Map data processing method and device, equipment and storage medium

Abstract

The invention provides a map data processing method and device, equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of intelligent traffic. According to the specific implementation scheme, a to-be-processed area of a lane group is determined according to shape points in the lane group; determining a plurality of reference coordinate points according to the shape points around the to-be-processed area; constructing a first reference surface according to the coordinate information of the reference coordinate point; and updating the elevation value of the shape point in the lane group according to the first reference plane. According to the method, the first reference surface is constructed and the elevation values of the shape points in the lane group are updated, so that the correction efficiency of the shape point data in the to-be-processed area is effectively improved, and the continuous, smooth and stable elevation between the corrected shape points is ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, specifically to the field of artificial intelligence technology, and in particular to map data processing methods, devices, equipment and storage media. Background Art

[0002] The traditional method of obtaining road elevation information is to use traditional surveying and mapping methods such as leveling, GPS, and RTK for field measurement. In addition, laser point cloud can be collected on site, and then filtered, denoised, and smoothed to obtain point cloud information of the road surface, and then the elevation information of the road can be extracted. If there is no reference to these measurement information, it is necessary to determine the elevation information of the road through other methods such as manual adjustment. Summary of the invention

[0003] The present disclosure provides a map data processing method, device, equipment and storage medium to improve data processing efficiency.

[0004] According to a first aspect of the present disclosure, a map data processing method is provided, comprising:

[0005] According to the shape points in the lane group, determine the area to be processed of the lane group;

[0006] Determine a plurality of reference coordinate points according to shape points around the area to be processed;

[0007] Constructing a first reference surface according to the coordinate information of the reference coordinate point;

[0008] Update the elevation values ​​of the shape points within the lane group based on the first reference surface.

[0009] According to a second aspect of the present disclosure, there is provided a map data processing device, comprising:

[0010] A first determination module is configured to determine a to-be-processed area of ​​the lane group according to shape points in the lane group;

[0011] A second determination module is configured to determine a plurality of reference coordinate points based on shape points around the area to be processed;

[0012] A first construction module is configured to construct a first reference surface according to coordinate information of a reference coordinate point;

[0013] The first updating module is configured to update the elevation values ​​of the shape points in the lane group according to the first reference surface.

[0014] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0015] at least one processor; and

[0016] a memory communicatively connected to at least one processor; wherein,

[0017] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to execute the method provided by the first aspect.

[0018] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to cause a computer to execute the method provided in the first aspect.

[0019] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method provided according to the first aspect when executed by a processor.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0022] Figure 1 is an exemplary system architecture diagram to which the map data processing method of the present disclosure can be applied;

[0023] Figure 2 is a flow chart of an embodiment of a map data processing method according to the present disclosure;

[0024] Figure 3 is an exemplary structural diagram of a first reference surface constructed according to the map data processing method disclosed in the present invention;

[0025] Figure 4 It is a schematic diagram of the elevation longitudinal slope principle of a shape point in the map data processing method disclosed in the present invention;

[0026] Figure 5 It is a schematic diagram of the principle of constructing auxiliary shape points in the map data processing method disclosed in the present invention;

[0027] Figure 6 is a schematic diagram of a change process of map data processed by the map data processing method disclosed in the present invention;

[0028] Figure 7 is a flow chart of a second embodiment of a map data processing method according to the present disclosure;

[0029] Figure 8 is a schematic diagram of constructing an extension line in the map data processing method according to the present disclosure;

[0030] Fig. 9 A schematic structural diagram of an embodiment of a map data processing device according to the present disclosure is shown;

[0031] Fig.10 A block diagram of an electronic device for implementing the map data processing method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0032] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0033] Elevation information is an important component of high-precision map data, and has important application value in scene rendering, expression of interchange relationships, autonomous driving simulation and other fields. Due to the accuracy requirements of high-precision maps, the accuracy of roads needs to be accurately expressed and adjusted. However, due to many factors such as the accuracy of point cloud acquisition equipment, obstacle occlusion, point cloud matching algorithm, etc., the quality of point clouds varies, and many areas cannot obtain qualified point cloud information to extract road elevation information. At this time, it is necessary to determine the elevation information of the road by other means to ensure that the elevation of the road is flat, without faults and drastic fluctuations, and smoothly connected to the surrounding roads.

[0034] The lane group is composed of several lines, and each line is composed of several shape points. Therefore, the road surface corresponding to the lane group can be regarded as a surface composed of several shape points. Due to the complexity of the road topology, there are a large number of shape points and markings in the lane group. In areas where point clouds are missing, the road elevation corresponding to the lane group will have faults and overlaps. In areas with poor point cloud quality, the road elevation of the lane group is uneven and not smooth enough, which is quite different from the real world and does not meet the requirements of high-precision map data application. In this case, it is often necessary to manually adjust the geometry of the shape points in the lane group to meet certain longitudinal and transverse slopes, as well as smoothness requirements.

[0035] The present disclosure provides a map data processing method. For areas in a lane group where point cloud quality is poor or point cloud is missing, the elevation values ​​of shape points in the lane group are automatically updated by constructing a reference surface, thereby improving the processing efficiency of map data and ensuring that the elevation of the map data is flat, the road connections are smooth, and there are no faults or drastic fluctuations.

[0036] Figure 1An exemplary system architecture 100 is shown to which an embodiment of a map data processing method or a map data processing device of the present disclosure can be applied.

[0037] like Figure 1 As shown, the system architecture 100 may include a terminal device 101, a network 102 and a server 103. The network 102 is used to provide a communication link between the terminal device 101 and the server 103, and may include various connection types, such as a wired communication link, a wireless communication link or an optical fiber cable.

[0038] The user can use the terminal device 101 to interact with the server 103 through the network 102 to receive or send information, etc. Various client applications can be installed on the terminal device 101.

[0039] The terminal device 101 can be hardware or software. When the terminal device 101 is hardware, it can be various electronic devices, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, etc. When the terminal device 101 is software, it can be installed in the above electronic devices. It can be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0040] The server 103 may be hardware or software. When the server 103 is hardware, it may be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server 103 is software, it may be implemented as multiple software or software modules (for example, for providing distributed services), or as a single software or software module. No specific limitation is made here.

[0041] The map data processing method provided in the embodiment of the present disclosure is generally executed by the server 103 , and accordingly, the map data processing device is generally disposed in the server 103 .

[0042] It should be noted that Figure 1 The number of terminal devices 101, networks 102 and servers 103 in the embodiment is only for illustration. Any number of terminal devices 101, networks 102 and servers 103 may be provided according to implementation requirements.

[0043] In the disclosed embodiment, the map data processing method is executed by the server 103, and the analysis results are sent to the terminal device 101 installed with the client. For example, the analysis results are sent to the terminal device used by the traffic manager, and the analysis results can also be sent to the mobile terminal device used by the user, etc.

[0044] Figure 2 A process 200 of an embodiment of a map data processing method according to the present disclosure is shown, referring to Figure 2 As shown, the map data processing method includes the following steps:

[0045] Step S201, determining the area to be processed of the lane group according to the shape points in the lane group.

[0046] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown determines the to-be-processed area of ​​the lane group according to the shape points in the lane group.

[0047] The to-be-processed area of ​​the lane group is the area where the shape points are missing or where the abnormal shape points are located in the lane group. The abnormal shape points include shape points with abnormal data, for example, shape points with abnormal data such as longitudinal slope data, transverse slope data, and interval data.

[0048] Exemplarily, the area to be processed determined by the above-mentioned execution entity is a clustered area of ​​abnormal shape points or missing shape points in the lane group, such as an area where multiple abnormal shape points appear continuously within a certain distance range, an area where the data of abnormal shape points appearing at intervals is large and densely distributed, or an area where multiple shape points are obviously missing for a certain distance in a row.

[0049] In some optional implementations of the embodiments of the present disclosure, the area to be processed of the lane group is determined based on the shape points in the lane group, including: acquiring the distance and slope between adjacent shape points in the lane group along the extension direction of the lane group; determining abnormal shape points in the lane group based on the distance and / or slope between adjacent shape points; and determining the area to be processed based on the coordinate information of the abnormal shape points.

[0050] In this embodiment, the execution subject acquires the distance and slope between adjacent shape points in the lane group along the extension direction of the lane group, that is, the driving direction of the vehicle or pedestrian in the lane group. If the distance or slope between a certain shape point and its adjacent shape points is abnormal, the shape point can be confirmed as an abnormal shape point. Exemplarily, if the longitudinal slope between a certain shape point and the shape points before and after it exceeds the preset longitudinal slope threshold, the shape point is considered to be an abnormal shape point with abnormal data; or, if the distance between a certain shape point and the adjacent shape point is significantly greater than the collection distance of the shape points in the lane group (for example, the sampling distance is 1m and the distance between adjacent shape points is 5m), the area between the adjacent shape points is considered to be a point cloud missing area. At this time, it is difficult to ensure the data accuracy of the adjacent shape point. Therefore, the adjacent shape point can also be confirmed as an abnormal shape point.

[0051] After identifying each abnormal shape point, the above-mentioned execution entity determines the distribution of the abnormal shape points in the lane group according to the coordinate information of the abnormal shape points, thereby determining the area where the abnormal shape points are concentrated as the to-be-processed area of ​​the lane group. The abnormal shape points and their corresponding to-be-processed areas can be accurately identified, the abnormal shape points to be processed can be effectively identified and divided, and the accuracy of data processing can be improved.

[0052] The aggregation of abnormal shape points can be determined based on the number of consecutive abnormal shape points, the number of abnormal shape points within a certain range, the severity of abnormal shape points, etc. For example, the number of consecutive adjacent abnormal shape points is greater than 5, the number of abnormal shape points within a range of 10m is greater than 8, the data of more than 2 consecutive abnormal shape points (such as longitudinal slope data) exceeds the preset range by more than 2 times, the shape point missing area exceeds 2m, etc.

[0053] In some optional implementations, the area to be processed can be determined by the executing entity based on the user operation received. For example, after the executing entity receives the user's box selection operation, the area to be processed is determined based on the abnormal shape points in the area enclosed by the box selection operation; it can also be set so that the executing entity automatically screens according to at least one of the above conditions.

[0054] Step S202: determining a plurality of reference coordinate points according to shape points around the area to be processed.

[0055] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown, after determining the to-be-processed area of ​​the lane group, determines a plurality of reference coordinate points according to shape points around the to-be-processed area.

[0056] Exemplarily, the execution subject determines a plurality of reference coordinate points according to normal shape points around the area to be processed.

[0057] The multiple reference coordinate points may be normal shape points around the area to be processed, or any point on the line connecting adjacent normal shape points.

[0058] In the present scheme, the selection of multiple reference coordinate points can be performed by the executing entity according to the received user operation. For example, by receiving the user's manual drawing of a line or a circle or polygon of any shape, the intersection of the shape drawn by the user and the lane group or any multiple points on the shape that are not on a straight line can be determined as multiple reference coordinate points; automatic selection can also be performed by setting conditions. For example, a position that is separated from an abnormal shape point at the edge of the area to be processed by a preset distance, or a position where a preset number of normal shape points are located can be selected as the position of the reference coordinate point.

[0059] Step S203: construct a first reference plane according to the coordinate information of the reference coordinate point.

[0060] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown constructs a first reference plane according to the coordinate information of the reference coordinate point determined in step S202.

[0061] In this solution, a first reference surface is constructed as the correction surface of the abnormal area, so as to correct the shape points in the area to be processed. That is, the first reference surface can be regarded as the surface where the lane group corresponding to the area to be processed in the lane group is located.

[0062] The first reference surface may be a curved surface or a plane of any shape constructed in any feasible manner.

[0063] In this implementation, the first reference surface is a curved surface. Exemplarily, the curved surface can be constructed according to a preset curved surface formula in combination with coordinates of multiple reference points.

[0064] In an optional implementation, the mathematical expression of the first reference plane can be

[0065] f(x,y)=axy+bx+cy+d

[0066] The four parameters [abcd] T The coordinates (x, y, z) of the four reference coordinate points can be solved to obtain an accurate expression of the first reference surface. Figure 3 An exemplary structure 300 of a first reference plane constructed by the present implementation is shown.

[0067] For example, let the coordinates of the control point be [x i y i z i ] T (i∈[1,4]), the surface parameters can be calculated by the following method

[0068]

[0069] After solving the surface parameters, the accurate expression of the first reference surface can be obtained.

[0070] Step S204: updating the elevation values ​​of the shape points in the lane group according to the first reference surface.

[0071] In the embodiment of the present disclosure, the execution subject of the map data processing method is, for example, Figure 1 The server 103 shown updates the elevation value of each shape point in the lane group according to the first reference surface constructed in step S203.

[0072] As described above, the constructed first reference surface is used to correct the area to be processed and its shape points in the lane group. That is, the first reference surface can be regarded as the surface where the area to be processed of the lane group is corrected. Therefore, the ordinate of each position in the first reference surface can be regarded as the elevation value of each position of the corrected lane group plane corresponding to the area to be processed, which is

[0073] Z new =f(x,y)=axy+bx+cy+d

[0074] Therefore, the elevation value of each shape point in the lane group can be updated according to the longitudinal coordinate of each position in the first reference surface, thereby realizing the correction of the shape points in the lane group. Compared with manual correction, the data processing speed can be greatly improved, and the elevation of the updated lane group is guaranteed to be flat, the road connection is smooth, there are no faults and drastic fluctuations, and the reliability of the data in the lane group after correction is improved.

[0075] It should be pointed out that in the embodiment of the present disclosure, based on the first reference surface, not only the elevation values ​​of the abnormal shape points within the lane group and within the coverage of the first reference surface can be updated, but also the elevation values ​​of the normal shape points within the coverage of the first reference surface can be synchronously updated. In addition, based on the extensibility of the curved surface or the plane, the elevation values ​​of the normal shape points outside the coverage of the first reference surface, adjacent to the edge of the first reference surface or within a certain range of distance can be updated, thereby effectively ensuring the elevation flatness and road smoothness corresponding to all associated data in the lane group after correction.

[0076] In some optional implementations of the embodiments of the present disclosure, the elevation values ​​of shape points within the lane group are updated based on the first reference surface, including: determining the first shape point within the lane group based on the coverage of the first reference surface, wherein the first shape point is a shape point within the coverage of the first reference surface; and updating the elevation value of the first shape point based on the projection relationship between the first shape point and the first reference surface.

[0077] In the present implementation, the execution entity determines the shape points of the lane group located within the coverage range of the first reference surface, including abnormal shape points and normal shape points, as first shape points according to the coverage range of the first reference surface, and then updates the elevation values ​​of the first shape points according to the projection relationship between the first shape points and the first reference surface. This can not only correct the abnormal shape points in the processing area, but also effectively ensure the continuity, smoothness and stability of the elevations between adjacent shape points after the update, thereby ensuring the continuity and smoothness of the road surface of the lane group.

[0078] In some optional implementations of the embodiments of the present disclosure, the elevation value of the first shape point is updated according to the projection relationship between the first shape point and the first reference plane, including: projecting the first shape point to the first reference plane to obtain the corresponding first projection point; and updating the elevation value of the first shape point according to the coordinate information of the first projection point.

[0079] In this implementation, the execution entity projects each first shape point into the first reference plane to obtain a corresponding first projection point; then uses the elevation value of each first projection point as the corrected elevation value of the corresponding first shape point to update the elevation value to achieve correction of the first shape point.

[0080] This solution can effectively ensure the continuity and smoothness of the corrected elevation of the first shape point by using the elevation value of the first projection point in the first reference plane as the updated elevation value of the corresponding first shape point, thereby ensuring the correction effect on each shape point in the processing area and improving the correction efficiency.

[0081] In some optional implementations of the embodiments of the present disclosure, the elevation value of the shape point in the lane group is updated according to the first reference surface, and the method also includes: determining a second shape point in the lane group according to the coverage range of the first reference surface, the second shape point being a shape point outside the coverage range of the first reference surface and adjacent to the first shape point; and updating the elevation value of the second shape point according to a preset longitudinal slope threshold.

[0082] In this implementation, the above-mentioned execution entity takes at least one shape point in the lane group that is outside the coverage of the first reference surface and adjacent to the first shape point as the second shape point, and then adjusts and updates the elevation value of the second shape point according to a preset slope threshold, effectively ensuring the continuity and smoothness of the elevation between the corrected first shape point and the adjacent second shape point, thereby effectively ensuring the continuity and smoothness of the elevation between the corrected shape points in the area to be processed and the external shape points, ensuring the correction effect, and ensuring the reliability of any adjacent shape points in the corrected lane group.

[0083] It should be pointed out that in the embodiment of the present disclosure, the second shape points are not just a circle of shape points adjacent to the edge of the first reference surface, but may also include shape points adjacent to the outer circle of shape points adjacent to the edge of the first reference surface, and so on, until the elevation value between each two adjacent shape points can meet the requirements of the preset longitudinal slope threshold.

[0084] In some optional implementations of the embodiments of the present disclosure, the elevation value of the second shape point is updated according to a preset longitudinal slope threshold, including: determining the edge shape point within the lane group according to the coverage range of the first reference surface, the edge shape point being a shape point within the coverage range of the first reference surface and adjacent to the second shape point; in response to the elevation longitudinal slope between the second shape point and the edge shape point being greater than the preset longitudinal slope threshold, updating the elevation value of the second shape point according to the distance between the second shape point and the edge shape point.

[0085] In this implementation, the above-mentioned execution entity determines the edge shape point in the lane group located in the coverage range according to the coverage range of the first reference surface, that is, determines the shape point closest to the edge of the coverage range, and then updates the elevation value of the second shape point according to the elevation longitudinal slope between the edge shape point and the second shape point and the preset longitudinal slope threshold, as well as the distance between the edge shape point and the second shape point.

[0086] In this scheme, since the elevation value of the first shape point within the coverage range of the first reference surface has been updated, the elevation value of the second shape point is updated to adjust the elevation longitudinal slope between the second shape point and the edge shape point to ensure that the elevation longitudinal slope between the second shape point and the edge shape point meets the preset longitudinal slope threshold, thereby ensuring that the updated elevations of each first shape point and second shape point within the coverage range of the first reference surface are continuous and smooth, effectively avoiding elevation faults or drastic fluctuations between the updated first shape point and the second shape point.

[0087] In some optional implementations of the embodiments of the present disclosure, the elevation value of the second shape point is updated according to the distance between the second shape point and the edge shape point, including: in response to the distance between the second shape point and the edge shape point being less than or equal to a preset auxiliary distance, determining a reference shape point adjacent to the edge shape point in the first reference plane; and updating the elevation value of the second shape point according to position information of the reference shape point so that the elevation longitudinal slope corresponding to the elevation value of the second shape point is not higher than a preset longitudinal slope threshold.

[0088] In this implementation, the execution subject first determines the distance between the edge shape point and the second shape point based on the preset auxiliary distance during the process of updating the elevation value of the second shape point. If the distance between the edge shape point and the second shape point is less than or equal to the preset auxiliary distance, the elevation value of the second shape point is adjusted based on the preset longitudinal slope threshold and the position information of the reference shape point, so that the elevation longitudinal slope corresponding to the elevation value of the updated second shape point is less than or equal to the preset longitudinal slope threshold. The position information of the reference shape point includes the elevation value of the reference shape point, the distance between the reference shape point and the edge shape point, etc.

[0089] Exemplarily, when the above-mentioned execution entity determines that the distance between the edge shape point and the second shape point is less than or equal to the preset auxiliary distance, it can adjust the elevation value of the second shape point based on the position information of the reference shape point and combined with the preset longitudinal slope threshold, so that the elevation longitudinal slope corresponding to the elevation value of the second shape point after the final update is not higher than the preset longitudinal slope threshold.

[0090] It should be pointed out that, in the present scheme, the executing entity can update the elevation value of the second shape point once to achieve that its elevation longitudinal slope meets the limit of the preset longitudinal slope threshold; or it can update the elevation value of the second shape point multiple times to achieve that the elevation longitudinal slope corresponding to the second shape point is not higher than the preset longitudinal slope threshold.

[0091] In the process of adjusting the elevation longitudinal slope between the edge shape point and the second shape point, this scheme determines that the distance between the edge shape point and the second shape point is less than or equal to the preset auxiliary distance, that is, directly based on the preset longitudinal slope threshold and the position of the reference shape point, by adjusting the elevation value of the second shape point to make the elevation longitudinal slope between the edge shape point and the second shape point meet the requirement of the preset longitudinal slope threshold, thereby ensuring the continuity and smoothness of the elevation between the second shape point and the edge shape point, avoiding the occurrence of elevation faults or drastic fluctuations between the first shape point and the second shape point within the coverage range of the first reference surface after the elevation value is updated, and ensuring the continuity, smoothness and stability of the elevation of the lane group road surface.

[0092] In the present scheme, since the elevation value of the second shape point is updated based on the first reference surface, that is, the elevation value of each updated first shape point in the first reference surface is fixed and will not be updated again, the elevation value of the second shape point is updated based on each first shape point. Therefore, in the present scheme, when determining the elevation longitudinal slope between the edge shape point and the second shape point, it is necessary to take the first shape point adjacent to the edge shape point as a reference shape point, and the line between the reference shape point and the edge shape point as a reference.

[0093] Figure 4 The elevation and longitudinal slope diagram of the shape point in the present disclosure is shown. Figure 4 As shown, L is the boundary of the first reference surface, P2 is the edge shape point, P1 is the reference shape point adjacent to the edge shape point P2 within the coverage of the first reference surface, and P3 is the second shape point adjacent to the edge shape point P2 outside the coverage of the first reference surface. Since the elevation value of the second shape point is updated based on the first reference surface, in this solution, the elevation longitudinal slope between the edge shape point P2 and the second shape point P3 is based on the line between the reference shape point P1 and the edge shape point P2. Figure 4As shown in the figure, the elevation longitudinal slope inclination angle θ between P2 and P3 is the included angle between the line connecting P2 and P3 and the extension line of the line connecting P1 and P2. If the coordinates of P1 are (x1, y1, z1), the coordinates of P2 are (x2, y2, z2), and the coordinates of P3 are (x3, y3, z3), then the elevation longitudinal slope inclination angle θ between P2 and P3 is:

[0094]

[0095] If the elevation longitudinal slope inclination angle θ(P1, P2, P3) between P2 and P3 satisfies the preset longitudinal slope threshold θ0, there is no need to adjust the elevation value of the second shape point P3, that is, its original elevation value can be kept unchanged.

[0096] If the elevation longitudinal slope inclination angle θ(P1, P2, P3) between P2 and P3 is greater than the preset longitudinal slope threshold θ0, then it is necessary to update the elevation value of the second shape point P3 according to the distance between P2 and P3 in combination with the preset longitudinal slope threshold θ0, so that the elevation longitudinal slope between P3 and its adjacent shape points satisfies the preset longitudinal slope threshold θ0.

[0097] In this solution, before the above-mentioned execution entity executes this map data processing method, a preset auxiliary distance is set. When the elevation longitudinal slope inclination angle θ(P1, P2, P3) between P2 and P3 is greater than the preset longitudinal slope threshold θ0, the distance between the second shape point P3 and the edge shape point P2 is determined. If the distance between the second shape point P3 and the edge shape point P2 is less than or equal to the preset auxiliary distance, the elevation value z3 of the second shape point P3 can be directly adjusted.

[0098] Exemplarily, when directly adjusting the elevation value of the second shape point P3, in order to improve the adjustment efficiency and accuracy, the above-mentioned execution entity makes adjustments based on the position information of the reference shape point P1 and the edge shape point P2.

[0099] In some alternative implementation manners, if the distance dist(p2, p3) between the edge shape point P2 and the second shape point P3 < s, where s is the preset auxiliary distance, the elevation value of the second shape point P3 can be updated according to the following formula:

[0100] z3 = z1 + dist(p1, p2) / (dist(p1, p2) + dist(p2, p3))

[0101] where z1 is the elevation value of the reference shape point P1.

[0102] It should be pointed out that in the embodiment of the present disclosure, the second shape points are not just a circle of shape points adjacent to the edge of the first reference surface, but can also include shape points adjacent to the outer circle of shape points adjacent to the edge of the first reference surface, and so on, until the elevation longitudinal slope between every two adjacent shape points can meet the requirements of the preset longitudinal slope threshold.

[0103] Therefore, after updating the elevation value of the second shape point, the elevation value of the next second shape point adjacent to the updated second shape point can be updated. At this time, the updated second shape point can be used as the edge shape point and the original edge shape point can be used as the reference shape point; and so on, until the elevation longitudinal slope between any two adjacent shape points meets the requirements of the preset longitudinal slope threshold.

[0104] In some optional implementations of the embodiments of the present disclosure, the elevation value of the second shape point is updated according to the distance between the second shape point and the edge shape point, including: in response to the distance between the second shape point and the edge shape point being greater than a preset auxiliary distance, constructing an auxiliary shape point according to the preset auxiliary distance and a preset longitudinal slope threshold; using the edge shape point as an updated reference shape point and the auxiliary shape point as an updated edge shape point, and updating the distance between the second shape point and the edge shape point; in response to the distance between the updated second shape point and the edge shape point being less than or equal to the preset distance, updating the elevation value of the second shape point according to the position information of the updated reference shape point.

[0105] In the present implementation, if the execution entity determines that the distance between the second shape point and the edge shape point is greater than a preset auxiliary distance, then an auxiliary shape point is constructed in the area between the edge shape point and the second shape point according to the preset auxiliary distance and the preset longitudinal slope threshold, so that the elevation longitudinal slope between the auxiliary shape point and the edge shape point meets the requirement of the preset longitudinal slope threshold; then, the execution entity uses the original edge shape point as the updated reference shape point and the constructed auxiliary shape point as the updated edge shape point to update the distance between the second shape point and the edge shape point accordingly; until it is determined that the distance between the updated second shape point and the edge shape point is less than or equal to the preset distance, the elevation value of the second shape point is updated according to the position information of the updated reference shape point, that is, the elevation longitudinal slope between the second shape point and the edge shape point is determined.

[0106] This solution is to construct an auxiliary shape point between the second shape point and the edge shape point according to a preset longitudinal slope threshold when the distance between the second shape point and the edge shape point is far, so as to effectively ensure the elevation longitudinal slope between the auxiliary shape point and the edge shape point, and reduce the elevation longitudinal slope between the auxiliary shape point and the second shape point, thereby realizing the transition of elevation and terrain between the second shape point and the edge shape point, and further improving the elevation continuity and smoothness between the second shape point and the edge shape point.

[0107] In some optional implementations of the embodiments of the present disclosure, auxiliary shape points are constructed according to a preset auxiliary distance and a preset longitudinal slope threshold, including: determining a construction direction of the auxiliary shape points according to edge shape points and a preset longitudinal slope threshold; and constructing auxiliary shape points according to the construction direction and the preset auxiliary distance.

[0108] In this implementation, the execution entity determines the construction direction of the auxiliary shape point according to the edge shape point and the preset longitudinal slope threshold, and then determines the specific construction position of the auxiliary shape point according to the construction direction and the preset auxiliary distance, thereby constructing the auxiliary shape point.

[0109] This scheme determines the construction direction of the auxiliary shape point according to the preset longitudinal slope threshold, and further determines the specific position of the auxiliary shape point according to the preset auxiliary distance. It can effectively ensure that the elevation longitudinal slope between the constructed auxiliary shape point and the edge shape point meets the requirements of the preset longitudinal slope threshold, and can play an effective role in connecting and smoothing the elevation between the edge shape point and the second shape point.

[0110] In this solution, to ensure that the auxiliary shape point plays an effective transition role between the edge shape point and the second shape point, the auxiliary shape point is located in the area between the edge shape point and the second shape point, and the three are not on a straight line.

[0111] Furthermore, in order to ensure that the auxiliary shape point plays an effective transition role in the elevation longitudinal slope between the edge shape point and the second shape point, the auxiliary shape point and the reference shape point are respectively located on both sides of the line between the edge shape point and the second shape point, so as to ensure that the elevation longitudinal slope of the constructed auxiliary shape point and the edge shape point meets the preset longitudinal slope threshold while minimizing the elevation longitudinal slope between the auxiliary shape point and the second shape point, so that the auxiliary shape point can play its due elevation transition role.

[0112] Figure 5 FIG. 5 is a schematic diagram of a scene 500 of the present implementation, which illustrates the principle of constructing auxiliary shape points. Figure 5 As shown, when the elevation longitudinal slope inclination angle θ(P1, P2, P3) between the edge shape point P2 and the second shape point P3 is greater than the preset longitudinal slope threshold θ0, and the distance dist(p2, p3) between P2 and P3 is greater than the preset auxiliary distance s, the above-mentioned execution body constructs an auxiliary shape point P2 at a position far away from the reference shape point P1, with the preset longitudinal slope threshold θ0 and the preset auxiliary distance s. S .

[0113] In some optional implementations, the execution subject may calculate the constructed auxiliary shape point P according to the preset auxiliary distance s, the coordinates (x2, y2, z2) of the edge shape point P2 and the coordinates (x3, y3, z3) of the second shape point P3. S The coordinates (x S ,y S , z S ), the specific calculation process can be expressed as:

[0114] x s =k(x3-x2)

[0115] y s =k(y3-y2)

[0116] z s =z3+s·sinθ′

[0117] The parameter k is calculated as follows:

[0118]

[0119] After constructing the auxiliary shape point P S Afterwards, the execution subject uses the original edge shape point P2 as the updated reference shape point P1' and the constructed auxiliary shape point P S As the updated edge shape point P2', the distance between the second shape point P3 and the edge shape point P2' is then updated, and the elevation longitudinal slope between the second shape point P3 and the edge shape point P2' is determined again; then the vertical slope is determined again by referring to Figure 4 or Figure 5 In the manner shown, the elevation value of the second shape point P3 is updated according to the distance between P3 and P2' and the elevation longitudinal slope.

[0120] Figure 6 FIG. 6 is a schematic diagram showing a change process 600 of map data processed by the map data processing method according to the present disclosure, and the schematic diagram is a lateral elevation diagram of the map data. Figure 6 As shown in the figure, the area between AB is the area to be processed, and the constructed first reference surface covers the area to be processed; the area between A'B' is a schematic diagram of the data elevation after the elevation values ​​of each shape point within its coverage range are updated according to the first reference surface; then, based on the positions of the edges A' and B' of the first reference surface, the elevation values ​​of the shape points in the surrounding area are updated to achieve a smooth connection between the area covered by the first reference surface and the surrounding area, and obtain smoothed A", B", so as to achieve elevation smoothing processing at the positions of A", B", and achieve continuity and smoothness of map data.

[0121] In the map data processing method provided by the embodiment of the present disclosure, the execution subject determines the to-be-processed area of ​​the lane group according to the distribution of abnormal shape points in the lane group, and then determines a plurality of reference coordinate points according to the shape points around the to-be-processed area, and constructs a first reference surface based on the points; using the first reference surface, the elevation values ​​of the shape points within and around the coverage of the reference surface are updated, and in the process of repairing the abnormal shape points, the elevation longitudinal slope between any two adjacent shape points is guaranteed at the same time, thereby ensuring that the elevation of the shape points in the lane group after the repair is continuous, smooth and stable, and further ensuring that the elevation of the road surface where the lane group is located is continuous and smooth, thereby improving the reliability of the lane group data.

[0122] It should be noted that the collection, storage, use, processing, transmission, provision and disclosure of user-related information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals. The user-related information obtained in this embodiment is not targeted at a specific user and does not reflect the personal information of a specific user.

[0123] Figure 7 A process 700 of an embodiment of a map data processing method according to the present disclosure is shown, referring to Figure 7 As shown, the map data processing method includes the following steps:

[0124] Step S701, determining the area to be processed of the lane group according to the shape points in the lane group.

[0125] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown determines the to-be-processed area of ​​the lane group according to the shape points in the lane group.

[0126] Step S701 and Figure 2 Step S201 of the illustrated embodiment is basically the same, and the specific implementation method can refer to the above description of step S201, which will not be repeated here.

[0127] Step S702: determining a plurality of reference coordinate points according to shape points around the area to be processed.

[0128] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown determines a plurality of reference coordinate points based on shape points around the to-be-processed area of ​​the lane group.

[0129] Step S702 and Figure 2 Step S202 of the illustrated embodiment is basically the same, and the specific implementation method can refer to the above description of step S202, which will not be repeated here.

[0130] Step S703: construct a first reference plane according to the coordinate information of the reference coordinate point.

[0131] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown constructs a first reference plane according to the coordinate information of the reference coordinate point determined in step S702.

[0132] Step S703 and Figure 2 Step S203 of the illustrated embodiment is basically the same, and the specific implementation method can refer to the above description of step S203, which will not be repeated here.

[0133] Step S704: updating the elevation values ​​of the shape points in the lane group according to the first reference surface.

[0134] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown updates the elevation value of each shape point in the lane group according to the first reference surface constructed in step S703.

[0135] Step S704 and Figure 2 Step S204 of the illustrated embodiment is basically the same, and the specific implementation method can refer to the above description of step S204, which will not be repeated here.

[0136] Step S705: determining a target lane group to be processed according to the reference trajectory string.

[0137] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown obtains a reference trajectory string, and then determines a target lane group to be processed according to the reference trajectory string, wherein the target lane group is a lane group that has been updated according to the elevation values ​​of the shape points of the first reference surface.

[0138] The reference trajectory string is at least a portion of the actual driving trajectory of the vehicle. The actual driving trajectory includes a plurality of continuous trajectory points collected during the driving process of the vehicle, and the reference trajectory string includes at least two adjacent reference trajectory points.

[0139] In some optional implementations, the user may first determine the starting trajectory point and the ending trajectory point, and then the user or the execution subject may manually select a target trajectory from a plurality of actual driving trajectories based on the starting trajectory point and the ending trajectory point, and then search for a lane group sequence matching the target trajectory. For example, the lane group sequence may be a set of lane groups that the target trajectory actually passes through.

[0140] The execution subject takes each lane group in the lane group sequence as a target lane group, and corrects the shape points in each target lane group in the width direction of the target lane group according to the reference trajectory string.

[0141] Step S706, constructing a plurality of extension lines according to the reference trajectory points strung together in the target lane group.

[0142] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown constructs a plurality of extension lines according to the reference trajectory points strung together in the target lane group.

[0143] After determining the target lane group, the execution subject determines the reference trajectory points of the reference trajectory string within the target lane group, and expands each reference trajectory point along the width direction of the target lane group according to a preset expansion rule to construct multiple expansion lines.

[0144] Since the position of the reference trajectory point is not necessarily located exactly at the entrance and exit ends of the target lane group, that is, the outermost reference trajectory point may also be a certain distance away from the entrance and exit ends of the target lane group, in order to ensure that the space between the multiple extension lines can cover all positions within the target lane group and to ensure the correction effect of the shape point data within the target lane group, the above-mentioned execution entity can also construct auxiliary trajectory points at both ends of the target lane group and construct corresponding extension lines through the auxiliary trajectory points.

[0145] In some optional implementations of the embodiments of the present disclosure, the reference trajectory points include edge trajectory points and auxiliary trajectory points, wherein multiple extension lines are constructed based on the reference trajectory points strung together in the target lane group, including: constructing auxiliary trajectory points at both ends of the target lane group based on the edge trajectory points; and determining multiple extension lines based on the edge trajectory points and the auxiliary trajectory points.

[0146] The execution subject determines the trajectory points of the reference trajectory string in the target lane group and adjacent to one end of the target lane group as edge trajectory points in the target lane group.

[0147] In this implementation, the execution entity first determines the edge trajectory points of the reference trajectory string in the target lane group, and then constructs corresponding auxiliary trajectory points at both ends of the target lane group according to the positions of the edge trajectory points; and then constructs corresponding extension lines for each edge trajectory point and each auxiliary trajectory point.

[0148] This implementation method constructs auxiliary trajectory points at both ends of the target lane group and establishes corresponding extension lines, which can effectively ensure that the space between multiple extension lines can cover all positions within the target lane group, thereby ensuring the correction effect of the shape point data within the target lane group.

[0149] Figure 8 FIG. 8 is a schematic diagram showing an embodiment 800 of constructing an extension line in a map data processing method according to an embodiment of the present disclosure. Figure 8 As shown, the widths of the two ends of the target lane group are W1 and W2 respectively, and the reference trajectory points of the reference trajectory string in the target lane group include edge trajectory points P near the two ends of the target lane group. a1 and P a2 .

[0150] Because P a1 , P a2 A certain space is left at the end of the target lane group. In order to improve the relevance and reliability of the corrected data in the target lane group, according to the edge trajectory point P a1 and P a2 Corresponding to the position in the width direction of the target lane group, the corresponding auxiliary trajectory points P are constructed at both ends of the target lane group. i1 , P i2 .

[0151] In some optional implementations, auxiliary trajectory points are constructed at both ends of the target lane group based on the edge trajectory points, including: determining the direction of a perpendicular line between the edge trajectory point and its adjacent trajectory points; determining a position ratio of the edge trajectory point in the vertical direction; and determining a construction position of the auxiliary trajectory point based on the position ratio and the intersection position of the vertical direction and the target lane group.

[0152] Reference Figure 8 As shown, the edge trajectory point P a1 Take the edge trajectory point as an example, and determine its adjacent trajectory point P b1 The perpendicular direction of the line between them, and the intersection points of the perpendicular direction and the two sides of the target lane group are p 1L 、p 1R , edge trajectory point P a1 The distances along the vertical line to both sides of the target lane group are k 1L , k 1R , at this time, the auxiliary trajectory point P i1 The location is:

[0153]

[0154] Accordingly, determine the edge trajectory point P a2 Its adjacent trajectory point P b3 The perpendicular direction of the line between them, and the intersection points of the perpendicular direction and the two sides of the target lane group are p 2L 、p 2R , edge trajectory point P a2 The distances along the vertical line to both sides of the target lane group are k 2L, k 2R , auxiliary trajectory point P i2 The location is:

[0155]

[0156] In some optional implementations, the execution subject may also first determine the intersection position between the line between the edge track point and its adjacent intersection point or the extension line of the line and the end of the target lane group, and construct the auxiliary track point at the intersection position. a1 With P b1 The intersection of the extended line of the connecting line between the two and the end of the target lane group determines the auxiliary trajectory point P i1 The position of P a2 With P b3 The intersection of the extended line of the connecting line between the two and the end of the target lane group determines the auxiliary trajectory point P i2 For another example, the execution subject can also be based on P a1 The intersection of the line connecting the adjacent track points outside the target lane group and the target lane group determines the auxiliary track point P i1 The position of P a2 The intersection of the line connecting the adjacent track points outside the target lane group and the target lane group determines the auxiliary track point P i2 location.

[0157] In some optional implementations, the execution subject may also use P a1 The perpendicular position of the end of the target lane group is used as the auxiliary trajectory point P i1 The position of P a2 The perpendicular position of the end of the target lane group is used as the auxiliary trajectory point P i2 In addition, the execution subject may also construct auxiliary trajectory points through other feasible methods or methods with higher precision, which are not limited here.

[0158] In some optional implementations of the embodiments of the present disclosure, multiple extension lines are constructed based on edge trajectory points and auxiliary trajectory points, including: constructing a first extension line through auxiliary trajectory points along the width direction of the target lane group, and both ends of the first extension line respectively exceed the preset extension distances on both sides of the target lane group; constructing a second extension line through edge trajectory points along the perpendicular direction or angle bisector direction between the edge trajectory points and adjacent trajectory points, and both ends of the second extension line respectively exceed the preset extension distances on both sides of the target lane group.

[0159] In this implementation, the above-mentioned execution subject uses the auxiliary trajectory points constructed at both ends of the target lane group to construct the corresponding first extension line along the width direction of the target lane group. Among them, the first extension line is constructed along the width direction of the target lane group, which can effectively ensure that all ranges within the target lane group are covered by the area between the two first extension lines, avoiding the omission of shape points due to lack of coverage, that is, ensuring the relevance and integrity of the correction of the shape point data within the target lane group.

[0160] The execution subject also uses each edge track point to construct a second extension line along the perpendicular direction of the line between the edge track point and the adjacent track point or the angle bisector direction. The second extension line is along the perpendicular direction of the line between the edge track point and the adjacent track point (such as Figure 8 p 1L p 1R and p 2L p 2R ) can also be constructed along the direction of the angle bisector between the edge trajectory point and the adjacent trajectory point (for example Figure 8 The angle shown (P i1 P a1 P b1 ) and angle (P b3 P a3 P i2 ) can effectively ensure that the range covered by the area between the second extension lines is compatible with the direction and position of the actual driving trajectory points, thereby ensuring that the corresponding shape points within the covered range are closer to the data of their actual driving trajectory, thereby improving the reliability of shape point correction.

[0161] It should be noted that, in this solution, both ends of the first extension line and the second extension line extend beyond the preset extension distances on both sides of the target lane group (for example, Figure 8 The dotted parts at both ends of the target lane group shown in the figure) ensure that the area enclosed by any two extension lines can cover all shape points within the target lane group corresponding to the area, avoiding that individual shape points exceed the edge of the target lane group and are not covered.

[0162] This implementation method constructs a first extension line along the width direction of the target lane group, constructs a second extension line along the perpendicular direction or the angle bisector direction of the line between the edge trajectory point and its adjacent trajectory point, and extends each extension line to a preset extension distance beyond the edge of the target lane group. This can effectively ensure that the shape points in the target lane group are covered by the area between the two first extension lines, thereby ensuring the integrity of the data correction in the target lane group, and ensuring that the second extension line based on the correction is compatible with the actual driving road surface data, thereby improving the reliability of the shape point data correction.

[0163] In some optional implementations of the embodiments of the present disclosure, the reference trajectory points also include an internal trajectory point located between two edge trajectory points, and a plurality of extension lines are constructed based on the reference trajectory string of the reference trajectory points in the target lane group, and further include: constructing a third extension line through the internal trajectory points along the direction of the angular bisector of the internal trajectory points, with both ends of the third extension line respectively exceeding the preset extension distances on both sides of the target lane group.

[0164] Continue to refer to Figure 8 As shown, at two edge trajectory points P a1 and P a2 The internal trajectory point P b1 , P b2 , P b3 In this solution, the extension line constructed by the execution subject also includes a third extension line constructed using each internal track point. The third extension line is between the internal track point and the adjacent track points on both sides (for example Figure 8 The angle shown (P a1 P b1 P b2 ), angle (P b1 P b2 P b3 ), angle (P b2 P b3 P a2 )) is constructed in the direction of the angle bisector, and both ends of the third extension line also extend beyond the preset extension distances on both sides of the target lane group (such as Figure 8 The dashed part outside the horizontal arrow shown).

[0165] This solution constructs a third extension line between each internal trajectory point along the direction of the angle bisector between it and the adjacent trajectory point, and further divides the area between the two second extension lines according to the actual driving process of its reference trajectory string, thereby improving the shape point division result within the target lane group to be more consistent with the actual road conditions, thereby improving the accuracy and reliability of the correction of the shape point data.

[0166] Step S707: construct a second reference plane according to two adjacent extension lines.

[0167] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown constructs a second reference surface according to the extension lines constructed in step S706 between every two adjacent extension lines.

[0168] Exemplarily, the execution entity may construct a corresponding second reference plane according to the position coordinates of the endpoints and / or intersections of two adjacent extension lines.

[0169] In some optional implementations, the execution subject obtains the endpoint coordinates of each extension line, and then uses the coordinate information of the four endpoints of each two adjacent extension lines to construct the second reference surface using the same or similar calculation formula as the first reference surface. For example, the mathematical expression of the second reference surface can be expressed as:

[0170] f′(x,y)=a′xy+b′x+c′y+d′

[0171] The parameters [a′b′c′d′] can be solved by the coordinates of the four endpoints of two adjacent extension lines. T , thus obtaining an accurate expression for the corresponding second reference surface.

[0172] In some optional implementations of the embodiments of the present disclosure, constructing a second reference plane based on two adjacent extension lines includes: in response to the two adjacent extension lines not intersecting on both sides of the reference trajectory string, constructing the second reference plane based on the endpoints of the two adjacent extension lines; in response to the two adjacent extension lines intersecting on one side of the reference trajectory string, constructing the second reference plane based on the intersection of the two adjacent extension lines and their endpoints on the other side of the reference trajectory string.

[0173] In this implementation, before constructing the second reference surface, the execution subject first confirms the intersection relationship between two adjacent extension lines, and then constructs the corresponding second reference surface according to the intersection relationship.

[0174] When there is no intersection between two adjacent extension lines, the coordinate information of the four endpoints of the two extension lines is substituted into the mathematical expression of the above-mentioned second reference surface, and the corresponding parameters are solved to obtain the expression of the corresponding second reference surface. At this time, the constructed second reference surface is a curved surface.

[0175] If two adjacent extension lines intersect on one side of the reference trajectory string, it is determined that the points on the two adjacent extension lines are located in the same plane. In this case, the second reference surface constructed based on the two adjacent extension lines is a plane, that is, the ordinates of the data in the second reference surface are equal. At this time, the attribute expression of the second reference surface can be simplified as:

[0176] f p (x,y)=a″x+b″y+c″

[0177] In this case, it is only necessary to select the coordinates of three points on the two adjacent extension lines that are not on the same straight line to solve the parameters a", b", and c", thereby obtaining an accurate expression for the second reference surface of the planar structure.

[0178] Exemplarily, the coordinates of the intersection point between the two adjacent extension lines and the coordinates of their respective endpoints located on the other side of the reference trajectory string may be directly used to construct the second reference plane of the planar structure by forming a plane from three points.

[0179] In this implementation, the corresponding second reference surface is determined based on the intersection relationship between two adjacent extension lines, which can effectively avoid problems such as inaccurate construction or low construction efficiency of the second reference surface caused by the intersection of the two lines, and provide a stable and reliable basis for the correction of shape point data.

[0180] Step S708: updating the elevation values ​​of the target shape points in the target lane group according to the second reference surface.

[0181] In the embodiment of the present disclosure, the execution subject of the map data processing method, for example Figure 1 The server 103 shown updates the elevation value of each target shape point in the target lane group according to each second reference surface constructed in step S707 to achieve data correction.

[0182] The purpose of constructing multiple extension lines and the second reference surface in this scheme is to update the elevation value of each shape point in the target lane group based on the second reference surface, thereby realizing the correction of the shape point data in the target lane group, ensuring that the elevation value of each shape point is closer to the actual road driving data, and improving the reliability of the target lane group data.

[0183] In some optional implementations of the embodiments of the present disclosure, the elevation values ​​of the target shape points in the target lane group are updated according to the second reference surface, including: determining the target shape points in the target lane group according to the coverage of the second reference surface; and updating the elevation values ​​of the target shape points according to the projection relationship between the target shape points and the second reference surface.

[0184] In this implementation, the execution entity updates the elevation value of each target shape point according to the coverage of each second reference surface and the projection relationship between each second reference surface and the target shape point within its coverage.

[0185] This solution corrects the target shape points within their respective projection ranges based on the multiple second reference surfaces constructed, which can ensure that the corrected data of the target shape points in different ranges are closer to the actual driving road surface data, improve the reliability of the data of each shape point in the target lane group, thereby improving the reliability of the map data composed of the target lane group, and through correction by projection relationship, the data correction efficiency can be greatly improved.

[0186] In some optional implementations of the embodiments of the present disclosure, the elevation value of the target shape point is updated according to the projection relationship between the target shape point and the second reference plane, including: projecting the target shape point to the second reference plane to obtain the corresponding second projection point; and updating the elevation value of the target shape point according to the coordinate information of the second projection point.

[0187] In the present implementation, the execution entity projects all target shape points within the projection range of each second reference plane into the second reference plane according to the projection range of each second reference plane to obtain corresponding second projection points; and then updates the elevation value of each second projection point as the corrected elevation value of the corresponding target shape point to realize data correction of each target shape point.

[0188] This solution projects each target shape point onto the corresponding second reference surface by expanding and constructing the second reference surface based on the actual driving trajectory string, and updates the elevation value accordingly. This can effectively ensure that the updated shape point data is closer to the actual driving road surface data, improve the authenticity and reliability of the data in the target lane group, and greatly improve the data correction efficiency by making corrections through the projection relationship.

[0189] The map data processing method provided by the disclosed embodiment first determines the corresponding area to be processed based on the distribution of abnormal data in the lane group, and constructs a first reference surface, based on which the elevation values ​​of the shape points in the area to be processed and its surroundings are updated, so as to correct the abnormal data and its associated data, and realize the continuity, smoothness and stability of the data elevation value in the driving direction of the lane group; then, based on the reference trajectory string of actual driving, it is extended in the width direction of the target lane group, and the corresponding extension line and the second reference surface are constructed, so as to correct each target shape point in the target lane group based on the reference trajectory point of actual driving, so that the data of each target shape point in the target lane group is closer to the road surface data obtained by actual driving, thereby improving the authenticity and reliability of the map data. This scheme effectively improves the data processing efficiency by constructing corresponding reference surfaces at different stages and updating the elevation values ​​of shape points based on projection relationships, while ensuring the correlation between processed data and improving the reliability of processed data.

[0190] As an implementation of the methods shown in the above figures, Fig. 9 An embodiment of a map data processing device according to the present disclosure is shown. Figure 2 Corresponding to the method embodiment shown, the device can be applied to various electronic devices.

[0191] Reference Fig. 9As shown, the map data processing device 900 provided by the embodiment of the present disclosure includes: a first determination module 901, a second determination module 902, a first construction module 903 and a first update module 904. The first determination module 901 is configured to determine the to-be-processed area of ​​the lane group according to the shape points in the lane group; the second determination module 902 is configured to determine a plurality of reference coordinate points according to the shape points around the to-be-processed area; the first construction module 903 is configured to construct a first reference surface according to the coordinate information of the reference coordinate points; and the first update module 904 is configured to update the elevation values ​​of the shape points in the lane group according to the first reference surface.

[0192] In this embodiment, the specific processing of the first determining module 901, the second determining module 902, the first constructing module 903 and the first updating module 904 and the technical effects thereof can be referred to in detail. Figure 2 The relevant descriptions of steps S201 to S204 in the corresponding embodiment are not repeated here.

[0193] In some optional implementations of the embodiments of the present disclosure, the first determination module 901 is configured to: obtain the distance and slope between adjacent shape points in the lane group along the extension direction of the lane group; determine the abnormal shape points in the lane group based on the distance and / or slope; determine the area to be processed based on the coordinate information of the abnormal shape points.

[0194] In some optional implementations of the disclosed embodiments, the first update module includes: a first determination submodule and a first update submodule. The first determination submodule is configured to determine the first shape point in the lane group according to the coverage of the first reference surface, the first shape point being a shape point within the coverage of the first reference surface; and the first update submodule is configured to update the elevation value of the first shape point according to the projection relationship between the first shape point and the first reference surface.

[0195] In some optional implementations of the embodiments of the present disclosure, the first updating submodule is configured to: project the first shape point onto the first reference plane to obtain the corresponding projection point; and update the elevation value of the first shape point according to the coordinate information of the projection point.

[0196] In some optional implementations of the disclosed embodiments, the first update module further includes: a second determination submodule and a second update submodule. The second determination submodule is configured to determine a second shape point in the lane group according to the coverage of the first reference surface, the second shape point being a shape point outside the coverage of the first reference surface and adjacent to the first shape point; and the second update submodule is configured to update the elevation value of the second shape point according to a preset longitudinal slope threshold.

[0197] In some optional implementations of the disclosed embodiments, the second updating submodule includes: a determining unit and an updating unit. The determining unit is configured to determine an edge shape point in the lane group according to the coverage of the first reference surface, where the edge shape point is a shape point within the coverage of the first reference surface and adjacent to the second shape point; and the updating unit is configured to update the elevation value of the second shape point according to the distance between the second shape point and the edge shape point in response to the elevation longitudinal slope between the second shape point and the edge shape point being greater than a preset longitudinal slope threshold.

[0198] In some optional implementations of the embodiments of the present disclosure, the updating unit includes: a determining subunit and a first updating subunit. The determining subunit is configured to, in response to the distance between the second shape point and the edge shape point being less than or equal to a preset auxiliary distance, determine a reference shape point adjacent to the edge shape point in the first reference surface; and the first updating subunit is configured to, based on the position information of the reference shape point, update the elevation value of the second shape point so that the elevation longitudinal slope corresponding to the elevation value of the second shape point is not higher than a preset longitudinal slope threshold.

[0199] In some optional implementations of the embodiments of the present disclosure, the first updating unit includes: a construction subunit, a second updating subunit, and a third updating subunit. The construction subunit is configured to, in response to the distance between the second shape point and the edge shape point being greater than a preset auxiliary distance, construct an auxiliary shape point according to the preset auxiliary distance and a preset longitudinal slope threshold; the second updating subunit is configured to update the distance between the second shape point and the edge shape point by taking the edge shape point as an updated reference shape point and the auxiliary shape point as an updated edge shape point; the third updating subunit is configured to, in response to the distance between the second shape point and the edge shape point being less than or equal to the preset distance after the update, update the elevation value of the second shape point according to the position information of the updated reference shape point.

[0200] In some optional implementations of the embodiments of the present disclosure, the construction subunit is configured to: determine the construction direction of the auxiliary shape points according to the edge shape points and a preset longitudinal slope threshold; and construct the auxiliary shape points according to the construction direction and a preset auxiliary distance.

[0201] In some optional implementations of the disclosed embodiments, the map data processing device further includes a third determination module, a second construction module, a third construction module, and a second update module. The third determination module is configured to determine the target lane group to be processed according to the reference trajectory string, and the target lane group is a lane group that has been updated according to the elevation values ​​of the shape points of the first reference surface; the second construction module is configured to construct multiple extension lines according to the reference trajectory points of the reference trajectory string in the target lane group; the third construction module is configured to construct a second reference surface according to two adjacent extension lines; and the second update module is configured to update the elevation values ​​of the target shape points in the target lane group according to the second reference surface.

[0202] In the map data processing device of this embodiment, the specific processing of the third determining module, the second constructing module, the third constructing module and the second updating module and the technical effects thereof can be referred to in Figure 7 The relevant descriptions of steps S705-S708 in the corresponding embodiment are not repeated here.

[0203] In some optional implementations of the disclosed embodiments, the reference track points include edge track points and auxiliary track points, and the second construction module includes a third determination submodule, a first construction submodule, and a second construction submodule. The third determination submodule is configured such that the first construction submodule is configured to construct auxiliary track points at both ends of the target lane group according to the edge track points; and the second construction submodule is configured to construct multiple extension lines according to the edge track points and the auxiliary track points.

[0204] In some optional implementations of the embodiments of the present disclosure, the second construction submodule is configured to: construct a first extension line through auxiliary trajectory points along the width direction of the target lane group, and both ends of the first extension line respectively exceed the preset extension distances on both sides of the target lane group; construct a second extension line through edge trajectory points along the perpendicular direction or angle bisector direction between the edge trajectory points and the adjacent trajectory points, and both ends of the second extension line respectively exceed the preset extension distances on both sides of the target lane group.

[0205] In some optional implementations of the disclosed embodiments, the reference trajectory point further includes an internal trajectory point between two edge trajectory points, and the second construction module further includes a third construction submodule. The third construction submodule is configured to construct a third extension line through the internal trajectory points along the direction of the angle bisector of the internal trajectory point, and both ends of the third extension line extend beyond the two sides of the target lane group by a preset extension distance.

[0206] In some optional implementations of the embodiments of the present disclosure, the third construction module is configured to: in response to two adjacent extension lines not intersecting on both sides of the reference trajectory string, construct a second reference plane according to the endpoints of the two adjacent extension lines; in response to two adjacent extension lines intersecting on one side of the reference trajectory string, construct a second reference plane according to the intersection of the two adjacent extension lines and their endpoints on the other side of the reference trajectory string.

[0207] In some optional implementations of the embodiments of the present disclosure, the second update module includes: a fourth determination submodule and a third update submodule, wherein the fourth determination submodule is configured to determine the target shape point within the target lane group based on the coverage of the second reference surface; and the third update submodule is configured to update the elevation value of the target shape point based on the projection relationship between the target shape point and the second reference surface.

[0208] In some optional implementations of the embodiments of the present disclosure, the third updating submodule is configured to: project the target shape point onto a second reference plane to obtain a corresponding second projection point; and update the elevation value of the target shape point according to the coordinate information of the second projection point.

[0209] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0210] Fig.10 A schematic block diagram of an example electronic device 1000 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0211] like Fig.10 As shown, the device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the device 1000 can also be stored. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0212] A number of components in the device 1000 are connected to the I / O interface 1005, including: an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the device 1000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0213] The computing unit 1001 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1001 performs the various methods and processes described above, such as the map data processing method. For example, in some embodiments, the map data processing method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1008. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the map data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to execute the map data processing method in any other appropriate manner (eg, by means of firmware).

[0214] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0215] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0216] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0217] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0218] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0219] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0220] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0221] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A map data processing method, comprising: Determine a to-be-processed area of ​​the lane group according to shape points in the lane group; Determining a plurality of reference coordinate points according to shape points around the area to be processed; Constructing a first reference plane according to the coordinate information of the reference coordinate point; The elevation values ​​of the shape points in the lane group are updated according to the first reference surface.

2. The method according to claim 1, wherein: The determining, based on shape points in the lane group, a to-be-processed area of ​​the lane group includes: Acquire the distance and slope between adjacent shape points in the lane group along the extension direction of the lane group; Determining an abnormal shape point within the lane group according to the distance and / or the slope; The area to be processed is determined according to the coordinate information of the abnormal shape point.

3. The method according to claim 1, wherein: The updating of the elevation value of the shape point in the lane group according to the first reference surface includes: Determine a first shape point in the lane group according to the coverage of the first reference surface, the first shape point being a shape point within the coverage of the first reference surface; The elevation value of the first shape point is updated according to the projection relationship between the first shape point and the first reference surface.

4. The method according to claim 3, wherein: The updating of the elevation value of the first shape point according to the projection relationship between the first shape point and the first reference surface includes: Projecting the first shape point onto the first reference plane to obtain a corresponding first projection point; Update the elevation value of the first shape point according to the coordinate information of the first projection point.

5. The method according to claim 3, wherein: The updating of the elevation value of the shape point in the lane group according to the first reference surface also includes: Determine a second shape point in the lane group according to the coverage of the first reference surface, where the second shape point is a shape point outside the coverage of the first reference surface and adjacent to the first shape point; According to a preset longitudinal slope threshold, the elevation value of the second shape point is updated.

6. The method according to claim 5, wherein: The updating of the elevation value of the second shape point according to the preset longitudinal slope threshold comprises: Determine, according to the coverage of the first reference surface, an edge shape point in the lane group, the edge shape point being a shape point within the coverage of the first reference surface and adjacent to the second shape point; In response to the elevation slope between the second shape point and the edge shape point being greater than a preset slope threshold, the elevation value of the second shape point is updated according to the distance between the second shape point and the edge shape point.

7. The method according to claim 6, wherein: The updating of the elevation value of the second shape point according to the distance between the second shape point and the edge shape point comprises: In response to the distance between the second shape point and the edge shape point being less than or equal to a preset auxiliary distance, determining a reference shape point adjacent to the edge shape point in the first reference plane; According to the position information of the reference shape point, the elevation value of the second shape point is updated so that the elevation longitudinal slope corresponding to the elevation value of the second shape point is not higher than a preset longitudinal slope threshold.

8. The method according to claim 6, wherein: The updating of the elevation value of the second shape point according to the distance between the second shape point and the edge shape point comprises: In response to the distance between the second shape point and the edge shape point being greater than a preset auxiliary distance, constructing an auxiliary shape point according to the preset auxiliary distance and a preset longitudinal slope threshold; Using the edge shape point as an updated reference shape point, using the auxiliary shape point as an updated edge shape point, and updating the distance between the second shape point and the edge shape point; In response to the distance between the second shape point and the edge shape point after updating being less than or equal to a preset distance, the elevation value of the second shape point is updated according to the updated position information of the reference shape point.

9. The method according to claim 8, wherein: The step of constructing auxiliary shape points according to a preset auxiliary distance and a preset longitudinal slope threshold comprises: Determining the construction direction of the auxiliary shape point according to the edge shape point and a preset longitudinal slope threshold; The auxiliary shape points are constructed according to the construction direction and the preset auxiliary distance.

10. The method according to any one of claims 1 to 9, further comprising: Determine a target lane group to be processed according to the reference trajectory string, wherein the target lane group is a lane group that has been updated according to the elevation values ​​of the shape points of the first reference surface; constructing a plurality of extension lines according to the reference trajectory points of the reference trajectory string in the target lane group; Constructing a second reference surface according to two adjacent extension lines; According to the second reference surface, the elevation values ​​of the target shape points in the target lane group are updated.

11. The method according to claim 10, wherein: The reference track points include edge track points and auxiliary track points, and The step of constructing a plurality of extension lines according to the reference trajectory points in the target lane group according to the reference trajectory string comprises: According to the edge trajectory points, auxiliary trajectory points are respectively constructed at both ends of the target lane group; A plurality of extension lines are determined according to the edge track points and the auxiliary track points.

12. The method according to claim 11, wherein: The step of constructing a plurality of extension lines according to the edge track points and the auxiliary track points comprises: Along the width direction of the target lane group, a first extension line is constructed through the auxiliary trajectory points, and both ends of the first extension line extend beyond the two sides of the target lane group by preset extension distances respectively; A second extension line is constructed through the edge trajectory point along a perpendicular direction or an angle bisector direction between the edge trajectory point and an adjacent trajectory point, and two ends of the second extension line extend beyond the two sides of the target lane group by preset extension distances respectively.

13. The method according to claim 11 or 12, wherein: The reference trajectory points also include an internal trajectory point located between two edge trajectory points, and The step of constructing a plurality of extension lines according to the reference trajectory points in the target lane group according to the reference trajectory string further includes: A third extension line is constructed through the internal trajectory points along the direction of the angle bisector of the internal trajectory points, and both ends of the third extension line extend beyond the two sides of the target lane group by preset extension distances respectively.

14. The method according to claim 10, 11 or 12, wherein: The step of constructing a second reference plane according to two adjacent extension lines includes: In response to the two adjacent extension lines not intersecting each other on both sides of the reference trajectory string, constructing the second reference plane according to the endpoints of the two adjacent extension lines; In response to the two adjacent extension lines intersecting on one side of the reference trajectory string, the second reference plane is constructed according to the intersection point of the two adjacent extension lines and their endpoints located on the other side of the reference trajectory string.

15. The method according to claim 10, 11 or 12, wherein: The updating of the elevation value of the target shape point in the target lane group according to the second reference surface includes: Determining target shape points within the target lane group according to the coverage of the second reference surface; The elevation value of the target shape point is updated according to the projection relationship between the target shape point and the second reference surface.

16. The method according to claim 15, wherein: The updating of the elevation value of the target shape point according to the projection relationship between the target shape point and the second reference surface comprises: Projecting the target shape point onto the second reference plane to obtain a corresponding second projection point; According to the coordinate information of the second projection point, the elevation value of the target shape point is updated.

17. A map data processing device, comprising: A first determination module is configured to determine a to-be-processed area of ​​the lane group according to shape points in the lane group; A second determination module is configured to determine a plurality of reference coordinate points according to shape points around the area to be processed; A first construction module is configured to construct a first reference plane according to the coordinate information of the reference coordinate point; The first updating module is configured to update the elevation values ​​of the shape points in the lane group according to the first reference surface.

18. The device according to claim 17, wherein: The first determining module is configured to: Acquire the distance and slope between adjacent shape points in the lane group along the extension direction of the lane group; Determining an abnormal shape point within the lane group according to the distance and / or the slope; The area to be processed is determined according to the coordinate information of the abnormal shape point.

19. The device according to claim 17, wherein: The first update module includes: A first determining submodule is configured to determine a first shape point in the lane group according to a coverage range of the first reference surface, the first shape point being a shape point within the coverage range of the first reference surface; The first updating submodule is configured to update the elevation value of the first shape point according to the projection relationship between the first shape point and the first reference surface.

20. The device according to claim 19, wherein The first updating submodule is configured as follows: Projecting the first shape point onto the first reference plane to obtain a corresponding projection point; The elevation value of the first shape point is updated according to the coordinate information of the projection point.

21. The device according to claim 19, wherein The first update module also includes: A second determining submodule is configured to determine a second shape point in the lane group according to the coverage of the first reference surface, the second shape point being a shape point outside the coverage of the first reference surface and adjacent to the first shape point; The second updating submodule is configured to update the elevation value of the second shape point according to a preset longitudinal slope threshold.

22. The device according to claim 21, wherein The second updating submodule includes: a determining unit configured to determine an edge shape point in the lane group according to a coverage range of the first reference surface, the edge shape point being a shape point within the coverage range of the first reference surface and adjacent to the second shape point; The updating unit is configured to update the elevation value of the second shape point according to the distance between the second shape point and the edge shape point in response to the elevation longitudinal slope between the second shape point and the edge shape point being greater than a preset longitudinal slope threshold.

23. The device according to claim 22, wherein: The updating unit comprises: a determining subunit configured to determine a reference shape point adjacent to the edge shape point in the first reference plane in response to a distance between the second shape point and the edge shape point being less than or equal to a preset auxiliary distance; The first updating subunit is configured to update the elevation value of the second shape point according to the position information of the reference shape point so that the elevation longitudinal slope corresponding to the elevation value of the second shape point is not higher than a preset longitudinal slope threshold.

24. The device according to claim 22, wherein: The first updating unit comprises: a construction subunit configured to construct an auxiliary shape point according to a preset auxiliary distance and a preset longitudinal slope threshold in response to a distance between the second shape point and the edge shape point being greater than a preset auxiliary distance; A second updating subunit is configured to use the edge shape point as an updated reference shape point, use the auxiliary shape point as an updated edge shape point, and update the distance between the second shape point and the edge shape point; The third updating subunit is configured to update the elevation value of the second shape point according to the updated position information of the reference shape point in response to the distance between the second shape point and the edge shape point after updating being less than or equal to a preset distance.

25. The device according to claim 24, wherein: The construction subunit is configured as follows: Determining the construction direction of the auxiliary shape point according to the edge shape point and a preset longitudinal slope threshold; The auxiliary shape points are constructed according to the construction direction and the preset auxiliary distance.

26. The apparatus according to any one of claims 17 to 25, further comprising: A third determination module is configured to determine a target lane group to be processed according to the reference trajectory string, wherein the target lane group is a lane group that has been updated according to the elevation value of the shape point of the first reference surface; A second construction module is configured to construct a plurality of extension lines according to the reference trajectory points of the reference trajectory string in the target lane group; A third construction module is configured to construct a second reference surface according to two adjacent extension lines; The second updating module is configured to update the elevation value of the target shape point in the target lane group according to the second reference surface.

27. The device according to claim 26, wherein: The reference track points include edge track points and auxiliary track points, and The second building block comprises: A first construction submodule is configured to construct auxiliary trajectory points at both ends of the target lane group according to the edge trajectory points; The second construction submodule is configured to construct a plurality of extension lines according to the edge trajectory points and the auxiliary trajectory points.

28. The device according to claim 27, wherein The second construction submodule is configured as follows: Along the width direction of the target lane group, a first extension line is constructed through the auxiliary trajectory points, and both ends of the first extension line extend beyond the two sides of the target lane group by preset extension distances respectively; A second extension line is constructed through the edge trajectory point along a perpendicular direction or an angle bisector direction between the edge trajectory point and an adjacent trajectory point, and two ends of the second extension line extend beyond the two sides of the target lane group by preset extension distances respectively.

29. The device according to claim 27 or 28, wherein The reference trajectory points also include an internal trajectory point located between two edge trajectory points, and The second building block also includes: The third construction submodule is configured to construct a third extension line through the internal trajectory points along the direction of the angle bisector of the internal trajectory points, and both ends of the third extension line extend beyond the two sides of the target lane group by preset extension distances.

30. The apparatus of claim 26, 27 or 28, wherein: The third building block is configured as follows: In response to the two adjacent extension lines not intersecting each other on both sides of the reference trajectory string, constructing the second reference plane according to the endpoints of the two adjacent extension lines; In response to the two adjacent extension lines intersecting on one side of the reference trajectory string, the second reference plane is constructed according to the intersection point of the two adjacent extension lines and their endpoints located on the other side of the reference trajectory string.

31. The apparatus of claim 26, 27 or 28, wherein: The second update module comprises: a fourth determination submodule, configured to determine a target shape point within the target lane group according to a coverage range of the second reference surface; The third updating submodule is configured to update the elevation value of the target shape point according to the projection relationship between the target shape point and the second reference surface.

32. The device according to claim 31, wherein The third updating submodule is configured as follows: Projecting the target shape point onto the second reference plane to obtain a corresponding second projection point; According to the coordinate information of the second projection point, the elevation value of the target shape point is updated.

33. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 16.

34. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-16.

35. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 16.

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