Map data processing methods, devices, equipment and storage media

Abstract

This disclosure provides a map data processing method, apparatus, device, and storage medium, relating to the field of artificial intelligence technology, and particularly to the field of intelligent transportation technology. The specific implementation scheme is as follows: Based on shape points within a lane group, determine the area to be processed within that lane group; based on shape points surrounding the area to be processed, determine multiple reference coordinate points; based on the coordinate information of the reference coordinate points, construct a first reference surface; and based on the first reference surface, update the elevation values ​​of the shape points within the lane group. This disclosure, by constructing a first reference surface and updating the elevation values ​​of the shape points within the lane group accordingly, effectively improves the correction efficiency of shape point data in the area to be processed, and ensures that the elevations between the corrected shape points are continuous, smooth, and stable.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, specifically to the field of artificial intelligence technology, and in particular to map data processing methods, apparatus, devices, and storage media. Background Technology

[0002] Traditional methods for obtaining road elevation information include on-site measurements using traditional surveying tools such as levels, GPS, and RTK. Alternatively, laser point cloud data can be collected on-site, filtered, denoised, and smoothed to obtain road surface point cloud information, from which road elevation information can be extracted. If these measurement references are unavailable, other methods, such as manual adjustments, are needed to determine the road elevation. Summary of the Invention

[0003] This disclosure provides a map data processing method, apparatus, device, and storage medium to improve data processing efficiency.

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

[0005] Based on the shape points within the lane group, determine the area to be processed within the lane group;

[0006] Based on the shape points surrounding the area to be processed, determine multiple reference coordinate points;

[0007] Construct a first reference surface based on the coordinate information of the reference coordinate points;

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

[0009] According to a second aspect of this disclosure, a map data processing apparatus is provided, comprising:

[0010] The first determining module is configured to determine the area to be processed in the lane group based on the shape points within the lane group;

[0011] The second determining module is configured to determine multiple reference coordinate points based on shape points around the area to be processed;

[0012] The first construction module is configured to construct a first reference surface based on the coordinate information of the reference coordinate points;

[0013] The first update module is configured to update the elevation values ​​of shape points within the lane group based on the first reference surface.

[0014] According to a third aspect of this disclosure, an electronic device is provided, comprising:

[0015] At least one processor; and

[0016] A memory that is communicatively connected to at least one processor; wherein,

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

[0018] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the method provided in the first aspect.

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

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0021] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0022] Figure 1 This is an exemplary system architecture diagram to which the map data processing method disclosed herein can be applied;

[0023] Figure 2 This is a flowchart of one embodiment of the map data processing method according to the present disclosure;

[0024] Figure 3 This is an exemplary structural diagram of a first reference surface constructed according to the map data processing method of this disclosure;

[0025] Figure 4 This is a schematic diagram of the elevation and longitudinal slope principle of shape points in the map data processing method disclosed herein;

[0026] Figure 5 This is a schematic diagram illustrating the principle of constructing auxiliary shape points in the map data processing method disclosed herein;

[0027] Figure 6 This is a schematic diagram illustrating the change process of map data processed according to the map data processing method disclosed herein;

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

[0029] Figure 8 This is a schematic diagram of constructing extension lines according to the map data processing method disclosed herein;

[0030] Figure 9 A schematic diagram of the structure of one embodiment of a map data processing apparatus according to the present disclosure is shown;

[0031] Figure 10 A block diagram of an electronic device for implementing the map data processing method of embodiments of the present disclosure is shown. Detailed Implementation

[0032] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0033] Elevation information is a crucial component of high-precision map data, holding significant value in areas such as scene rendering, interchange representation, and autonomous driving simulation. Due to the high precision requirements of high-precision maps, accurate representation and adjustment of road elevation are essential. However, limitations imposed by factors such as the precision of point cloud acquisition equipment, obstacle occlusion, and point cloud matching algorithms result in inconsistent point cloud quality, making it impossible to obtain adequate point cloud information for extracting road elevation data in many areas. Therefore, alternative methods are needed to determine road elevation information, ensuring a smooth, level, and uninterrupted elevation, and a seamless connection with surrounding roads.

[0034] A lane group consists of several lines, each line composed of several shape points. Therefore, the road surface corresponding to a lane group can be viewed as a surface composed of several shape points. Due to the complexity of road topology, there are numerous shape points and markings within a lane group. In areas with missing point clouds, the road surface elevation corresponding to the lane group may exhibit discontinuities or overlaps. In areas with poor point cloud quality, the road surface elevation of the lane group is uneven and lacks smoothness, resulting in significant differences from the real world and failing to meet the requirements of high-precision map data applications. In such cases, it is often necessary to manually adjust the geometry of the shape points within the lane group to meet certain longitudinal and lateral slope requirements, as well as smoothness requirements.

[0035] This disclosure provides a map data processing method that, for areas within a lane group where the point cloud quality is poor or the point cloud is missing, automatically updates the elevation values ​​of shape points within the lane group by constructing a reference surface, thereby improving the efficiency of map data processing and ensuring that the map data has flat elevations, smooth road connections, and no discontinuities or drastic fluctuations.

[0036] Figure 1An exemplary system architecture 100 is shown, to which embodiments of the map data processing method or map data processing apparatus of this disclosure may 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 wired communication links, wireless communication links, or fiber optic cables, etc.

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

[0039] Terminal device 101 can be hardware or software. When terminal device 101 is hardware, it can be various electronic devices, including but not limited to smartphones, tablets, laptops, and desktop computers. When terminal device 101 is software, it can be installed in the aforementioned electronic devices. It can be implemented as multiple software programs or software modules, or as a single software program or software module. No specific limitations are made here.

[0040] Server 103 can be either hardware or software. When server 103 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 103 is software, it can be implemented as multiple software programs or software modules (e.g., used to provide distributed services), or as a single software program or software module. No specific limitations are made here.

[0041] The map data processing method provided in this embodiment is generally executed by server 103, and correspondingly, the map data processing device is generally located in server 103.

[0042] It should be noted that, Figure 1 The number of terminal devices 101, network 102, and server 103 shown is merely illustrative. Depending on implementation needs, there can be any number of terminal devices 101, network 102, and server 103.

[0043] In this embodiment of the disclosure, the map data processing method is executed by the server 103, and the analysis results are sent to the terminal device 101 with the client installed. For example, the analysis results can be sent to the terminal device used by traffic managers, or the analysis results can be sent to the mobile terminal device used by users.

[0044] Figure 2 A flow 200 of one embodiment of the map data processing method according to this disclosure is shown, with reference to Figure 2 As shown, the map data processing method includes the following steps:

[0045] Step S201: Determine the area to be processed in the lane group based on the shape points within the lane group.

[0046] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown determines the area to be processed in the lane group based on the shape points within the lane group.

[0047] The area to be processed within a lane group is the region where shape points are missing or abnormal. Abnormal shape points include shape points with data anomalies, such as shape points with anomalies in longitudinal slope data, cross slope data, or interval data.

[0048] For example, the area to be processed determined by the above-mentioned executing entity is an area with abnormal shape points or missing shape points within the lane group, such as an area where multiple abnormal shape points appear continuously within a certain distance, where there are many abnormal shape point data appearing at intervals and the distribution is dense, or where multiple shape points are obviously missing within a certain distance.

[0049] In some optional implementations of the embodiments of this disclosure, determining the area to be processed of the lane group based on the shape points within the lane group includes: obtaining the distance and slope between adjacent shape points within the lane group along the extension direction of the lane group; determining abnormal shape points within 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 entity acquires the distance and slope between adjacent shape points within the lane group along the extension direction of the lane group, i.e., the direction of travel for vehicles or pedestrians within the lane group. If the distance or slope between a shape point and its adjacent shape points is abnormal, the shape point can be identified as an abnormal shape point. For example, if the longitudinal slope between a shape point and the shape points before and after it exceeds a preset longitudinal slope threshold, the shape point is considered an abnormal shape point with abnormal data. Alternatively, if the distance between a shape point and its adjacent shape points is significantly greater than the acquisition distance of the shape points within the lane group (e.g., a sampling distance of 1m and a distance of 5m between adjacent shape points), the area between the adjacent shape points is considered a missing point cloud area. In this case, it is difficult to guarantee the data accuracy of the adjacent shape points, so the adjacent shape points can also be identified as abnormal shape points.

[0051] After identifying each abnormal shape point, the aforementioned execution entity determines the distribution of abnormal shape points within the lane group based on their coordinate information. This allows the area where abnormal shape points are clustered to be identified as the processing area for that lane group. This enables accurate identification of abnormal shape points and their corresponding processing areas, effectively identifying and classifying the abnormal shape points to be processed, and improving the accuracy of data processing.

[0052] The clustering of anomalous shape points can be determined based on factors such as the number of consecutively occurring anomalous shape points, the number of anomalous shape points within a certain range, and the severity of the anomalousness. For example, if the number of consecutively adjacent anomalous shape points is greater than 5, the number of anomalous shape points within a 10m range is greater than 8, the data of more than 2 consecutive anomalous shape points (e.g., longitudinal slope data) exceeds the preset range by more than 2 times, or the missing area of ​​shape points exceeds 2m, etc.

[0053] In some alternative implementations, the area to be processed can be determined by the executing entity based on the received user operation. For example, after receiving the user's selection operation, the executing entity determines the area to be processed based on the abnormal shape points in the area enclosed by the selection operation; or it can be set to automatically filter based on at least one of the above conditions.

[0054] Step S202: Determine multiple reference coordinate points based on the shape points surrounding the area to be processed.

[0055] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown determines multiple reference coordinate points based on the shape points around the lane group after determining the area to be processed.

[0056] For example, the aforementioned execution entity determines multiple reference coordinate points based on normal shape points surrounding the area to be processed.

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

[0058] In this solution, the selection of multiple reference coordinate points can be made by the executing entity based on the received user operations. For example, by receiving the user's manual drawing of lines or drawing circles or polygons of arbitrary shapes, the intersection of the user's drawn shape with 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. Alternatively, the selection can be made automatically by setting conditions. For example, the position of the abnormal shape point at the edge of the area to be processed can be selected at a preset distance, or the position of the normal shape point at a preset number of intervals, as the position of the reference coordinate point.

[0059] Step S203: Construct the first reference surface based on the coordinate information of the reference coordinate points.

[0060] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown constructs a first reference surface based on the coordinate information of the reference coordinate points determined in step S202.

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

[0062] The first reference surface can be any arbitrarily shaped curved surface or plane constructed in any feasible manner.

[0063] In this implementation, the first reference surface is a curved surface. For example, this curved surface can be constructed based on a preset surface formula and the coordinates of multiple reference points.

[0064] In one alternative implementation, the mathematical expression for the first reference plane can be:

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

[0066] The formula contains four parameters [abcd] T The exact expression for the first reference plane can be obtained by solving the problem using the coordinates (x, y, z) of four reference points. Figure 3 An exemplary structure 300 of the first reference plane constructed in this 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 in the following way.

[0068]

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

[0070] Step S204: Update the elevation values ​​of the shape points within the lane group based on the first reference surface.

[0071] The executing entity of the map data processing method in the embodiments of this disclosure, for example Figure 1 The server 103 shown updates the elevation values ​​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 within the lane group. That is, the first reference surface can be considered as the surface where the corrected area to be processed within the lane group resides. Therefore, the ordinate of each position within the first reference surface can be considered as the elevation value of each position on the corrected lane group plane corresponding to the area to be processed.

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

[0074] Therefore, the elevation values ​​of each shape point in the lane group can be updated based on the ordinate of each position in the first reference plane, thereby correcting the shape points in the lane group. Compared with manual correction, this can significantly improve the data processing speed and ensure that the updated lane group has a flat elevation, smooth road connections, no discontinuities or severe fluctuations, thus improving the reliability of the data in the corrected lane group.

[0075] It should be noted that, in this embodiment of the present disclosure, based on the first reference surface, not only can the elevation values ​​of abnormal shape points within the lane group and within the coverage area of ​​the first reference surface be updated, but the elevation values ​​of normal shape points within the coverage area of ​​the first reference surface can also be updated synchronously. Furthermore, based on the extensibility of the curved or planar surface, the elevation values ​​of normal shape points outside the coverage area of ​​the first reference surface, adjacent to the edge of the first reference surface, or within a certain distance from it can also be updated, thereby effectively ensuring that the elevation of all associated data corresponding to the corrected data within the lane group is flat and the road is smooth.

[0076] In some optional implementations of the embodiments of this disclosure, updating the elevation values ​​of shape points within the lane group according to the first reference surface includes: determining a first shape point within the lane group based on the coverage area of ​​the first reference surface, wherein the first shape point is a shape point within the coverage area 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 this implementation, the execution entity determines the shape points of the lane group within the coverage area of ​​the first reference surface, including abnormal shape points and normal shape points, as first shape points. Then, based on the projection relationship between the first shape points and the first reference surface, the elevation value of the first shape points is updated. This not only corrects the abnormal shape points in the processing area, but also effectively ensures the continuity, smoothness, and stability of the elevation between adjacent shape points after the update, thereby ensuring the continuity and smoothness of the lane group road surface.

[0078] In some optional implementations of the embodiments of this disclosure, updating 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 surface to obtain a 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 onto the first reference plane to obtain the corresponding first projection point; then, the elevation value of each first projection point is used as the corrected elevation value of the corresponding first shape point and updated accordingly to correct the first shape point.

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

[0081] In some optional implementations of the embodiments of this disclosure, updating the elevation values ​​of shape points within the lane group based on the first reference surface further includes: determining second shape points within the lane group based on the coverage area of ​​the first reference surface, wherein the second shape points are shape points outside the coverage area of ​​the first reference surface and adjacent to the first shape points; and updating the elevation values ​​of the second shape points based on a preset longitudinal slope threshold.

[0082] In this implementation, the execution entity takes at least one shape point within the lane group that is outside the coverage area of ​​the first reference surface and adjacent to the first shape point as the second shape point. Then, according to the preset slope threshold, the elevation value of the second shape point is adjusted and updated, which effectively ensures the continuity and smoothness of the elevation between the corrected first shape point and its adjacent second shape point. This effectively ensures the continuity and smoothness of the elevation between the corrected shape point in the area to be processed and the external shape point, ensuring the correction effect and ensuring the reliability of any adjacent shape point within the corrected lane group.

[0083] It should be noted that, in this embodiment of the disclosure, the second shape point is not only a ring of shape points adjacent to the edge of the first reference surface, but may also include shape points adjacent to the outer ring of shape points adjacent to the edge of the first reference surface, and so on, until the elevation value between each pair of adjacent shape points can meet the requirements of the preset longitudinal slope threshold.

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

[0085] In this implementation, the execution entity determines the edge shape point within the coverage area of ​​the lane group based on the coverage area of ​​the first reference surface, that is, determines the shape point closest to the edge of the coverage area. Then, based on the elevation gradient between the edge shape point and the second shape point and the preset gradient threshold, as well as the distance between the edge shape point and the second shape point, the elevation value of the second shape point is updated.

[0086] In this scheme, since the elevation values ​​of the first shape points within the coverage area of ​​the first reference surface have been updated, the elevation slope between the second shape points and the edge shape points is adjusted by updating the elevation values ​​of the second shape points. This ensures that the elevation slope between the second shape points and the edge shape points meets the preset slope threshold, thereby ensuring that the updated elevations of the first shape points and the second shape points within the coverage area of ​​the first reference surface are continuous and smooth, effectively avoiding elevation discontinuities or drastic fluctuations between the updated first shape points and the second shape points.

[0087] In some optional implementations of the embodiments of this disclosure, updating the elevation value of the second shape point based on the distance between the second shape point and the edge shape point includes: 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 based on the position information of the reference shape point, so that the elevation slope corresponding to the elevation value of the second shape point is not higher than a preset slope threshold.

[0088] In this implementation, during the process of updating the elevation value of the second shape point, the executing entity first determines the distance between the edge shape point and the second shape point based on a preset auxiliary distance. 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 a preset longitudinal slope threshold and the position information of a reference shape point, so that the elevation longitudinal slope corresponding to the updated elevation value of the 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 and the distance between the reference shape point and the edge shape point.

[0089] For example, when the execution entity determines that the distance between the edge shape point and the second shape point is less than or equal to a preset auxiliary distance, it can adjust the elevation value of the second shape point based on the location information of the reference shape point and in combination with a preset longitudinal slope threshold, so that the elevation longitudinal slope corresponding to the final updated elevation value of the second shape point is not higher than the preset longitudinal slope threshold.

[0090] It should be noted that in this scheme, the implementing entity can update the elevation value of the second shape point once to ensure that its elevation slope meets the preset slope threshold; or it can update the elevation value of the second shape point multiple times to ensure that the elevation slope corresponding to the second shape point is not higher than the preset slope threshold.

[0091] In adjusting the elevation gradient 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 a preset auxiliary distance. That is, it directly adjusts the elevation value of the second shape point based on the preset gradient threshold and the position of the reference shape point to make the elevation gradient between the edge shape point and the second shape point meet the requirements of the preset gradient threshold. This ensures that the elevation between the second shape point and the edge shape point is continuous and smooth, and avoids elevation discontinuities or drastic fluctuations between the first shape point and the second shape point within the coverage area of ​​the first reference surface after the elevation value is updated. This ensures that the elevation of the lane group road surface is continuous, smooth and stable.

[0092] In this scheme, since the elevation value of the second shape point is updated based on the first reference surface, that is, the updated elevation value of each first shape point in the first reference surface is already determined and will not be updated again, the elevation value of the second shape point is updated based on each first shape point. Therefore, in this scheme, when determining the elevation 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 the reference shape point and use the line connecting the reference shape point and the edge shape point as the reference.

[0093] Figure 4 A schematic diagram of the elevation and longitudinal slope of the shape points in this disclosure is shown. (Refer to...) 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 area of ​​the first reference surface, and P3 is the second shape point adjacent to the edge shape point P2 outside the coverage area of ​​the first reference surface. Since the update is based on the elevation value of the second shape point from the first reference surface, in this scheme, the elevation gradient between the edge shape point P2 and the second shape point P3 is based on the line connecting the reference shape point P1 and the edge shape point P2. Figure 4As shown, the elevation longitudinal slope inclination angle θ between P2 and P3 is the 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 as follows:

[0094]

[0095] If the elevation longitudinal slope inclination angle θ(P1, P2, P3) between P2 and P3 meets 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 meets the preset longitudinal slope threshold θ0.

[0097] In this solution, before the above-mentioned execution subject 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, to improve the adjustment efficiency and accuracy, the above-mentioned execution subject makes adjustments based on the position information of the reference shape point P1 and the edge shape point P2.

[0099] In some optional 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 noted that, in the embodiments disclosed herein, the second shape point is not only a ring of shape points adjacent to the edge of the first reference surface, but may also include shape points adjacent to the outer ring of shape points adjacent to the edge of the first reference surface, and so on, until the elevation gradient between every two adjacent shape points can meet the requirements of the preset gradient 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. This process continues until the elevation slope between any two adjacent shape points meets the requirements of the preset slope threshold.

[0104] In some optional implementations of the embodiments of this disclosure, updating the elevation value of the second shape point based on the distance between the second shape point and the edge shape point includes: 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 based on the preset auxiliary distance and a preset longitudinal slope threshold; using the edge shape point as the updated reference shape point and the auxiliary shape point as the updated edge shape point, updating the distance between the second shape point and the edge shape point; in response to the updated distance between the 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 based on the position information of the updated reference shape point.

[0105] In this 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, it constructs an auxiliary shape point in the region between the edge shape point and the second shape point based on the preset auxiliary distance and a preset longitudinal slope threshold, so that the elevation longitudinal slope between the auxiliary shape point and the edge shape point meets the requirements 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. This process continues until the distance between the updated second shape point and the edge shape point is determined to be less than or equal to the preset distance. Based on the position information of the updated reference shape point, the elevation value of the second shape point is updated, i.e., the elevation longitudinal slope between the second shape point and the edge shape point is determined.

[0106] This solution addresses the issue of distance between the second shape point and the edge shape point. By constructing an auxiliary shape point between them based on a preset longitudinal slope threshold, it effectively ensures the elevation gradient between the auxiliary shape point and the edge shape point and reduces the elevation gradient between the auxiliary shape point and the second shape point. This achieves a smooth transition in elevation and terrain between the second shape point and the edge shape point, further enhancing the continuity and smoothness of elevation between them.

[0107] In some optional implementations of the embodiments of this disclosure, constructing auxiliary shape points based on a preset auxiliary distance and a preset longitudinal slope threshold includes: determining the construction direction of the auxiliary shape points based on the edge shape points and the preset longitudinal slope threshold; and constructing the auxiliary shape points based on the construction direction and the preset auxiliary distance.

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

[0109] This scheme determines the construction direction of auxiliary shape points based on a preset longitudinal slope threshold and further determines the specific location of auxiliary shape points based on a preset auxiliary distance. This can effectively ensure that the elevation and longitudinal slope between the constructed auxiliary shape points and the edge shape points meet the requirements of the preset longitudinal slope threshold, and can play an effective role in connecting and smoothing the elevation between the edge shape points and the second shape points.

[0110] In this scheme, 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 role in transitioning the elevation gradient between the edge shape point and the second shape point, the auxiliary shape point and the reference shape point are located on both sides of the line connecting the edge shape point and the second shape point, respectively. This ensures that the elevation gradient between the constructed auxiliary shape point and the edge shape point meets the preset gradient threshold while minimizing the elevation gradient between the auxiliary shape point and the second shape point, so that the auxiliary shape point can play its due role in elevation transition.

[0112] Figure 5 A schematic diagram of scenario 500 of this implementation is shown, illustrating the principle of constructing auxiliary shape points. (Refer to...) Figure 5 As shown, when the elevation slope angle θ(P1, P2, P3) between edge shape point P2 and second shape point P3 is greater than the preset slope threshold θ0, and the distance dist(p2, p3) between P2 and P3 is greater than the preset auxiliary distance s, the aforementioned execution entity constructs an auxiliary shape point P between P2 and P3, away from the reference shape point P1, using the preset slope threshold θ0 and the preset auxiliary distance s. S .

[0113] In some alternative implementations, the aforementioned execution entity can calculate the constructed auxiliary shape point P based on 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 coordinates (x) S y S , z S The specific calculation process can be expressed as follows:

[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 Subsequently, the aforementioned executing entity 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 accordingly, and the elevation gradient between the second shape point P3 and the edge shape point P2' is determined again; then, it is referenced again... Figure 4 or Figure 5 As shown, the elevation value of the second shape point P3 is updated based on the distance between P3 and P2' and the elevation slope.

[0120] Figure 6 A schematic diagram of a transformation process 600 of map data processed according to the map data processing method of this disclosure is shown, which is a lateral elevation view of the map data. (Refer to...) Figure 6 As shown, the area between A and B is the area to be processed, and the constructed first reference surface covers this area. The area between A' and B' is a data elevation diagram after updating the elevation values ​​of each shape point within its coverage area according to the first reference surface. Then, taking 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 along the extension trend of the first reference surface, so as to achieve a smooth connection between the area covered by the first reference surface and the surrounding area, resulting in smoothed A" and B", thus achieving elevation smoothing at the positions of A" and B", and realizing the continuity and smoothness of the map data.

[0121] In the map data processing method provided in this embodiment, the executing entity determines the area to be processed in the lane group based on the distribution of abnormal shape points within the lane group. Then, based on the shape points around the area to be processed, multiple reference coordinate points are determined, and a first reference surface is constructed accordingly. Using the first reference surface, the elevation values ​​of the shape points within the coverage area and around the coverage area are updated. During the repair of abnormal shape points, the elevation gradient between any two adjacent shape points is ensured, thereby ensuring the continuous, smooth, and stable elevation of the shape points in the repaired lane group. This, in turn, ensures the continuous and smooth elevation of the road surface where the lane group is located, and improves 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 in the technical solution disclosed herein all comply with 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 any specific user, nor does it reflect the personal information of any specific user.

[0123] Figure 7 A flowchart 700 of one embodiment of the map data processing method according to the present disclosure is shown, with reference to Figure 7 As shown, the map data processing method includes the following steps:

[0124] Step S701: Determine the area to be processed in the lane group based on the shape points within the lane group.

[0125] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown determines the area to be processed in the lane group based on the shape points within the lane group.

[0126] Step S701 and Figure 2 The steps S201 in the illustrated embodiment are basically the same. For the specific implementation method, please refer to the above description of step S201, which will not be repeated here.

[0127] Step S702: Determine multiple reference coordinate points based on the shape points around the area to be processed.

[0128] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown determines multiple reference coordinate points based on the shape points around the area to be processed in the lane group.

[0129] Step S702 and Figure 2 The steps S202 in the illustrated embodiment are basically the same. For the specific implementation method, please refer to the above description of step S202, which will not be repeated here.

[0130] Step S703: Construct the first reference surface based on the coordinate information of the reference coordinate points.

[0131] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown constructs a first reference surface based on the coordinate information of the reference coordinate points determined in step S702.

[0132] Step S703 and Figure 2 The steps of S203 in the illustrated embodiment are basically the same. For the specific implementation method, please refer to the above description of step S203, which will not be repeated here.

[0133] Step S704: Update the elevation values ​​of the shape points within the lane group based on the first reference surface.

[0134] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown updates the elevation values ​​of each shape point in the lane group according to the first reference surface constructed in step S703.

[0135] Step S704 and Figure 2 The steps of S204 in the illustrated embodiment are basically the same. For the specific implementation method, please refer to the above description of step S204, which will not be repeated here.

[0136] Step S705: Determine the target lane group to be processed based on the reference trajectory string.

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

[0138] The reference trajectory string is at least a portion of the vehicle's actual driving trajectory. This actual driving trajectory includes multiple consecutive trajectory points collected during the vehicle's movement, and the reference trajectory string includes at least two adjacent reference trajectory points.

[0139] In some alternative implementations, the user can first determine the starting and ending trajectory points. Then, the user, or the executing entity, selects a target trajectory from numerous actual driving trajectories based on these starting and ending trajectory points, and then searches for a lane group sequence that matches the target trajectory. For example, this lane group sequence can be a set of lane groups actually traversed by the target trajectory.

[0140] The executing entity 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 according to the reference trajectory string.

[0141] Step S706: Construct multiple extension lines based on the reference trajectory points within the target lane group.

[0142] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown constructs multiple extension lines based on the reference trajectory points within the target lane group.

[0143] After determining the target lane group, the aforementioned execution entity determines the reference trajectory points 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 location of the reference trajectory point may not be exactly at the entrance and exit end of the target lane group, that is, the outermost reference trajectory point may still be a certain distance away from its entrance and exit end within the target lane group, in order to ensure that the space between 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 aforementioned execution entity can also construct auxiliary trajectory points at both ends of the target lane group and construct corresponding extension lines through these auxiliary trajectory points.

[0145] In some optional implementations of the embodiments of this disclosure, the reference trajectory points include edge trajectory points and auxiliary trajectory points. Constructing multiple extension lines based on the reference trajectory points within the target lane group includes: 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 auxiliary trajectory points.

[0146] Specifically, the aforementioned executing entity will identify the trajectory points within the target lane group that are adjacent to one end of the target lane group as edge trajectory points within that target lane group.

[0147] In this implementation, the aforementioned execution entity first determines the edge trajectory points of the reference trajectory string within the target lane group, and then constructs corresponding auxiliary trajectory points at both ends of the target lane group based on the positions of the edge trajectory points; then, it 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 shape point data within the target lane group.

[0149] Figure 8 A schematic diagram of an embodiment 800 of the map data processing method according to this disclosure, illustrating the construction of extension lines, is shown. (Refer to...) Figure 8 As shown, the widths at both ends of the target lane group are W1 and W2, respectively. The reference trajectory points within this target lane group include the edge trajectory points P near both ends of the target lane group. a1 and P a2 .

[0150] Because of P a1 P a2 A certain amount of space is left at the ends of the target lane group. To improve the correlation and reliability of the data after correction within the target lane group, based on the edge trajectory point P... a1 and P a2 Corresponding to the position in the width direction of the target lane group, construct corresponding auxiliary trajectory points P 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 perpendicular direction of the edge trajectory point and its adjacent trajectory points; determining the position ratio of the edge trajectory point in the perpendicular direction; and determining the construction position of the auxiliary trajectory points based on the position ratio and the intersection position of the perpendicular direction with the target lane group.

[0152] Reference Figure 8 As shown, with edge trajectory point P a1 For example, determine the adjacent trajectory point P of the edge trajectory point. b1 The perpendicular direction of the line connecting the lanes, and the intersection points of this perpendicular direction with the two sides of the target lane group are p respectively. 1L p 1R Edge trajectory point P a1 The distances along this vertical line from 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 connecting the lanes, and the intersection points of this perpendicular direction with the two sides of the target lane group are p respectively. 2L p 2R Edge trajectory point P a2 The distances along this vertical line from both sides of the target lane group are k. 2Lk 2R Auxiliary trajectory point P i2 The location is:

[0155]

[0156] In some alternative implementations, the executing entity may first determine the intersection point between the line connecting the edge trajectory point and its adjacent intersection point, or the extension of the line connecting the two points, and the end of the target lane group, and then construct auxiliary trajectory points at these intersection points. For example, the executing entity can determine the intersection point based on P. a1 With P b1 The intersection of the extension of the line connecting the lanes and the end of the target lane group determines the auxiliary trajectory point P. i1 Location; according to P a2 With P b3 The intersection of the extension of the line connecting the lanes and the end of the target lane group determines the auxiliary trajectory point P. i2 The location. For example, the executing entity can also be based on P. a1 The intersection of the line connecting the target lane group with the adjacent trajectory points outside the target lane group and the target lane group determines the auxiliary trajectory point P. i1 Location; according to P a2 The intersection of the line connecting the target lane group with the adjacent trajectory points outside the target lane group and the target lane group determines the auxiliary trajectory point P. i2 The location.

[0157] In some alternative implementations, the executing entity can also include P. a1 The perpendicular position of the end of the target lane group is used as the auxiliary trajectory point P. i1 The position; correspondingly, P a2 The perpendicular position of the end of the target lane group is used as the auxiliary trajectory point P. i2 The location. Additionally, the executing entity can construct auxiliary trajectory points through other feasible or more precise methods, which are not limited here.

[0158] In some optional implementations of the embodiments of this disclosure, multiple extension lines are constructed based on edge trajectory points and auxiliary trajectory points, including: constructing a first extension line along the width direction of the target lane group through auxiliary trajectory points, with the two ends of the first extension line extending beyond the two sides of the target lane group by a preset extension distance; and constructing a second extension line along the perpendicular direction or angle bisector direction of the edge trajectory point and the adjacent trajectory point through the edge trajectory point, with the two ends of the second extension line extending beyond the two sides of the target lane group by a preset extension distance.

[0159] In this implementation, the aforementioned execution entities utilize the auxiliary trajectory points constructed at both ends of the target lane group to construct corresponding first extension lines along the width direction of the target lane group. The construction of these first extension lines along the width direction of the target lane group effectively ensures that all areas within the target lane group are covered by the region between the two first extension lines, preventing any shape points from being missed and thus guaranteeing the relevance and completeness of the shape point data correction within the target lane group.

[0160] The aforementioned executing entity also utilizes each edge trajectory point to construct a second extension line along the perpendicular direction of the line connecting it to its adjacent trajectory points or along the angle bisector direction. Specifically, the second extension line is along the perpendicular direction of the line connecting the edge trajectory point to its adjacent trajectory point (e.g., ...). Figure 8 p in 1L p 1R and p 2L p 2R It can also be constructed along the angle bisector between the edge trajectory point and the adjacent trajectory point (e.g.) Figure 8 The angle shown (P) i1 P a1 P b1 ) and angle (P) b3 P a3 P i2 The direction of the angle bisector between the two lines can effectively ensure that the area covered by the second extension line is compatible with the direction and position of its actual driving trajectory points, thereby ensuring that the corresponding shape points within its coverage area are closer to the data of its actual driving trajectory, and thus improving the reliability of shape point correction.

[0161] It should be noted that in this scheme, both ends of the first and second extension lines extend beyond the preset extension distances on both sides of the target lane group (e.g., Figure 8 (The dashed lines at both ends of the target lane group shown) are used to ensure that the area enclosed by any two extension lines can cover all shape points within the target lane group corresponding to that area, and to avoid some shape points exceeding the edge of the target lane group and not being covered.

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

[0163] In some optional implementations of the embodiments of this disclosure, the reference trajectory points also include internal trajectory points located between two edge trajectory points, and multiple extension lines are constructed based on the reference trajectory points strung within the target lane group. The method further includes: constructing a third extension line along the angle bisector direction of the internal trajectory points, with the two ends of the third extension line extending beyond a preset extension distance on both sides of the target lane group.

[0164] Continue to refer to Figure 8 As shown, at the two edge trajectory points P a1 and P a2 This also includes the internal trajectory point P. b1 P b2 P b3 In this scheme, the extended line constructed by the aforementioned executing entity also includes a third extended line constructed using each internal trajectory point. This third extended line runs along the distance between the internal trajectory point and its adjacent trajectory points on either side (e.g., ...). 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 The third extension line is constructed along the angle bisector direction, and both ends of the third extension line also extend beyond the preset extension distances on both sides of the target lane group (e.g., Figure 8 (The dashed line portion outside the horizontal arrow shown).

[0165] This scheme constructs a third extension line between each internal trajectory point along the direction of the angle bisector between it and the adjacent trajectory point. The area between the two second extension lines is further divided according to the actual driving process of its reference trajectory string, thereby improving the shape point division results within the target lane group to better match the actual road conditions, and thus improving the accuracy and reliability of the shape point data correction.

[0166] Step S707: Construct a second reference plane based on two adjacent extension lines.

[0167] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown constructs a second reference plane between each pair of adjacent extension lines based on the multiple extension lines constructed in step S706.

[0168] For example, the aforementioned execution entity can construct a corresponding second reference surface based on the position coordinates of the endpoints and / or intersections of two adjacent extension lines.

[0169] In some alternative implementations, the aforementioned execution entity obtains the endpoint coordinates of each extension line, and then, using the coordinate information of the four endpoints of every two adjacent extension lines, constructs a second reference plane using the same or similar calculation formula as the first reference plane. For example, the mathematical expression for the second reference plane 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 using the coordinates of the four endpoints of two adjacent extension lines. T Thus, the accurate expression for the corresponding second reference surface is obtained.

[0172] In some optional implementations of the embodiments of this disclosure, constructing a second reference surface based on two adjacent extension lines includes: constructing a second reference surface based on the endpoints of the two adjacent extension lines in response to the fact that the two adjacent extension lines do not intersect on either side of the reference trajectory string; and constructing a second reference surface based on the intersection point of the two adjacent extension lines and its endpoint located on the other side of the reference trajectory string in response to the fact that the two adjacent extension lines intersect on one side of the reference trajectory string.

[0173] In this implementation, before constructing the second reference plane, the execution entity first confirms the intersection relationship between two adjacent extension lines, and then constructs the corresponding second reference plane based on their intersection relationship.

[0174] If no intersection occurs 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 second reference surface mentioned above, and the corresponding parameters are solved to obtain the expression of the second reference surface. The second reference surface constructed at this time is a curved surface.

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

[0176] f p (x,y)=a″x+b″y+c″

[0177] In this case, by simply selecting the coordinates of three points that are not on the same straight line on the two adjacent extension lines, the parameters a″, b″, and c″ can be solved, thereby obtaining the accurate expression of the second reference surface of the planar structure.

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

[0179] In this implementation, the corresponding second reference surface is determined based on the intersection relationship between two adjacent extension lines. This 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: Update the elevation values ​​of the target shape points within the target lane group according to the second reference surface.

[0181] In this embodiment of the disclosure, the entity executing the map data processing method is, for example... Figure 1 The server 103 shown updates the elevation values ​​of each target shape point within the target lane group based on the second reference surfaces constructed in step S707, thereby achieving data correction.

[0182] The purpose of constructing multiple extension lines and a second reference surface in this scheme is to update the elevation values ​​of each shape point within the target lane group based on the second reference surface, thereby correcting the shape point data within 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 this disclosure, updating the elevation value of the target shape point within the target lane group according to the second reference plane includes: determining the target shape point within the target lane group according to the coverage of the second reference plane; and updating the elevation value of the target shape point according to the projection relationship between the target shape point and the second reference plane.

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

[0185] Based on the constructed multiple second reference surfaces, this scheme corrects the target shape points within their respective projection ranges. This ensures that the corrected target shape point data within different ranges is closer to the actual driving road surface data, improving the reliability of the shape point data in the target lane group, thereby improving the reliability of the map data composed of the target lane group. Furthermore, by correcting through projection relationships, the data correction efficiency can be significantly improved.

[0186] In some optional implementations of the embodiments of this disclosure, updating the elevation value of the target shape point according to the projection relationship between the target shape point and the second reference surface includes: projecting the target shape point onto the second reference surface 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 this implementation, the execution entity projects all target shape points within the projection range of each second reference surface onto the second reference surface to obtain corresponding second projection points, based on the projection range of each second reference surface. Then, the elevation values ​​of each second projection point are used as the corrected elevation values ​​of the corresponding target shape points and updated accordingly, thereby achieving data correction for each target shape point.

[0188] This scheme expands and constructs a second reference surface based on the actual driving trajectory string. After projecting each target shape point onto the corresponding second reference surface, the elevation value is updated 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 within the target lane group, and significantly improve the data correction efficiency by correcting through projection relationships.

[0189] The map data processing method provided in this disclosure first determines the corresponding area to be processed based on the distribution of abnormal data within the lane group, and constructs a first reference surface. Based on this, the elevation values ​​of the shape points in the area to be processed and its surroundings are updated, thereby correcting the abnormal data and its associated data and achieving continuous, smooth, and stable data elevation values ​​in the driving direction of the lane group. Then, based on the actual driving reference trajectory string, the width direction of the target lane group is extended to construct a corresponding extension line and a second reference surface. This corrects the target shape points within the target lane group according to the actual driving reference trajectory points, making the data of each target shape point in the target lane group closer to the road surface data obtained from actual driving, thus improving the authenticity and reliability of the map data. This solution effectively improves data processing efficiency by constructing corresponding reference surfaces at different stages and updating the elevation values ​​of shape points according to projection relationships, while ensuring the correlation between processed data and improving the reliability of the processed data.

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

[0191] Reference Figure 9As shown, the map data processing apparatus 900 provided in this embodiment includes: a first determining module 901, a second determining module 902, a first constructing module 903, and a first updating module 904. The first determining module 901 is configured to determine the area to be processed in a lane group based on shape points within the lane group; the second determining module 902 is configured to determine multiple reference coordinate points based on shape points surrounding the area to be processed; the first constructing module 903 is configured to construct a first reference surface based on the coordinate information of the reference coordinate points; and the first updating module 904 is configured to update the elevation values ​​of the shape points within the lane group based on 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 in the map data processing device 900, and the resulting technical effects, can be referred to respectively. Figure 2 The relevant descriptions of steps S201-S204 in the corresponding embodiments will not be repeated here.

[0193] In some optional implementations of the embodiments of this disclosure, the first determining 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 abnormal shape points in the lane group based on the distance and / or slope; and determine the area to be processed based on the coordinate information of the abnormal shape points.

[0194] In some optional implementations of the embodiments of this disclosure, the first update module includes a first determining submodule and a first updating submodule. The first determining submodule is configured to determine a first shape point within the lane group based on the coverage area of ​​the first reference surface, wherein the first shape point is a shape point within the coverage area of ​​the first reference surface; the first updating submodule is configured to update the elevation value of the first shape point based on the projection relationship between the first shape point and the first reference surface.

[0195] In some optional implementations of the embodiments of this disclosure, the first update submodule is configured to: project the first shape point onto the first reference surface 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 embodiments of this disclosure, the first update module further includes: a second determining submodule and a second updating submodule. The second determining submodule is configured to determine a second shape point within the lane group based on the coverage area of ​​the first reference surface, wherein the second shape point is a shape point outside the coverage area 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 based on a preset longitudinal slope threshold.

[0197] In some optional implementations of embodiments of this disclosure, the second update submodule includes a determining unit and an updating unit. The determining unit is configured to determine edge shape points within the lane group based on the coverage area of ​​the first reference surface, wherein the edge shape points are shape points adjacent to the second shape point within the coverage area of ​​the first reference surface; the updating unit is configured to update the elevation value of the second shape point based on the distance between the second shape point and the edge shape point in response to the elevation gradient between the second shape point and the edge shape point being greater than a preset gradient threshold.

[0198] In some optional implementations of embodiments of this 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 within a first reference plane; the first updating subunit is configured to, based on the position information of the reference shape points, update the elevation value of the second shape point so that the elevation slope corresponding to the elevation value of the second shape point is not higher than a preset slope threshold.

[0199] In some optional implementations of the embodiments of this disclosure, the first update unit includes: a construction subunit, a second update subunit, and a third update 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 based on the preset auxiliary distance and a preset longitudinal slope threshold. The second update subunit is configured to, using the edge shape point as the updated reference shape point and the auxiliary shape point as the updated edge shape point, update the distance between the second shape point and the edge shape point. The third update subunit is configured to, in response to the updated distance between the second shape point and the edge shape point being less than or equal to a preset distance, update the elevation value of the second shape point based on the position information of the updated reference shape point.

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

[0201] In some optional implementations of the embodiments of this disclosure, the map data processing apparatus further includes a third determining module, a second constructing module, and a second updating module. The third determining module is configured to determine a target lane group to be processed based on a reference trajectory string, wherein the target lane group is a lane group that has been updated based on the elevation values ​​of shape points on a first reference surface. The second constructing module is configured to construct multiple extension lines based on the reference trajectory points within the target lane group. The third constructing module is configured to construct a second reference surface based on two adjacent extension lines. The second updating module is configured to update the elevation values ​​of target shape points within the target lane group based on the second reference surface.

[0202] In the map data processing apparatus 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 resulting technical effects, can be referred to respectively. Figure 7 The relevant descriptions of steps S705-S708 in the corresponding embodiments will not be repeated here.

[0203] In some optional implementations of the embodiments of this disclosure, the reference trajectory points include edge trajectory points and auxiliary trajectory points, and the second construction module includes a third determining submodule, a first construction submodule, and a second construction submodule. The third determining submodule is configured to, the first construction submodule is configured to, construct auxiliary trajectory points at both ends of the target lane group based on the edge trajectory points, and the second construction submodule is configured to, construct multiple extension lines based on the edge trajectory points and the auxiliary trajectory points.

[0204] In some optional implementations of the embodiments of this disclosure, the second construction submodule is configured to: construct a first extension line along the width direction of the target lane group using auxiliary trajectory points, with the two ends of the first extension line extending beyond the target lane group by a preset extension distance on both sides; and construct a second extension line along the perpendicular direction or angle bisector direction of the edge trajectory point and the adjacent trajectory point using the edge trajectory point, with the two ends of the second extension line extending beyond the target lane group by a preset extension distance on both sides.

[0205] In some optional implementations of this disclosure, the reference trajectory point further includes an internal trajectory point located 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 along the angle bisector direction of the internal trajectory point, with both ends of the third extension line extending beyond a preset extension distance on both sides of the target lane group.

[0206] In some optional implementations of embodiments of this disclosure, the third building module is configured to: construct a second reference surface based on the endpoints of the two adjacent extension lines in response to the fact that the two adjacent extension lines do not intersect on either side of the reference trajectory string; and construct a second reference surface based on the intersection point of the two adjacent extension lines and their endpoints located on the other side of the reference trajectory string in response to the fact that the two adjacent extension lines intersect on one side of the reference trajectory string.

[0207] In some optional implementations of the embodiments of this disclosure, the second update module includes: a fourth determining submodule and a third updating submodule, wherein the fourth determining 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 updating 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 this disclosure, the third update submodule is configured to: project the target shape point onto the second reference surface to obtain the 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 embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0210] Figure 10 A schematic block diagram of an example electronic device 1000 that can be used to implement embodiments 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 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

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

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

[0213] The computing unit 1001 can be various general-purpose and / or special-purpose 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 special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods and processes described above, such as map data processing methods. For example, in some embodiments, the map data processing method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1008. In some embodiments, part or all of the computer program may be loaded and / or installed on device 1000 via ROM 1002 and / or communication unit 1009. When the computer program is loaded into 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 perform map data processing methods by any other suitable means (e.g., by means of firmware).

[0214] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0215] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0216] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, 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 for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0218] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0219] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0220] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0221] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A map data processing method, comprising: The area to be processed in the lane group is determined based on the shape points within the lane group; Based on the shape points surrounding the area to be processed, multiple reference coordinate points are determined; Based on the coordinate information of the reference coordinate points, a first reference surface is constructed; Based on the first reference plane, update the elevation values ​​of the shape points within the lane group. The ordinate of each position within the first reference plane is the elevation value of each position on the corrected lane group plane corresponding to the area to be processed.

2. The method according to claim 1, wherein, The step of determining the area to be processed in the lane group based on shape points within the lane group includes: Along the extension direction of the lane group, obtain the distance and slope between adjacent shape points within the lane group; Based on the distance and / or the slope, determine the abnormal shape points within the lane group; The region to be processed is determined based on the coordinate information of the abnormal shape points.

3. The method according to claim 1, wherein, Updating the elevation values ​​of shape points within the lane group based on the first reference surface includes: Based on the coverage area of ​​the first reference surface, a first shape point within the lane group is determined, wherein the first shape point is a shape point within the coverage area of ​​the first reference surface; The elevation value of the first shape point is updated based on the projection relationship between the first shape point and the first reference surface.

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

5. The method according to claim 3, wherein, The step of updating the elevation values ​​of the shape points within the lane group based on the first reference surface further includes: Based on the coverage area of ​​the first reference surface, a second shape point is determined within the lane group. The second shape point is a shape point that is outside the coverage area of ​​the first reference surface and adjacent to the first shape point. The elevation value of the second shape point is updated according to the preset longitudinal slope threshold.

6. The method according to claim 5, wherein, The step of updating the elevation value of the second shape point according to the preset longitudinal slope threshold includes: Based on the coverage area of ​​the first reference surface, the edge shape points within the lane group are determined. The edge shape points are the shape points adjacent to the second shape points within the coverage area of ​​the first reference surface. In response to the elevation gradient between the second shape point and the edge shape point being greater than a preset gradient threshold, the elevation value of the second shape point is updated based on the distance between the second shape point and the edge shape point.

7. The method according to claim 6, wherein, The step of updating the elevation value of the second shape point based on the distance between the second shape point and the edge shape point includes: 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, a reference shape point adjacent to the edge shape point in the first reference plane is determined; Based on the location information of the reference shape point, the elevation value of the second shape point is updated so that the elevation slope corresponding to the elevation value of the second shape point is not higher than the preset slope threshold.

8. The method according to claim 6, wherein, The step of updating the elevation value of the second shape point based on the distance between the second shape point and the edge shape point includes: In response to the distance between the second shape point and the edge shape point being greater than a preset auxiliary distance, an auxiliary shape point is constructed based on the preset auxiliary distance and a preset longitudinal slope threshold. Use the edge shape point as the updated reference shape point, use the auxiliary shape point as the updated edge shape point, and update the distance between the second shape point and the edge shape point; In response to the updated distance between the second shape point and the edge shape point 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 based on a preset auxiliary distance and a preset longitudinal slope threshold includes: The construction direction of the auxiliary shape points is determined based on the edge shape points and the 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 1-9, further comprising: Based on the reference trajectory string, the target lane group to be processed is determined, which is the lane group that has been updated based on the elevation values ​​of the shape points of the first reference surface. Based on the reference trajectory points within the target lane group, construct multiple extension lines; Construct a second reference plane based on two adjacent extension lines; Update the elevation values ​​of the target shape points within the target lane group based on the second reference plane.

11. The method according to claim 10, wherein, The reference trajectory points include edge trajectory points and auxiliary trajectory points, and The step of constructing multiple extension lines based on the reference trajectory points within the target lane group using the reference trajectory string includes: Based on the edge trajectory points, auxiliary trajectory points are constructed at both ends of the target lane group; Multiple extension lines are determined based on the edge trajectory points and the auxiliary trajectory points.

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

13. The method according to claim 11 or 12, wherein, The reference trajectory point also includes an internal trajectory point located between the two edge trajectory points, and The step of constructing multiple extension lines based on the reference trajectory points within the target lane group according to the reference trajectory string also includes: Along the angle bisector direction of the internal trajectory points, a third extension line is constructed through the internal trajectory points, with both ends of the third extension line extending beyond the predetermined extension distances on both sides of the target lane group.

14. The method of claim 10, wherein, The construction of a second reference plane based on two adjacent extension lines includes: In response to the fact that two adjacent extension lines do not intersect on either side of the reference trajectory string, a second reference surface is constructed based on the endpoints of the two adjacent extension lines; In response to the intersection of the two adjacent extension lines on one side of the reference trajectory string, a second reference surface is constructed based on the intersection point of the two adjacent extension lines and their endpoints on the other side of the reference trajectory string.

15. The method according to claim 10, wherein, Updating the elevation values ​​of the target shape points within the target lane group based on the second reference surface includes: Based on the coverage area of ​​the second reference surface, the target shape points within the target lane group are determined; The elevation value of the target shape point is updated based on the projection relationship between the target shape point and the second reference surface.

16. The method according to claim 15, wherein, The step of updating the elevation value of the target shape point based on the projection relationship between the target shape point and the second reference surface includes: The target shape point is projected onto the second reference surface to obtain the corresponding second projection point; The elevation value of the target shape point is updated based on the coordinate information of the second projection point.

17. A map data processing apparatus, comprising: The first determining module is configured to determine the area to be processed in the lane group based on shape points within the lane group; The second determining module is configured to determine multiple reference coordinate points based on shape points around the area to be processed; The first construction module is configured to construct a first reference surface based on the coordinate information of the reference coordinate points; The first update module is configured to update the elevation values ​​of shape points within the lane group based on the first reference surface, wherein the ordinate of each position within the first reference surface is the elevation value of each position on the corrected lane group plane corresponding to the area to be processed.

18. The apparatus according to claim 17, wherein, The first determining module is configured as follows: Along the extension direction of the lane group, obtain the distance and slope between adjacent shape points within the lane group; Based on the distance and / or the slope, determine the abnormal shape points within the lane group; The region to be processed is determined based on the coordinate information of the abnormal shape points.

19. The apparatus according to claim 17, wherein, The first update module includes: The first determining submodule is configured to determine a first shape point within the lane group based on the coverage area of ​​the first reference surface, wherein the first shape point is a shape point within the coverage area of ​​the first reference surface; The first update submodule is configured to update the elevation value of the first shape point based on the projection relationship between the first shape point and the first reference surface.

20. The apparatus according to claim 19, wherein, The first update submodule is configured as follows: Project the first shape point onto the first reference surface to obtain the corresponding projection point; The elevation value of the first shape point is updated based on the coordinate information of the projection point.

21. The apparatus according to claim 19, wherein, The first update module also includes: The second determining submodule is configured to determine a second shape point within the lane group based on the coverage area of ​​the first reference surface, wherein the second shape point is a shape point outside the coverage area of ​​the first reference surface that is adjacent to the first shape point; The second update submodule is configured to update the elevation value of the second shape point according to a preset longitudinal slope threshold.

22. The apparatus according to claim 21, wherein, The second update submodule includes: The determining unit is configured to determine edge shape points within the lane group based on the coverage area of ​​the first reference surface, wherein the edge shape points are shape points adjacent to the second shape points within the coverage area of ​​the first reference surface; The update unit is configured to update the elevation value of the second shape point based on the distance between the second shape point and the edge shape point in response to the elevation gradient between the second shape point and the edge shape point being greater than a preset gradient threshold.

23. The apparatus according to claim 22, wherein, The update unit includes: The sub-unit is configured to determine a reference shape point adjacent to the edge shape point within the first reference plane 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. The first update 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 slope corresponding to the elevation value of the second shape point is not higher than a preset slope threshold.

24. The apparatus according to claim 22, wherein, The update unit includes: A sub-unit is constructed, configured to construct an auxiliary shape point based on the preset auxiliary distance and a preset longitudinal slope threshold in response to the distance between the second shape point and the edge shape point being greater than a preset auxiliary distance; The second update subunit is configured to use the edge shape point as the updated reference shape point, the auxiliary shape point as the updated edge shape point, and update the distance between the second shape point and the edge shape point; The third update subunit is configured to update the elevation value of the second shape point according to the position information of the updated reference shape point in response to the updated distance between the second shape point and the edge shape point being less than or equal to a preset distance.

25. The apparatus according to claim 24, wherein, The building subunit is configured as follows: The construction direction of the auxiliary shape points is determined based on the edge shape points and the 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 17-25, further comprising: The third determining module is configured to determine the target lane group to be processed based on the reference trajectory string, wherein the target lane group is a lane group that has been updated based on the elevation values ​​of the shape points of the first reference surface. The second construction module is configured to construct multiple extension lines based on the reference trajectory points within the target lane group of the reference trajectory string; The third building module is configured to build a second reference plane based on two adjacent extension lines; The second update module is configured to update the elevation values ​​of target shape points within the target lane group based on the second reference surface.

27. The apparatus according to claim 26, wherein, The reference trajectory points include edge trajectory points and auxiliary trajectory points, and The second building module includes: The first construction submodule is configured to construct auxiliary trajectory points at both ends of the target lane group based on the edge trajectory points; The second construction submodule is configured to construct multiple extension lines based on the edge trajectory points and the auxiliary trajectory points.

28. The apparatus 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 the two ends of the first extension line extend beyond the two sides of the target lane group by a preset extension distance. A second extension line is constructed along the perpendicular direction or angle bisector direction between the edge trajectory point and the adjacent trajectory point, and the two ends of the second extension line extend beyond the predetermined extension distance on both sides of the target lane group.

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

30. The apparatus according to claim 26, wherein, The third building module is configured as follows: In response to the fact that two adjacent extension lines do not intersect on either side of the reference trajectory string, a second reference surface is constructed based on the endpoints of the two adjacent extension lines; In response to the intersection of the two adjacent extension lines on one side of the reference trajectory string, a second reference surface is constructed based on the intersection point of the two adjacent extension lines and their endpoints on the other side of the reference trajectory string.

31. The apparatus according to claim 26, wherein, The second update module includes: The fourth determining submodule is configured to determine the target shape points within the target lane group based on the coverage area of ​​the second reference surface; 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.

32. The apparatus according to claim 31, wherein, The third update submodule is configured as follows: The target shape point is projected onto the second reference surface to obtain the corresponding second projection point; The elevation value of the target shape point is updated based on the coordinate information of the second projection point.

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 to enable the at least one processor to perform the method of any one of claims 1-16.

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

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

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