics based on the collected data and then use vector graphics to form navigation maps, or cartographers use raster graphics technology to represent navigation maps in pixel form based on the collected data. These methods are not only time-consuming, but the accuracy of the generated navigation maps depends on the professional level of the cartographers and cannot be guaranteed. Summary of the invention

[0003] In view of this, embodiments of the present application provide a navigation map generation method, device, electronic device and computer-readable storage medium to solve the problems of low efficiency and accuracy of navigation map generation in the prior art.

[0004] A first aspect of an embodiment of the present application provides a method for generating a navigation map, comprising: controlling a mobile tool to collect environmental images of its surrounding environment during driving on a target road section, and obtaining an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with a collection time; dividing multiple environmental images in the image data set into multiple image groups according to a preset duration and the collection time of each environmental image, wherein each image group contains multiple environmental images; dividing the multiple environmental images in each image group into a real-life road map and a real-life site map based on image information of each environmental image; generating a navigation road map corresponding to each image group according to the real-life road map and the real-life site map in each image group; generating a traffic restriction table for the target road section based on the traffic rules of the target road section; and generating a navigation map according to the traffic restriction table and the multiple navigation road maps.

[0005] According to a second aspect of an embodiment of the present application, a navigation map generating device is provided, comprising: a collection module, configured to control a mobile tool to collect environmental images of its surrounding environment during driving on a target road section, and obtain an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with a collection time; a first division module, configured to divide a plurality of environmental images in the image data set into a plurality of image groups according to a preset duration and the collection time of each environmental image, wherein each image group contains a plurality of environmental images; a second division module, configured to divide the plurality of environmental images in each image group into a real-life road map and a real-life site map based on image information of each environmental image; a first generation module, configured to generate a navigation road map corresponding to each image group according to the real-life road map and the real-life site map in each image group; a second generation module, configured to generate a traffic restriction table of the target road section based on the traffic rules of the target road section; and a third generation module, configured to generate a navigation map according to the traffic restriction table and the plurality of navigation road maps.

[0006] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0007] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0008] Compared with the prior art, the embodiments of the present application have the following beneficial effects: controlling the mobile tool to collect environmental images about its surrounding environment during driving on the target road section, and obtaining an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with a collection time; dividing multiple environmental images in the image data set into multiple image groups according to the preset duration and the collection time of each environmental image, wherein each image group contains multiple environmental images; dividing multiple environmental images in each image group into real-life road maps and real-life site maps based on the image information of each environmental image; generating navigation road maps corresponding to each image group based on the real-life road maps and real-life site maps in each image group; generating a traffic restriction table for the target road section based on the traffic rules of the target road section; generating a navigation map based on the traffic restriction table and multiple navigation road maps. The above technical means can solve the problem of low efficiency and accuracy in generating navigation maps in the prior art, thereby improving the generation efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 It is a flowchart of a navigation map generation method provided in an embodiment of the present application;

[0011] Figure 2 It is a flowchart of another navigation map generation method provided in an embodiment of the present application;

[0012] Figure 3 It is a structural schematic diagram of a navigation map generating device provided in an embodiment of the present application;

[0013] Figure 4 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0014] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0015] A method and device for generating a navigation map according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0016] Figure 1 It is a flowchart of a navigation map generation method provided in an embodiment of the present application. Figure 1 The navigation map generation method can be executed by a computer or a server, or software on the computer or the server. Figure 1 As shown, the navigation map generation method includes:

[0017] S101, controlling the mobile tool to collect environmental images about its surrounding environment during driving on the target road section, and obtaining an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with a collection time;

[0018] S102, dividing the multiple environmental images in the image data set into multiple image groups according to a preset time length and the acquisition time of each environmental image, wherein each image group contains multiple environmental images;

[0019] S103, dividing the multiple environmental images in each image group into a real-scene road map and a real-scene site map based on the image information of each environmental image;

[0020] S104, generating a navigation road map corresponding to each image group according to the real-scene road map and the real-scene site map in each image group;

[0021] S105, generating a traffic restriction table of the target road section based on the traffic rules of the target road section;

[0022] S106, generating a navigation map according to the traffic restriction table and the plurality of navigation road maps.

[0023] The mobile tool can be a car, aircraft or robot used to collect images. The mobile tool is equipped with sensors such as cameras. When it is necessary to build a navigation map of the target section, the mobile tool is controlled to travel on the target section and collect environmental images in the process. In order to improve the accuracy of the final navigation map, multiple environmental images in the image data set are divided into multiple image groups. For example, if the preset duration is 3 minutes, the time when the collection starts is recorded as 0 minutes. The environmental images collected from 0 minutes to 3 minutes can be divided into the first image group, and the environmental images collected from 3 minutes to 6 minutes can be divided into the second image group...

[0024] The multimodal model can be used to extract the image information of each environmental image. When the image information of an environmental image indicates that the environmental image contains a site, the environmental image is divided into a real-scene site map, otherwise the environmental image is divided into a real-scene road map. The multimodal model can use any commonly used model, such as the CLIP (Contrastive Language-Image Pre-training) model. The site can be a gas station, a gas station, a charging station, a service area, a building, a signboard and other information.

[0025] An image group contains multiple real-life road maps and multiple real-life site maps. A navigation road map corresponding to the image group is generated based on the real-life road map and the real-life site map in the image group. The traffic restriction table is identification information such as traffic direction and speed limits on different roads. A navigation map of the target road section is generated based on the traffic restriction table and multiple navigation road maps.

[0026] According to the technical solution provided by the embodiment of the present application, the mobile tool is controlled to collect environmental images about its surrounding environment during driving on the target road section, and an image data set for constructing a navigation map of the target road section is obtained, wherein each environmental image is marked with a collection time; according to the preset duration and the collection time of each environmental image, multiple environmental images in the image data set are divided into multiple image groups, wherein each image group contains multiple environmental images; based on the image information of each environmental image, multiple environmental images in each image group are divided into real-life road map and real-life site map; according to the real-life road map and real-life site map in each image group, a navigation road map corresponding to each image group is generated; based on the traffic rules of the target road section, a traffic restriction table of the target road section is generated; according to the traffic restriction table and multiple navigation road maps, a navigation map is generated. The above technical means can solve the problem of low efficiency and accuracy in generating navigation maps in the prior art, thereby improving the generation efficiency and accuracy.

[0027] Furthermore, based on the real-life road map and the real-life site map in each image group, a navigation road map corresponding to each image group is generated, including: respectively extracting the road information and the site information of the real-life road map and the real-life site map in each image group; and generating a navigation road map corresponding to the image group based on the road information and the site information corresponding to each image group.

[0028] The multimodal model can be used to extract the road shape information of the real road shape map and the site information of the real site map. The road shape information is information such as the curvature of the road, slope, road surface material and potholes, and the site information is information such as the type and area of ​​the site. The multimodal model is more targeted in extracting road shape information and site information than extracting image information, so the extracted road shape information and site information are more detailed and accurate. The multimodal model only extracts the road shape information of the real road shape map, and other information on the real road shape map does not need to be extracted. The multimodal model only extracts the site information of the real site map, and other information on the real site map does not need to be extracted.

[0029] Furthermore, based on the road shape information and site information corresponding to each image group, a navigation road map corresponding to the image group is generated, including: based on the road shape information corresponding to each image group, generating a map road element corresponding to the image group; based on the site information corresponding to each image group, generating a map site element corresponding to the image group; based on the map road elements and map site elements corresponding to each image group, generating a navigation road map corresponding to the image group.

[0030] Environmental images reflect the geographical features and environmental conditions of the photographed area, and they have a lot of detailed information. Navigation maps focus on path guidance and direction instructions. They usually highlight roads, landmarks and important nodes so that users can easily find their destinations. Navigation maps are often more concise and clear, focusing on practicality and readability. The navigation map of the target road section can be regarded as a combination of navigation road maps corresponding to each image group. Each image group corresponds to a small section of the target road section, so the navigation road map corresponding to each image group can be regarded as a small section of the navigation map. The map road element corresponding to an image group can be a colored line segment with a curved angle, and the line segment is used to represent the road information corresponding to the image group. The map site element corresponding to an image group can be a pattern, and the pattern is used to represent the site information corresponding to the image group. The line segments and patterns corresponding to each image group are combined to obtain the navigation road map corresponding to the image group.

[0031] Furthermore, a navigation road map corresponding to each image group is generated based on the road shape information and site information corresponding to the image group, including: for each image group: based on the road shape information of each real-life road map, generating a map road shape element of the real-life road map; based on the site information of each real-life site map, generating a map site element of the real-life road map; according to the acquisition time of each real-life road map and each real-life site map, combining the map road shape elements of each real-life road map and the map site elements of each real-life road map to obtain a navigation road map.

[0032] Because each image group has multiple real-life road maps and multiple real-life site maps, the map road elements of each real-life road map and the map site elements of each real-life road map are generated. Then, according to the acquisition time of each image, the map road elements of each real-life road map and the map site elements of each real-life road map are combined to obtain a navigation road map.

[0033] Furthermore, a navigation map is generated based on the traffic restriction table and multiple navigation road maps, including: determining the marking time of the navigation road map corresponding to the image group according to the acquisition time of the real-life road map and the real-life site map in each image group; combining each navigation road map according to the marking time of each navigation road map to obtain a preliminary navigation map; and adding traffic restriction marks to the preliminary navigation map according to the traffic restriction table to obtain a navigation map.

[0034] The earliest acquisition time or the latest acquisition time or other acquisition time in an image group can be used as the marking time of the navigation road map corresponding to the image group. According to the marking time of each navigation road map, each navigation road map is combined from front to back to obtain a preliminary navigation map. The traffic restriction table is identification information such as traffic direction and speed limit of different roads. According to the traffic restriction table, identification information is added to the preliminary navigation map to obtain a navigation map.

[0035] Figure 2 FIG. 1 is a flow chart of another method for generating a navigation map provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0036] S201, creating a picture library, and creating multiple pictures in the picture library;

[0037] S202, dividing the multiple environmental images in the image data set into respective image sheets according to the acquisition time of each environmental image, wherein each image sheet contains multiple environmental images;

[0038] S203, in each map sheet: dividing the multiple environmental images into a real-scene road map and a real-scene site map based on image information of each environmental image, generating a navigation road map based on the real-scene road map and the real-scene site map, and generating a traffic restriction table based on traffic rules of the target road section;

[0039] S204: Generate a navigation map according to the traffic restriction table and navigation road map in each map sheet.

[0040] Create a map library for the target road section. A map sheet is similar to an image group. In a map sheet: multiple environmental images are divided into real-life road maps and real-life site maps, and the road shape information and site information of the real-life road maps and real-life site maps are extracted. A navigation road map is generated based on the road shape information and site information.

[0041] Furthermore, a navigation map is generated according to the traffic restriction table and the navigation road map in each map sheet, including: adding traffic restriction marks to the navigation road map in each map sheet according to the traffic restriction table in each map sheet to obtain a map sheet navigation map corresponding to each map sheet; determining the marking time of the map sheet navigation map corresponding to each map sheet according to the acquisition time of the real-life road map and the real-life site map in each map sheet; and combining the navigation maps of each map sheet according to the marking time of the navigation maps of each map sheet to obtain a navigation map.

[0042] According to the traffic restriction table, identification information is added to the navigation road map, and then the navigation road maps are combined according to the marking time of each navigation road map to obtain a navigation map.

[0043] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0044] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0045] Figure 3 Schematic diagram of a navigation map generating device provided in an embodiment of the present application. Figure 3 As shown, the navigation map generating device includes:

[0046] The acquisition module 301 is configured to control the mobile tool to acquire environmental images about its surrounding environment during the driving process on the target road section, and obtain an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with an acquisition time;

[0047] A first division module 302 is configured to divide the multiple environmental images in the image data set into multiple image groups according to a preset duration and a collection time of each environmental image, wherein each image group contains multiple environmental images;

[0048] The second division module 303 is configured to divide the multiple environmental images in each image group into a real-scene road map and a real-scene site map based on the image information of each environmental image;

[0049] The first generating module 304 is configured to generate a navigation road map corresponding to each image group according to the real scene road map and the real scene site map in each image group;

[0050] The second generating module 305 is configured to generate a traffic restriction table of the target road section based on the traffic rules of the target road section;

[0051] The third generating module 306 is configured to generate a navigation map according to the traffic restriction table and a plurality of navigation road maps.

[0052] According to the technical solution provided by the embodiment of the present application, the mobile tool is controlled to collect environmental images about its surrounding environment during driving on the target road section, and an image data set for constructing a navigation map of the target road section is obtained, wherein each environmental image is marked with a collection time; according to the preset duration and the collection time of each environmental image, multiple environmental images in the image data set are divided into multiple image groups, wherein each image group contains multiple environmental images; based on the image information of each environmental image, multiple environmental images in each image group are divided into real-life road map and real-life site map; according to the real-life road map and real-life site map in each image group, a navigation road map corresponding to each image group is generated; based on the traffic rules of the target road section, a traffic restriction table of the target road section is generated; according to the traffic restriction table and multiple navigation road maps, a navigation map is generated. The above technical means can solve the problem of low efficiency and accuracy in generating navigation maps in the prior art, thereby improving the generation efficiency and accuracy.

[0053] In some embodiments, the first generation module 304 is also configured to respectively extract the road shape information and site information of the real-life road map and the real-life site map in each image group; and generate a navigation road map corresponding to the image group based on the road shape information and site information corresponding to each image group.

[0054] The multimodal model can be used to extract the road shape information of the real road shape map and the site information of the real site map. The road shape information is information such as the curvature of the road, slope, road surface material and potholes, and the site information is information such as the type and area of ​​the site. The multimodal model is more targeted in extracting road shape information and site information than extracting image information, so the extracted road shape information and site information are more detailed and accurate. The multimodal model only extracts the road shape information of the real road shape map, and other information on the real road shape map does not need to be extracted. The multimodal model only extracts the site information of the real site map, and other information on the real site map does not need to be extracted.

[0055] In some embodiments, the first generation module 304 is also configured to generate a map road element corresponding to each image group based on the road information corresponding to the image group; generate a map site element corresponding to the image group based on the site information corresponding to each image group; and generate a navigation road map corresponding to the image group based on the map road elements and map site elements corresponding to each image group.

[0056] Environmental images reflect the geographical features and environmental conditions of the photographed area, and they have a lot of detailed information. Navigation maps focus on path guidance and direction instructions. They usually highlight roads, landmarks and important nodes so that users can easily find their destinations. Navigation maps are often more concise and clear, focusing on practicality and readability. The navigation map of the target road section can be regarded as a combination of navigation road maps corresponding to each image group. Each image group corresponds to a small section of the target road section, so the navigation road map corresponding to each image group can be regarded as a small section of the navigation map. The map road element corresponding to an image group can be a colored line segment with a curved angle, and the line segment is used to represent the road information corresponding to the image group. The map site element corresponding to an image group can be a pattern, and the pattern is used to represent the site information corresponding to the image group. The line segments and patterns corresponding to each image group are combined to obtain the navigation road map corresponding to the image group.

[0057] In some embodiments, the first generation module 304 is also configured to, for each image group: generate a map road shape element of each real-life road map based on the road shape information of the real-life road map; generate a map site element of the real-life road map based on the site information of each real-life site map; and combine the map road shape elements of each real-life road map and the map site elements of each real-life road map according to the acquisition time of each real-life road map and each real-life site map to obtain a navigation road map.

[0058] Because each image group has multiple real-life road maps and multiple real-life site maps, the map road elements of each real-life road map and the map site elements of each real-life road map are generated. Then, according to the acquisition time of each image, the map road elements of each real-life road map and the map site elements of each real-life road map are combined to obtain a navigation road map.

[0059] In some embodiments, the third generation module 306 is further configured to determine the marking time of the navigation road map corresponding to the image group according to the acquisition time of the real-life road map and the real-life site map in each image group; combine each navigation road map according to the marking time of each navigation road map to obtain a preliminary navigation map; add traffic restriction marks to the preliminary navigation map according to the traffic restriction table to obtain a navigation map.

[0060] The earliest acquisition time or the latest acquisition time or other acquisition time in an image group can be used as the marking time of the navigation road map corresponding to the image group. According to the marking time of each navigation road map, each navigation road map is combined from front to back to obtain a preliminary navigation map. The traffic restriction table is identification information such as traffic direction and speed limit of different roads. According to the traffic restriction table, identification information is added to the preliminary navigation map to obtain a navigation map.

[0061] In some embodiments, the third generation module 306 is further configured to create a gallery and create multiple map sheets in the gallery; divide the multiple environmental images in the image data set into each map sheet according to the acquisition time of each environmental image, wherein each map sheet contains multiple environmental images; in each map sheet: divide the multiple environmental images into a real-life road map and a real-life site map based on the image information of each environmental image, generate a navigation road map based on the real-life road map and the real-life site map, and generate a traffic restriction table based on the traffic rules of the target road section; generate a navigation map based on the traffic restriction table and the navigation road map in each map sheet.

[0062] Create a map library for the target road section. A map sheet is similar to an image group. In a map sheet: multiple environmental images are divided into real-life road maps and real-life site maps, and the road shape information and site information of the real-life road maps and real-life site maps are extracted. A navigation road map is generated based on the road shape information and site information.

[0063] In some embodiments, the third generation module 306 is further configured to add traffic restriction marks to the navigation road map in each map sheet according to the traffic restriction table in each map sheet, so as to obtain the map sheet navigation map corresponding to each map sheet; determine the marking time of the map sheet navigation map corresponding to each map sheet according to the acquisition time of the real-life road map and the real-life site map in each map sheet; and combine the map sheet navigation maps according to the marking time of each map sheet navigation map to obtain a navigation map.

[0064] According to the traffic restriction table, identification information is added to the navigation road map, and then the navigation road maps are combined according to the marking time of each navigation road map to obtain a navigation map.

[0065] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0066] Figure 4 Schematic diagram of an electronic device 4 provided in an embodiment of the present application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0067] The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that Figure 4 The electronic device 4 is merely an example and does not limit the electronic device 4 , and may include more or less components than those shown in the figure, or different components.

[0068] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0069] The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 4. The memory 402 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0070] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0071] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0072] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A navigation map generation method, characterized in that: include: Controlling the mobile tool to collect environmental images about its surrounding environment during driving on the target road section to obtain an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with a collection time; According to a preset duration and a collection time of each environmental image, the plurality of environmental images in the image data set are divided into a plurality of image groups, wherein each image group contains a plurality of environmental images; Based on the image information of each environmental image, the multiple environmental images in each image group are divided into a real-scene road map and a real-scene site map; Generate a navigation road map corresponding to each image group according to the real-scene road map and the real-scene site map in each image group; Based on the traffic rules of the target road section, generating a traffic restriction table of the target road section; The navigation map is generated according to the traffic restriction table and a plurality of navigation road maps.

2. The method according to claim 1, characterized in that According to the real-scene road map and the real-scene site map in each image group, a navigation road map corresponding to each image group is generated, including: Respectively extracting the road shape information and the site information of the real scene road shape map and the real scene site map in each image group; Based on the road shape information and station information corresponding to each image group, a navigation road map corresponding to the image group is generated.

3. The method according to claim 2, characterized in that Based on the road shape information and station information corresponding to each image group, a navigation road shape map corresponding to the image group is generated, including: Based on the road shape information corresponding to each image group, a map road shape element corresponding to the image group is generated; Based on the site information corresponding to each image group, a map site element corresponding to the image group is generated; Based on the map road elements and map site elements corresponding to each image group, a navigation road map corresponding to the image group is generated.

4. The method according to claim 2, characterized in that: Generating a navigation road map corresponding to each image group based on the road map information and the station information corresponding to the image group includes: For each image group: Based on the road shape information of each real-scene road shape map, a map road shape element of the real-scene road shape map is generated; Based on the site information of each real-life site map, a map site element of the real-life road map is generated; According to the collection time of each real-view road map and each real-view site map, the map road elements of each real-view road map and the map site elements of each real-view road map are combined to obtain a navigation road map.

5. The method according to claim 1, characterized in that Generating the navigation map according to the traffic restriction table and a plurality of navigation road maps includes: Determine the marking time of the navigation road map corresponding to the image group according to the acquisition time of the real scene road map and the real scene site map in each image group; Combining the navigation road maps according to the marking time of each navigation road map to obtain a preliminary navigation map; A traffic restriction mark is added to the preliminary navigation map according to the traffic restriction table to obtain the navigation map.

6. The method according to claim 1, characterized in that After controlling the mobile tool to collect environmental images of its surrounding environment during the driving process on the target road section and obtaining an image data set for constructing a navigation map of the target road section, the method further includes: Creating a gallery, and creating multiple images in the gallery; According to the acquisition time of each environmental image, the multiple environmental images in the image data set are divided into each image sheet, wherein each image sheet contains multiple environmental images; In each map sheet: dividing the multiple environmental images into a real-scene road map and a real-scene site map based on image information of each environmental image, generating a navigation road map based on the real-scene road map and the real-scene site map, and generating a traffic restriction table based on the traffic rules of the target road section; The navigation map is generated according to the traffic restriction table and the navigation road map in each map sheet.

7. The method according to claim 1, characterized in that Generating the navigation map according to the traffic restriction table and the navigation road map in each map sheet includes: According to the traffic restriction table in each map sheet, a traffic restriction mark is added to the navigation road map in each map sheet to obtain a map sheet navigation map corresponding to each map sheet; According to the acquisition time of the real-scene road map and the real-scene site map in each map sheet, the marking time of the map sheet navigation map corresponding to each map sheet is determined; The navigation map is obtained by combining the navigation maps of each map sheet according to the marking time of each map sheet navigation map.

8. A navigation map generating device, characterized in that: include: A collection module is configured to control the mobile tool to collect environmental images about its surrounding environment during the driving process on the target road section, and obtain an image data set for constructing a navigation map of the target road section, wherein each environmental image is marked with a collection time; A first division module is configured to divide the multiple environmental images in the image data set into multiple image groups according to a preset duration and a collection time of each environmental image, wherein each image group contains multiple environmental images; A second division module is configured to divide the multiple environmental images in each image group into a real-scene road map and a real-scene site map based on image information of each environmental image; The first generating module is configured to generate a navigation road map corresponding to each image group according to the real scene road map and the real scene site map in each image group; A second generating module is configured to generate a traffic restriction table of the target road section based on the traffic rules of the target road section; The third generating module is configured to generate the navigation map according to the traffic restriction table and a plurality of navigation road maps.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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