Intersection functional surface generation method, electronic map making method and related devices

Abstract

The invention provides an intersection function surface generation method, an electronic map making method and a related device, and relates to the technical field of intelligent traffic. According to the intersection functional surface generation method, road related data of an intersection with a to-be-generated functional surface is obtained, spatial position relation calculation is carried out according to the road related data to generate intersection functional surface elements of the intersection with the to-be-generated functional surface, and the intersection functional surface elements are further connected in sequence to obtain the intersection functional surface of the intersection with the to-be-generated functional surface. According to the method, the spatial position relation of the road related data is calculated, the intersection functional surface elements are automatically generated, the workload of manual judgment, drawing and data adjustment is reduced, and the manufacturing efficiency of the intersection functional surface is improved.

Description

[0001] This application is a divisional application. The application number of the original application is 202411075814.1, and the original application date is August 7, 2024. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of intelligent transportation technology, and in particular to a method for generating a functional surface of an intersection, a method for producing an electronic map, and related devices. Background Art

[0003] At present, some roads, such as intersections, have no actual ground markings, diverse road directions, unclear road boundaries, and mixed traffic of motor vehicles, pedestrians, and non-motor vehicles, which increases the difficulty and challenge for autonomous vehicles to judge. Therefore, in order to provide sufficient road data for autonomous vehicles and assist in the autonomous driving of vehicles on the road, in addition to marking the lane connection data information on these roads, it is also particularly important to clearly express the boundaries of the road, so as to accurately judge whether the vehicle has entered the road area based on the boundaries of the road and ensure that the autonomous vehicle drives safely within the road range.

[0004] In the related art, in the data production of electronic maps such as high-definition maps and standard-definition maps, the intersection functional surface is generated by manual drawing. Specifically, the relationship between the intersection and the road section, the spatial position of the intersection boundary, etc. are manually determined, and based on the relationship between the intersection and the road section, the spatial position of the intersection boundary, etc., the intersection functional surface is manually drawn in 3D mode, which has the problem of low working efficiency. Summary of the invention

[0005] The present application provides a method for generating a functional surface of an intersection, a method for producing an electronic map and related devices, so as to solve the problem of low efficiency in the related art when manually drawing the functional surface of an intersection in a 3D mode.

[0006] In a first aspect, the present application provides a method for generating a functional surface at an intersection, comprising: obtaining road-related data of an intersection at which a functional surface is to be generated; calculating spatial position relationships based on the road-related data to generate intersection functional surface elements of the intersection at which a functional surface is to be generated; and connecting the intersection functional surface elements in sequence to obtain the intersection functional surface of the intersection at which a functional surface is to be generated.

[0007] In a possible implementation, the spatial position relationship is calculated based on the road-related data to generate the intersection functional surface elements of the functional surface intersection to be generated, including:

[0008] The response road related data includes the first section data of entering the intersection and the second section data of exiting the intersection. The spatial position relationship is calculated based on the first section data and the second section data to generate the intersection functional surface elements of the functional surface intersection to be generated; the response road related data also includes the intersection data that has been produced in the intersection of the functional surface to be generated. The spatial position relationship is calculated based on the first section data, the second section data and the intersection data to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0009] In a possible implementation, the intersection functional surface elements include the endpoints adjacent to the intersection of the functional surface to be generated and the physical isolation points corresponding to the data in the intersection, the data in the intersection includes the physical isolation objects and / or obstacles at the intersection, and the spatial position relationship is calculated according to the road-related data to generate the intersection functional surface elements of the intersection of the functional surface to be generated, including:

[0010] If the data in the intersection only includes physical isolation objects at the intersection, then a physical isolation point is generated that completely overlaps with the point on the physical isolation line corresponding to the physical isolation object at the intersection;

[0011] If the data in the intersection only includes obstacles, physical isolation points are generated according to the endpoints and obstacles of the intersection of the functional surface to be generated;

[0012] If the data within the intersection includes physical isolation objects and obstacles at the intersection, a physical isolation point is generated based on the spatial position relationship between the physical isolation objects and obstacles at the intersection.

[0013] In one possible implementation, a physical isolation point is generated based on the endpoints and obstacles of the functional surface intersection to be generated, including: determining the endpoint closest to the obstacle as the target endpoint; taking the target endpoint as the starting point, drawing a perpendicular line to the obstacle to obtain the vertical intersection of the perpendicular line and the obstacle; generating a physical isolation point based on the vertical intersection and the point on the physical isolation line corresponding to the obstacle adjacent to the functional surface intersection to be generated.

[0014] In one possible implementation, a physical isolation point is generated based on the spatial position relationship between the physical isolation object and the obstacle at the intersection, including: determining whether a first distance is less than a second distance based on the spatial position relationship between the physical isolation object and the obstacle at the intersection, the first distance being the relative distance between the physical isolation object at the intersection and the functional surface intersection to be generated, and the second distance being the relative distance between the obstacle and the functional surface intersection to be generated; if the first distance is less than the second distance, a physical isolation point is generated that completely overlaps with the point on the physical isolation line corresponding to the physical isolation object at the intersection; if the first distance is greater than the second distance, a physical isolation point is generated based on the endpoints of the functional surface intersection to be generated and the obstacle.

[0015] In one possible implementation, when the road-related data includes uneven lanes or stepped stop lines, the endpoints of the functional surface intersection to be generated are generated in the following manner: selecting a target lane group from the uneven lanes or stepped stop lines; determining a point in the target lane group that is adjacent to the functional surface intersection to be generated, and generating an endpoint that completely overlaps with the point.

[0016] In a possible implementation, the first road section data includes a road section physical isolation object and a lane separation line, and / or the second road section data includes a road section physical isolation object and a lane separation line, and the spatial position relationship is calculated based on the first road section data and the second road section data to generate the intersection functional surface element of the functional surface intersection to be generated, and further includes:

[0017] The response road section physical isolation object is drawn in the air, and the road section physical isolation object is vertically projected to obtain the target road section physical isolation object that is coplanar with the lane separation line; the spatial position relationship is calculated based on the target road section physical isolation object and the lane separation line to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0018] In a second aspect, the present application provides an electronic map drawing method, comprising: obtaining an intersection functional surface of a target intersection, the intersection functional surface being generated according to the method provided in the first aspect;

[0019] Visually render the functional surface of the intersection and obtain the electronic map data corresponding to the target intersection.

[0020] In a third aspect, the present application provides a device for generating an intersection functional surface, comprising: an acquisition module for acquiring road-related data of an intersection of a functional surface to be generated; a generation module for calculating spatial position relationships based on the road-related data to generate intersection functional surface elements of the intersection of the functional surface to be generated; and a connection module for connecting the intersection functional surface elements in sequence to obtain the intersection functional surface of the functional surface intersection to be generated.

[0021] In one possible implementation, the generation module is specifically used to: respond to the road-related data including the first section data for entering the intersection and the second section data for exiting the intersection, perform spatial position relationship calculation based on the first section data and the second section data to generate the intersection functional surface elements of the functional surface intersection to be generated; respond to the road-related data also including the intersection data that has been produced in the intersection of the functional surface to be generated, perform spatial position relationship calculation based on the first section data, the second section data and the intersection data to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0022] In one possible implementation, the intersection functional surface elements include the endpoints of the intersection adjacent to the functional surface to be generated and the physical isolation points corresponding to the data within the intersection, the data within the intersection includes the physical isolation objects and / or obstacles at the intersection, and the generation module is also used to: when the data within the intersection only includes the physical isolation objects at the intersection, generate physical isolation points that completely overlap with the points on the physical isolation line corresponding to the physical isolation objects at the intersection; when the data within the intersection only includes obstacles, generate physical isolation points based on the endpoints and obstacles of the functional surface intersection to be generated; when the data within the intersection includes the physical isolation objects and obstacles at the intersection, generate physical isolation points based on the spatial position relationship between the physical isolation objects and the obstacles at the intersection.

[0023] In one possible implementation, the generation module is also used to: determine the endpoint closest to the obstacle as the target endpoint; draw a perpendicular line to the obstacle with the target endpoint as the starting point to obtain the vertical intersection of the perpendicular line and the obstacle; generate a physical isolation point based on the vertical intersection and the point on the physical isolation line corresponding to the obstacle near the functional surface intersection to be generated.

[0024] In one possible implementation, the generation module is also used to: determine whether the first distance is less than the second distance based on the spatial position relationship between the physical isolation object at the intersection and the obstacle, the first distance being the relative distance between the physical isolation object at the intersection and the functional surface intersection to be generated, and the second distance being the relative distance between the obstacle and the functional surface intersection to be generated; if the first distance is less than the second distance, then generate a physical isolation point that completely overlaps with the point on the physical isolation line corresponding to the physical isolation object at the intersection; if the first distance is greater than the second distance, then generate a physical isolation point based on the endpoints of the functional surface intersection to be generated and the obstacle.

[0025] In one possible implementation, when the road-related data includes uneven lanes or stepped stop lines, the endpoints of the functional surface intersection to be generated are generated in the following manner: selecting a target lane group from the uneven lanes or stepped stop lines; determining a point in the target lane group that is adjacent to the functional surface intersection to be generated, and generating an endpoint that completely overlaps with the point.

[0026] In one possible implementation, the first road section data includes a road section physical isolation object and a lane separation line, and / or the second road section data includes a road section physical isolation object and a lane separation line, and the generation module is also used to: when the road section physical isolation object is drawn in the air, vertically project the road section physical isolation object to obtain a target road section physical isolation object that is coplanar with the lane separation line; calculate the spatial position relationship based on the target road section physical isolation object and the lane separation line to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0027] In a fourth aspect, the present application provides an electronic map making device, comprising:

[0028] An acquisition module, used to acquire a functional surface of a target intersection, where the functional surface is generated according to the method provided in the first aspect;

[0029] The rendering module is used to perform visual rendering on the functional surface of the intersection and obtain the electronic map data corresponding to the target intersection.

[0030] In a fifth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the intersection functional surface generation method provided in the first aspect, or to implement the electronic map production method provided in the second aspect.

[0031] In a sixth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the intersection functional surface generation method provided in the first aspect, or to implement the electronic map production method provided in the second aspect.

[0032] In a seventh aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for generating a functional surface of an intersection as provided in the first aspect, or implements the method for producing an electronic map as provided in the second aspect.

[0033] The method for generating a functional surface of an intersection, the method for making an electronic map, and related devices provided by the present application obtain road-related data of the functional surface intersection to be generated, and calculate the spatial position relationship based on the road-related data to generate the functional surface elements of the intersection to be generated, and further connect the functional surface elements of the intersection in sequence to obtain the functional surface of the intersection to be generated. The present application automatically generates the functional surface elements of the intersection by calculating the spatial position relationship of the road-related data, reduces the workload of manual judgment, drawing, and data adjustment, and improves the production efficiency of the functional surface of the intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 Schematic diagram of the process of generating the functional surface of the intersection provided in the embodiment of the present application Figure 1 ;

[0036] Figure 2 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 1 ;

[0037] Figure 3A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 2 ;

[0038] Figure 4 Schematic diagram of the process of generating the functional surface of the intersection provided in the embodiment of the present application Figure 2 ;

[0039] Figure 5 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 3 ;

[0040] Figure 6 Schematic diagram of the process of generating the functional surface of the intersection provided in the embodiment of the present application Figure 3 ;

[0041] Figure 7 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 4 ;

[0042] Figure 8 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 5 ;

[0043] Fig. 9 A flowchart of the electronic map production method provided in an embodiment of the present application;

[0044] Fig.10 A schematic diagram of the structure of a device for generating a functional surface of an intersection provided in an embodiment of the present application;

[0045] Fig.11 A schematic diagram of the structure of an electronic map making device provided in one embodiment of the present application;

[0046] Fig.12 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application.

[0047] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] In the related art, the method for generating the functional surface of an intersection mainly uses a platform element drawing tool to manually judge the relationship between the intersection and the road section, as well as the spatial position of the intersection boundary, according to the intersection scene, and based on the relationship between the intersection and the road section, as well as the spatial position of the intersection boundary, manually draw the functional surface of the intersection in 3D mode. During the drawing process, it is necessary to consider the accuracy of the intersection functional surface and the road section as well as the spatial position of the intersection boundary, such as the plane position X\Y accuracy and the height Z accuracy. There are problems of low operating efficiency and difficult data adjustment.

[0050] Based on the problems existing in the related technology, the embodiment of the present application combines the road section data entering the intersection, the road section data exiting the intersection and the data within the intersection, and automatically generates the functional surface elements of the intersection through spatial calculation, thereby reducing the workload of manual judgment, drawing and data adjustment, and improving the production efficiency of the functional surface of the intersection.

[0051] The method for generating a functional surface of an intersection provided in the embodiment of the present application is applicable to scenes such as level crossings, road section change areas, and road section entrances and exits, etc. Among them, the level crossing can be a level crossing in an urban road, etc.

[0052] The following is a detailed description of the method for generating a functional surface at an intersection provided in an embodiment of the present application in conjunction with a specific embodiment.

[0053] Figure 1 Schematic diagram of the process of generating the functional surface of the intersection provided in the embodiment of the present application Figure 1 .like Figure 1 As shown, the method for generating a functional surface of an intersection includes the following steps:

[0054] S101, obtaining road-related data of the functional surface intersection to be generated.

[0055] Exemplarily, the functional surface intersection to be generated may be a level crossing, a road section change area, a road section entrance and exit, and the like.

[0056] Exemplarily, the road-related data may include first section data for entering an intersection, second section data for exiting an intersection, and already created intersection data for an intersection with a functional surface to be generated.

[0057] Exemplarily, the first road section data and the second road section data may be lane separation lines, road section physical separation objects, lane types, and physical separation lines corresponding to road section physical separation objects, etc.; the intersection data may be intersection physical separation objects, obstacles, physical separation lines corresponding to intersection physical separation objects, and physical separation lines corresponding to obstacles, etc., in the intersection of the functional surface to be generated. Among them, the road section physical separation objects may be fences and curbstones, etc.

[0058] Illustratively, lane dividers and physical separation lines include different points.

[0059] For example, the position coordinates of the point corresponding to the lane separation line can be expressed as (x, y); the position coordinates of the point corresponding to the physical separation line of the road section can be expressed as (x, y) and (x, y, z), etc.

[0060] It is understandable that, according to the relevant specifications in map drawing, when the height of the physical isolation objects of the road section drawn in the map database table exceeds a certain threshold, they can be drawn in the air.

[0061] In this step, in a possible implementation, road-related data of the functional surface intersection to be generated is obtained from a map database.

[0062] S102, calculating the spatial position relationship based on the road-related data to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0063] Exemplarily, when the road-related data only includes the first road section data and the second road section data, the intersection functional surface element may include an endpoint adjacent to the functional surface intersection to be generated.

[0064] Exemplarily, when the road-related data is lane separators, the positional relationship of the lane separators in the road section can be determined based on each lane separator in the road section, and the spatial positional relationship of different points on each lane separator can be determined based on the position coordinates of different points on the lane separators, and an endpoint that completely overlaps with the point on the lane separator line adjacent to the functional surface intersection to be generated is generated, and the endpoint is used as the intersection functional surface element corresponding to the lane separator.

[0065] Exemplarily, when the road-related data is a physical isolation object of a road section, the spatial position relationship of the points on the physical isolation line of the road section can be determined according to the position coordinates of the points on the physical isolation line corresponding to the physical isolation object of the road section, so as to generate an endpoint that completely overlaps with the point on the physical isolation line adjacent to the functional surface intersection to be generated, and use the endpoint as the intersection functional surface element corresponding to the physical isolation object of the road section.

[0066] It should be noted that the endpoint near the intersection of the functional surface to be generated is a point whose coordinates completely overlap with the point on the lane separation line near the intersection of the functional surface to be generated, and a point whose coordinates completely overlap with the point on the physical isolation line corresponding to the physical isolation object of the road section near the intersection of the functional surface to be generated.

[0067] Figure 2 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 1 .like Figure 2As shown in the figure, the gray solid line 21 represents the physical isolation line corresponding to the physical isolation object of the road section, the black dotted line 22 and the black solid line 23 represent the lane separation lines in the road section, the white dots represent the endpoints of the physical isolation lines corresponding to the physical isolation objects of the road section that are adjacent to the functional surface intersection to be generated, and the black dots represent the endpoints of the lane separation lines that are adjacent to the functional surface intersection to be generated.

[0068] It should be noted that Figure 2 Only some of the functional surface elements of the intersection are shown in the figure. Other functional surface elements of the intersection are Figure 2 It is similar to what has been shown in , and will not be repeated here.

[0069] It is understandable that if Figure 2 As shown, when there are no physical isolation objects and obstacles in the functional surface intersection to be generated, the intersection functional surface elements are the endpoints of the functional surface intersection to be generated based on the first road section data entering the intersection, and the endpoints of the functional surface intersection to be generated based on the second road section data exiting the intersection.

[0070] Exemplarily, the first road section data may be data corresponding to the road section where the vehicle is located when the vehicle enters the intersection of the functional surface to be generated, and the second road section data may be data corresponding to the road section where the vehicle is located when the vehicle exits the intersection of the functional surface to be generated.

[0071] S103, connecting the functional surface elements of the intersection in sequence to obtain the functional surface of the intersection to be generated.

[0072] For example, the functional elements of the intersection are as described above. Figure 2 The white and black dots shown in .

[0073] In a possible implementation, the functional surface elements of the intersection are connected in a clockwise or counterclockwise order, such as Figure 2 The white dots and black dots shown in the figure are used to obtain the intersection functional surface of the functional surface intersection to be generated.

[0074] For example, the functional surface of the intersection can be Figure 2 The polygon 24 is shown in FIG.

[0075] Exemplarily, the type of the intersection functional surface of the functional surface intersection to be generated can be set by default to the intersection functional surface attribute information.

[0076] In the embodiment of the present application, the road-related data of the functional surface intersection to be generated are obtained, and the spatial position relationship calculation is performed based on the road-related data to generate the intersection functional surface elements of the functional surface intersection to be generated, and the intersection functional surface elements are further connected in sequence to obtain the intersection functional surface of the functional surface intersection to be generated. In the embodiment of the present application, the spatial position relationship calculation is performed on the road-related data to automatically generate the intersection functional surface elements, reduce the workload of manual judgment, drawing and data adjustment, and improve the production efficiency of the intersection functional surface.

[0077] It should be noted that after the intersection functional surface is generated based on the intersection functional surface generation method provided in the embodiment of the present application, in order to ensure the accuracy of the intersection functional surface, the intersection functional surface is further verified manually, and when it is determined that the intersection functional surface is completely correct, the intersection functional surface is written back into the database; when there are partial errors in the intersection functional surface, it is manually edited and modified, and the modified intersection functional surface is written back into the database; when the intersection functional surface does not meet the quality requirements, the intersection functional surface elements of the functional surface intersection to be generated by calculating the spatial position relationship based on the road-related data are revoked, and the road-related data input into the functional surface intersection to be generated is manually corrected to call the intersection functional surface generation again.

[0078] Optionally, the road-related data also includes the intersection data that has been produced in the intersection of the functional surface to be generated, and the intersection functional surface element also includes the physical isolation points corresponding to the intersection data.

[0079] In a possible implementation, the specific implementation of step S102 of calculating the spatial position relationship according to the road-related data to generate the intersection functional surface elements of the functional surface intersection to be generated may be:

[0080] The response road related data includes the first section data of entering the intersection and the second section data of exiting the intersection. The spatial position relationship is calculated based on the first section data and the second section data to generate the intersection functional surface elements of the functional surface intersection to be generated; the response road related data also includes the intersection data that has been produced in the intersection of the functional surface to be generated. The spatial position relationship is calculated based on the first section data, the second section data and the intersection data to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0081] Among them, the specific implementation method of calculating the spatial position relationship based on the first road section data and the second road section data to generate the intersection functional surface elements of the functional surface intersection to be generated is similar to the above and will not be repeated here.

[0082] The following describes a method for calculating the spatial position relationship of the data within the intersection to generate physical isolation points corresponding to the data within the intersection of the functional surface to be generated.

[0083] Exemplarily, the data within the intersection may be physical isolation objects, obstacles, physical isolation lines corresponding to the physical isolation objects, physical isolation lines corresponding to the obstacles, etc. within the intersection.

[0084] Exemplarily, the physical isolation point corresponding to the data in the intersection may be a point on the physical isolation line corresponding to the physical isolation object of the intersection, and / or a point on the physical isolation line corresponding to the obstacle.

[0085] In one possible implementation, when the data in the intersection is a physical isolation object of the intersection, a physical isolation point that completely overlaps with the point on the physical isolation line can be generated based on the spatial position relationship between different points on the physical isolation line corresponding to the physical isolation object of the intersection, and the physical isolation point can be used as the intersection functional surface element corresponding to the physical isolation object of the intersection; when the data in the intersection is an obstacle, a physical isolation point that completely overlaps with the point on the physical isolation line can be generated based on the spatial position relationship between different points on the physical isolation line corresponding to the obstacle, and the physical isolation point can be used as the intersection functional surface element corresponding to the obstacle.

[0086] It can be understood that in some intersection scenarios, in addition to the first section data entering the intersection and the second section data exiting the intersection, it also includes data within the intersection, and the data within the intersection includes physical isolation objects and / or obstacles at the intersection. The following describes in detail the specific implementation method of the intersection functional surface generation method provided in the embodiment of the present application when the functional surface intersection to be generated contains physical isolation objects and / or obstacles at the intersection.

[0087] It can be understood that, in the intersection scene, the intersection functional surface elements include the endpoints adjacent to the functional surface intersection to be generated and the physical isolation points corresponding to the data within the intersection.

[0088] Optionally, the data within the intersection includes physical isolation objects and / or obstacles at the intersection. In this scenario, step S102 calculates the spatial position relationship based on the road-related data to generate the intersection functional surface elements of the functional surface intersection to be generated. The specific implementation method can be: if the data within the intersection only includes the physical isolation objects at the intersection, then a physical isolation point is generated that completely overlaps with the point on the physical isolation line corresponding to the physical isolation objects at the intersection; if the data within the intersection only includes obstacles, then a physical isolation point is generated based on the endpoints and obstacles of the functional surface intersection to be generated; if the data within the intersection includes the physical isolation objects and obstacles at the intersection, then a physical isolation point is generated based on the spatial position relationship between the physical isolation objects and the obstacles.

[0089] Combine the following Figure 3 In the scenario where the data within the intersection only includes physical isolation objects at the intersection, the method for determining the physical isolation points corresponding to the physical isolation objects at the intersection is explained.

[0090] Figure 3A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, Figure 3 a represents the road-related data of the functional surface intersection to be generated. Figure 3 b represents the intersection functional surface containing the road-related data of the intersection to be generated. Figure 3 The grey line 31 shown in a represents the physical isolation line corresponding to the physical isolation object at the intersection. Figure 3 The thick grey solid line 32 shown in b represents the corresponding physical isolation line in the functional surface of the intersection, the polygonal area 33 represents the functional surface of the intersection, the grey dots represent the physical isolation points, the black dots represent the endpoints of the functional surface intersection to be generated in the lane separation line that completely overlap with the points adjacent to the functional surface intersection to be generated, and the white dots represent the endpoints of the functional surface intersection to be generated in the physical isolation line corresponding to the physical isolation object of the road section that completely overlap with the points adjacent to the functional surface intersection to be generated.

[0091] from Figure 3 It can be seen from a that the road-related data of the functional surface intersection to be generated includes the first section data of the entrance to the intersection, the second section data of the exit from the intersection, and the physical isolation object of the intersection. Figure 2 Similar, no further description is given here.

[0092] like Figure 3 As shown, when the data within the intersection only includes physical isolation objects at the intersection, physical isolation points that completely overlap with the points on the physical isolation line corresponding to the physical isolation objects at the intersection are generated based on the points on the physical isolation line corresponding to the physical isolation objects at the intersection, and the physical isolation points are connected to obtain a line with the same curvature as the physical isolation line corresponding to the physical isolation objects at the intersection.

[0093] like Figure 3 As shown in b, the functional surface elements of the intersection, namely the physical isolation points and the endpoints adjacent to the intersection of the functional surface to be generated, the endpoints adjacent to the intersection of the functional surface to be generated, the points in the lane separation lines in the road section adjacent to the intersection of the functional surface to be generated, and the points in the physical isolation lines corresponding to the physical isolation objects of the road section adjacent to the intersection of the functional surface to be generated completely overlap, and the physical isolation points completely overlap with the points on the physical isolation lines corresponding to the physical isolation objects of the intersection, so as to realize the bite of the functional surface elements of the intersection with the lane separation lines, the physical isolation objects of the road section, and the endpoints of the physical isolation objects of the intersection.

[0094] It is understandable that if Figure 3 As shown in b, the physical isolation points and the endpoints adjacent to the functional surface intersection to be generated are connected in sequence to obtain the road-related data of the functional surface intersection to be generated, including the first section data entering the intersection, the second section data exiting the intersection, and the intersection functional surface 33 under the intersection physical isolation object scenario.

[0095] Combine the following Figure 4 When the data in the intersection only includes obstacles, the specific implementation method of generating physical isolation points based on the endpoints and obstacles of the functional surface intersection to be generated is explained.

[0096] Figure 4 Schematic diagram of the process of generating the functional surface of the intersection provided in the embodiment of the present application Figure 2 .like Figure 4 As shown, according to the endpoints and obstacles of the functional surface intersection to be generated, the specific implementation method of generating the physical isolation point may include the following steps:

[0097] S401, determining the endpoint closest to the obstacle as the target endpoint.

[0098] In one possible implementation, when the first road section data entering the intersection or the second road section data exiting the intersection contains both lane separators and section physical isolation objects, the endpoint on the physical isolation line corresponding to the section physical isolation object that is adjacent to the functional surface intersection to be generated is used as the target endpoint; when the first road section data entering the intersection or the second road section data exiting the intersection only contains lane separators, the endpoint on the outermost lane separator line of the section that is adjacent to the functional surface intersection to be generated is used as the target endpoint.

[0099] Figure 5 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 3 . Figure 5 a represents the road-related data of the functional surface intersection to be generated. Figure 5 b represents the intersection functional surface containing the road-related data of the intersection to be generated. Figure 5 The polygonal area 51 shown in a represents the boundary range of the physical isolation line corresponding to the obstacle, and the gray part 52 represents the obstacle. Figure 5 The white dots in b indicate the target endpoints.

[0100] S402, taking the target endpoint as the starting point, draw a perpendicular line to the obstacle to obtain a vertical intersection point between the perpendicular line and the obstacle.

[0101] like Figure 5 As shown in b, the black dots indicate the vertical intersection points.

[0102] S403, generating physical isolation points according to the vertical intersection points and the points on the physical isolation line corresponding to the obstacles adjacent to the functional surface intersection to be generated.

[0103] like Figure 5 As shown in a, the black line 53 represents the physical isolation line corresponding to the obstacle near the intersection of the functional surface to be generated.

[0104] In a possible implementation, a physical isolation point is generated that completely overlaps with the vertical intersection, and a physical isolation point is generated that completely overlaps with a point on the physical isolation line corresponding to an obstacle adjacent to the functional surface intersection to be generated.

[0105] like Figure 5 As shown in b, the functional surface elements of the intersection, namely the physical isolation points and the endpoints adjacent to the intersection of the functional surface to be generated, the endpoints adjacent to the intersection of the functional surface to be generated, the points in the lane separation lines in the road section adjacent to the intersection of the functional surface to be generated, and the points in the physical isolation lines corresponding to the physical isolation objects at the road ends adjacent to the intersection of the functional surface to be generated completely overlap, and the physical isolation points completely overlap with the points on the physical isolation lines corresponding to the physical isolation objects at the intersection, so as to realize the bite of the functional surface elements of the intersection with the lane separation lines, the physical isolation objects of the road section, and the endpoints of the physical isolation objects at the intersection.

[0106] It is understandable that if Figure 5 As shown in b, the physical isolation points and the endpoints adjacent to the functional surface intersection to be generated are connected in sequence to obtain the road-related data of the functional surface intersection to be generated, including the first section data entering the intersection, the second section data exiting the intersection, and the intersection functional surface 54 under the obstacle scene in the intersection.

[0107] In the embodiment of the present application, the endpoint closest to the obstacle is determined as the target endpoint, and a perpendicular line is drawn to the obstacle with the target endpoint as the starting point to obtain the vertical intersection of the perpendicular line and the obstacle. A physical isolation point is generated based on the vertical intersection and the point on the physical isolation line corresponding to the obstacle near the functional surface intersection to be generated, thereby improving the generation efficiency of the functional surface elements of the intersection.

[0108] Combine the following Figure 6 When the data within the intersection includes both physical isolation objects at the intersection and obstacles, the specific implementation method of generating physical isolation points based on the spatial position relationship between the physical isolation objects at the intersection and the obstacles is explained.

[0109] Figure 6 Schematic diagram of the process of generating the functional surface of the intersection provided in the embodiment of the present application Figure 3 .like Figure 6 As shown, according to the spatial position relationship between the physical isolation object and the obstacle at the intersection, the specific implementation method of generating the physical isolation point may include the following steps:

[0110] S601, determining whether the first distance is smaller than the second distance based on the spatial position relationship between the physical isolation object and the obstacle at the intersection.

[0111] Among them, the first distance is the relative distance between the physical isolation object of the intersection and the functional surface intersection to be generated, and the second distance is the relative distance between the obstacle and the functional surface intersection to be generated.

[0112] It can be understood that when the physical isolation object at the intersection is closer to the functional surface intersection to be generated than the obstacle, the first distance is smaller than the second distance; when the obstacle is closer to the functional surface intersection to be generated than the physical isolation object at the intersection, the first distance is greater than the second distance.

[0113] It is understandable that in an actual road scene, there is no overlap between physical isolation objects and obstacles in an intersection, and therefore, there is no situation where the first distance is the same as the second distance.

[0114] Figure 7 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 4 . Figure 7 a represents the road-related data of the functional surface intersection to be generated. Figure 7 b represents the intersection functional surface containing the road-related data of the intersection to be generated. Figure 7 The polygonal area 71 shown in a represents the boundary range of the physical isolation line corresponding to the obstacle, the gray part 72 represents the obstacle, and the gray line 73 represents the physical isolation line corresponding to the physical isolation object at the intersection.

[0115] from Figure 7 It can be seen from a that the physical isolation object at the intersection is closer to the functional surface intersection to be generated than the obstacle.

[0116] It should be noted that Figure 7 This is only an example. The structural diagram of the intersection functional surface provided in the embodiment of the present application does not limit the relative positions of the physical isolation objects and obstacles at the intersection, and can be determined according to actual needs.

[0117] S602: If the first distance is smaller than the second distance, a physical isolation point is generated that completely overlaps with a point on the physical isolation line corresponding to the physical isolation object at the intersection.

[0118] The specific implementation method is similar to the above and will not be repeated here.

[0119] S603: If the first distance is greater than the second distance, a physical isolation point is generated according to the endpoints and obstacles of the functional surface intersection to be generated.

[0120] The specific implementation method is similar to the above and will not be repeated here.

[0121] It should be noted that there is no difference in order between step S603 and step S602.

[0122] like Figure 7As shown in b, the functional surface elements of the intersection, namely the physical isolation points and the endpoints adjacent to the intersection of the functional surface to be generated, the endpoints adjacent to the intersection of the functional surface to be generated, the points in the lane separation lines in the road section adjacent to the intersection of the functional surface to be generated, and the points in the physical isolation lines corresponding to the physical isolation objects of the road section adjacent to the intersection of the functional surface to be generated completely overlap, and the physical isolation points completely overlap with the points on the physical isolation lines corresponding to the physical isolation objects of the intersection, so as to realize the bite of the functional surface elements of the intersection with the lane separation lines, the physical isolation objects of the road section, and the endpoints of the physical isolation objects of the intersection.

[0123] It is understandable that if Figure 7 As shown in b, the physical isolation points and the endpoints of the intersections adjacent to the functional surface to be generated are connected in sequence to obtain the road-related data of the intersection of the functional surface to be generated, including the first section data entering the intersection, the second section data exiting the intersection, the physical isolation objects of the intersection, and the intersection functional surface 74 under the obstacle scene in the intersection.

[0124] In an embodiment of the present application, by determining whether a first distance between a physical isolation object at an intersection and an intersection of a functional surface to be generated is less than a second distance between the obstacle and the intersection of the functional surface to be generated based on the spatial position relationship between the physical isolation object at the intersection and the obstacle, and when the first distance is less than the second distance, generating a physical isolation point that completely overlaps with the point on the physical isolation line corresponding to the physical isolation object at the intersection; when the first distance is greater than the second distance, generating a physical isolation point based on the endpoints of the intersection of the functional surface to be generated and the obstacle, thereby improving the generation efficiency of the functional surface elements of the intersection.

[0125] Optionally, when the road-related data includes uneven lanes or stepped stop lines, in this scenario, the endpoints of the functional surface intersection to be generated in the intersection functional surface generation method provided in the embodiment of the present application are generated in the following manner: select a target lane group from the uneven lanes or stepped stop lines; determine the point in the target lane group that is adjacent to the functional surface intersection to be generated, and generate an endpoint that completely overlaps with the point.

[0126] Exemplarily, the road-related data including an uneven lane or a stepped stop line may be the first section data entering the intersection including the uneven lane or the stepped stop line, or the second section data exiting the intersection including the uneven lane or the stepped stop line, or the first section data entering the intersection including the uneven lane or the stepped stop line, and the second section data exiting the intersection also including the uneven lane or the stepped stop line.

[0127] Figure 8 A schematic diagram of the structure of the functional surface of the intersection provided in the embodiment of the present application Figure 5 In the target lane group Figure 8 When the lane group 81 shown in a is shown in FIG. 1 , the endpoints of the functional surface intersection to be generated corresponding to the target lane group 81 are as follows: Figure 8The white dots shown in a are connected in sequence and connected with the physical isolation line 82 corresponding to the physical isolation point of the intersection to obtain the functional surface of the intersection in this scene.

[0128] In the target lane group Figure 8 b, the endpoints of the functional surface intersection to be generated corresponding to the target lane group 83 are as follows: Figure 8 The black dots shown in b are connected in sequence and connected with the physical isolation line 84 corresponding to the physical isolation point of the intersection to obtain the functional surface of the intersection in this scene.

[0129] Optionally, when the first road section data includes a road section physical isolation object and a lane separation line, and / or the second road section data includes a road section physical isolation object and a lane separation line, in the intersection functional surface generation method provided in the embodiment of the present application, a specific implementation method of performing a spatial position relationship calculation based on the first road section data and the second road section data to generate an intersection functional surface element of the functional surface intersection to be generated also includes: a response road section physical isolation object is drawn in the air, the road section physical isolation object is vertically projected to obtain a target road section physical isolation object that is coplanar with the lane separation line, and a spatial position relationship calculation is performed based on the target road section physical isolation object and the lane separation line to generate an intersection functional surface element of the functional surface intersection to be generated.

[0130] It can be understood that in the intersection functional surface generation method provided in the embodiment of the present application, for data with different elevation positions, the data that meets the quality requirements can be automatically repaired or fitted to improve the quality of the intersection functional surface generation data.

[0131] Among them, the specific implementation method of calculating the spatial position relationship based on the physical isolation objects and lane separation lines of the target road section to generate the intersection functional surface elements of the functional surface intersection to be generated is similar to the above and will not be repeated here.

[0132] In summary, different scenarios of the functional surface intersection to be generated in the method for generating the functional surface of the intersection provided in the embodiment of the present application are summarized and described:

[0133] Scenario 1: The road-related data of the functional surface intersection to be generated includes the first road section data for entering the intersection and the second road section data for exiting the intersection. The first road section data and the second road section data include lane separation lines and physical separation lines of the road sections. In this scenario, by calculating the spatial position relationship of the road-related data, an endpoint that completely overlaps with a point on the lane separation line adjacent to the functional surface intersection to be generated is generated, and an endpoint that completely overlaps with a point on the physical separation line corresponding to the physical separation object of the road section adjacent to the functional surface intersection to be generated is generated, and the endpoint is used as the functional surface element of the intersection;

[0134] Scenario 2: The road-related data of the functional surface intersection to be generated include the first road section data for entering the intersection, the second road section data for exiting the intersection, and the physical isolation object of the intersection. The first road section data and the second road section data include lane separation lines and section physical isolation lines. In this scenario, by calculating the spatial position relationship of the road-related data, endpoints that completely overlap with points on the lane separation lines adjacent to the functional surface intersection to be generated, endpoints that completely overlap with points on the physical isolation lines corresponding to the section physical isolation objects adjacent to the functional surface intersection to be generated, and physical isolation points that completely overlap with points on the physical isolation lines corresponding to the intersection physical isolation objects are generated, and the endpoints and physical isolation points are used as elements of the functional surface of the intersection;

[0135] Scenario three: The road-related data of the functional surface intersection to be generated include the first road section data entering the intersection, the second road section data exiting the intersection and obstacles in the intersection. The first road section data and the second road section data include lane separation lines and physical separation lines of the road sections. In this scenario, by calculating the spatial position relationship of the road-related data, endpoints that completely overlap with points on the lane separation lines adjacent to the functional surface intersection to be generated, endpoints that completely overlap with points on the physical separation lines corresponding to the physical separation objects of the road sections adjacent to the functional surface intersection to be generated, physical separation points that completely overlap with vertical intersections, and physical separation points that completely overlap with points on the physical separation lines corresponding to obstacles adjacent to the functional surface intersection to be generated are generated, and the endpoints and physical separation points are used as functional surface elements of the intersection;

[0136] Scenario 4: When the road-related data of the functional surface intersection to be generated include the first road section data for entering the intersection, the second road section data for exiting the intersection, obstacles in the intersection and physical isolation objects at the intersection, the first road section data and the second road section data include lane separation lines and physical isolation lines of the road sections. In this scenario, by calculating the spatial position relationship of the road-related data, endpoints that completely overlap with points on the lane separation lines adjacent to the functional surface intersection to be generated, endpoints that completely overlap with points on the physical isolation lines corresponding to the physical isolation objects of the road sections adjacent to the functional surface intersection to be generated, and physical isolation points that completely overlap with points on the physical isolation lines corresponding to the physical isolation objects of the intersection are generated, or endpoints that completely overlap with points on the lane separation lines adjacent to the functional surface intersection to be generated, endpoints that completely overlap with points on the physical isolation lines corresponding to the physical isolation objects of the road sections adjacent to the functional surface intersection to be generated, physical isolation points that completely overlap with vertical intersections, and physical isolation points that completely overlap with points on the physical isolation lines corresponding to obstacles adjacent to the functional surface intersection to be generated are generated, and the endpoints and physical isolation points are used as functional surface elements of the intersection;

[0137] Scenario 5: When the first road section data and / or the second road section data include uneven lanes or stepped stop lines, a target lane group is selected from the uneven lanes or stepped stop lines, a point in the target lane group that is adjacent to the intersection of the functional surface to be generated is determined, and an endpoint that completely overlaps with the point is generated.

[0138] Combine the following Fig. 9 The electronic map production method provided in the embodiment of the present application is described in detail.

[0139] Fig. 9 This is a flow chart of the map making method provided in the embodiment of the present application. Fig. 9 As shown, the specific implementation of the electronic map making method includes the following steps:

[0140] S901, obtaining the intersection functional surface of the target intersection.

[0141] Among them, the intersection functional surface is generated according to the intersection functional surface generation method provided in the above embodiment.

[0142] Exemplarily, the intersection functional surface of the target intersection is obtained from a map database.

[0143] S902: Visually render the functional surface of the intersection to obtain electronic map data corresponding to the target intersection.

[0144] In a possible implementation, the intersection functional surface is rendered in map data corresponding to the target intersection that does not contain the intersection functional surface, so as to obtain electronic map data corresponding to the target intersection that contains the intersection functional surface.

[0145] Exemplarily, the electronic map may include a high-definition map and a standard-definition map.

[0146] In the embodiment of the present application, the intersection functional surface of the target intersection is obtained and the intersection functional surface is visually rendered to obtain the electronic map data corresponding to the target intersection. The efficiency of producing the intersection functional surface is improved to improve the efficiency of producing the electronic map data.

[0147] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0148] Fig.10 This is a schematic diagram of the structure of a device for generating a functional surface at an intersection provided in an embodiment of the present application. Fig.10 As shown, the intersection functional surface generating device 10 includes an acquisition module 110 , a generation module 120 and a connection module 130 .

[0149] The acquisition module 110 is used to acquire road-related data of the functional surface intersection to be generated;

[0150] A generating module 120, for calculating the spatial position relationship according to the road-related data to generate the functional surface elements of the functional surface intersection to be generated;

[0151] The connection module 130 is used to sequentially connect the functional surface elements of the intersection to obtain the functional surface of the intersection to be generated.

[0152] In one possible implementation, the generation module 120 is specifically used to: respond to the road-related data including the first section data of entering the intersection and the second section data of exiting the intersection, perform spatial position relationship calculation based on the first section data and the second section data to generate the intersection functional surface elements of the functional surface intersection to be generated; respond to the road-related data also including the intersection data that has been produced in the functional surface intersection to be generated, perform spatial position relationship calculation based on the first section data, the second section data and the intersection data to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0153] In one possible implementation, the intersection functional surface elements include the endpoints of the intersection adjacent to the functional surface to be generated and the physical isolation points corresponding to the data within the intersection, and the data within the intersection includes the physical isolation objects and / or obstacles at the intersection. The generation module 120 is also used to: when the data within the intersection only includes the physical isolation objects at the intersection, generate physical isolation points that completely overlap with the points on the physical isolation line corresponding to the physical isolation objects at the intersection; when the data within the intersection only includes obstacles, generate physical isolation points based on the endpoints and obstacles of the functional surface intersection to be generated; when the data within the intersection includes the physical isolation objects and obstacles at the intersection, generate physical isolation points based on the spatial position relationship between the physical isolation objects and the obstacles at the intersection.

[0154] In one possible implementation, the generation module 120 is also used to: determine the endpoint closest to the obstacle as the target endpoint; draw a perpendicular line to the obstacle with the target endpoint as the starting point to obtain the vertical intersection of the perpendicular line and the obstacle; generate a physical isolation point based on the vertical intersection and the point on the physical isolation line corresponding to the obstacle near the functional surface intersection to be generated.

[0155] In one possible implementation, the generation module 120 is also used to: determine whether the first distance is less than the second distance based on the spatial position relationship between the physical isolation object at the intersection and the obstacle, the first distance being the relative distance between the physical isolation object at the intersection and the functional surface intersection to be generated, and the second distance being the relative distance between the obstacle and the functional surface intersection to be generated; if the first distance is less than the second distance, then generate a physical isolation point that completely overlaps with the point on the physical isolation line corresponding to the physical isolation object at the intersection; if the first distance is greater than the second distance, then generate a physical isolation point based on the endpoints of the functional surface intersection to be generated and the obstacle.

[0156] In one possible implementation, when the road-related data includes uneven lanes or stepped stop lines, the endpoints of the functional surface intersection to be generated are generated in the following manner: selecting a target lane group from the uneven lanes or stepped stop lines; determining a point in the target lane group that is adjacent to the functional surface intersection to be generated, and generating an endpoint that completely overlaps with the point.

[0157] In one possible implementation, the first road section data includes a road section physical isolation object and a lane separation line, and / or the second road section data includes a road section physical isolation object and a lane separation line, and the generation module 120 is also used to: when the road section physical isolation object is drawn in the air, vertically project the road section physical isolation object to obtain a target road section physical isolation object that is coplanar with the lane separation line; calculate the spatial position relationship based on the target road section physical isolation object and the lane separation line to generate the intersection functional surface elements of the functional surface intersection to be generated.

[0158] The device for generating a functional surface at an intersection provided in this embodiment can be used to execute the method steps of the above-mentioned method for generating a functional surface at an intersection. The specific implementation method and technical effect are similar and will not be described in detail here.

[0159] Fig.11 This is a schematic diagram of the structure of an electronic map making device provided in one embodiment of the present application. Fig.11 As shown, the electronic map making device 11 includes an acquisition module 111 and a rendering module 112 .

[0160] The acquisition module 111 is used to acquire the intersection functional surface of the target intersection, and the intersection functional surface is generated by the intersection functional surface generation method provided in the above embodiment;

[0161] The rendering module 112 is used to perform visual rendering on the functional surface of the intersection to obtain electronic map data corresponding to the target intersection.

[0162] The electronic map making device provided in this embodiment can be used to execute the method steps of the above-mentioned electronic map making method embodiment. The specific implementation method and technical effects are similar and will not be repeated here.

[0163] Fig.12 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Fig.12 As shown, the electronic device 12 provided in this embodiment includes: at least one processor 121 and a memory 122. Optionally, the device 12 also includes a communication interface 123. The processor 121, the memory 122 and the communication interface 123 are connected via a bus 124.

[0164] In a specific implementation process, at least one processor 121 executes the computer-executable instructions stored in the memory 122, so that at least one processor 121 executes the above method.

[0165] The specific implementation process of the processor 121 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0166] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0167] The memory may include a high-speed memory (Random Access Memory, referred to as RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0168] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0169] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0170] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0171] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0172] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0173] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0174] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0175] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0176] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0177] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0178] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for generating a functional surface of an intersection, characterized in that: include: Obtain road-related data of the functional surface intersection to be generated; The types of the road-related data include first road section data and second road section data, the first road section data is the road section data entering the intersection, and the second road section data is the road section data exiting the intersection; The road-related data are lane dividers and / or road section physical isolation objects; Performing a functional surface element generation operation on each road-related data to generate endpoints of the functional surface intersection to be generated; The functional surface element generation operation includes: when the road-related data is a lane separation line, based on the spatial position relationship of different points on each lane separation line, generating an endpoint that completely overlaps with a point on the lane separation line adjacent to the functional surface intersection to be generated; when the road-related data is a road section physical isolation object, based on the spatial position relationship of points on the physical isolation line corresponding to the road section physical isolation object, generating an endpoint that completely overlaps with a point on the physical isolation line adjacent to the functional surface intersection to be generated; The generated endpoints are connected in sequence to obtain the intersection functional surface of the functional surface intersection to be generated.

2. The method for generating a functional surface of an intersection according to claim 1, characterized in that: When the road-related data includes an uneven lane or a stepped stop line, the function surface element generation operation is performed on each road-related data to generate the endpoint of the functional surface intersection to be generated, including: Selecting a target lane group from the uneven lanes or the stepped stop lines; Determine a point in the target lane group that is adjacent to the functional surface intersection to be generated, and generate an endpoint that completely overlaps with the point.

3. The method for generating a functional surface of an intersection according to claim 1, characterized in that: In response to the road section physical isolation object being drawn in the air, the functional surface element generation operation is performed on each road related data to generate the endpoints of the functional surface intersection to be generated, including: Performing vertical projection on the road section physical isolation object to obtain a target road section physical isolation object that is coplanar with the lane separation line; A functional surface element generation operation is performed on the target road section physical isolation object and the lane separation line to generate the endpoints of the functional surface intersection to be generated.

4. The method for generating a functional surface of an intersection according to any one of claims 1 to 3, characterized in that: After generating the endpoints of the functional surface intersection to be generated, the intersection functional surface generation method further includes: Generate intersection data; The intersection functional surface is generated based on the endpoints and the data within the intersection.

5. The method for generating a functional surface of an intersection according to any one of claims 1 to 3, characterized in that: After generating the intersection functional surface, the intersection functional surface generating method further includes: In response to the intersection functional surface being correct, writing the intersection functional surface back into the database; In response to the intersection functional surface error, the corrected intersection functional surface is written back into the database.

6. The method for generating a functional surface of an intersection according to claim 5, characterized in that: In response to the intersection functional surface error, writing the corrected intersection functional surface back into the database includes: In response to a partial error in the functional surface of the intersection, writing the corrected functional surface of the intersection back into the database; In response to the intersection functional surface not meeting the quality requirement, the corrected road-related data is reacquired, and the intersection functional surface is regenerated based on the road-related data.

7. A method for producing an electronic map, characterized in that: include: Acquire a functional surface of a target intersection, wherein the functional surface is generated according to the method according to any one of claims 1 to 6; The functional surface of the intersection is visually rendered to obtain electronic map data corresponding to the target intersection.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6, or the method according to claim 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 6, or the method according to claim 7.

10. A computer program product, characterized in that include: A computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented, or the method according to claim 7 is implemented.

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