Method, device and equipment for three-dimensional processing based on two-dimensional vector map and medium

Abstract

The invention relates to the technical field of intelligent transportation, in particular to a three-dimensional method and device based on a two-dimensional vector map, equipment and a medium. The method comprises the following steps: acquiring a two-dimensional vector map and interchange node information; determining the height of an interchange road based on the interchange node information, and fitting the height of the interchange road; based on the two-dimensional vector map, expanding a single vehicle road section in the two-dimensional vector map into a three-dimensional map with a plurality of lanes by using the fitted height data; and adjusting DEM data in combination with the spatial information of the three-dimensional map so as to reflect correct terrain height and road details. Accurate road network three-dimensional height information can be provided, the lane distribution and detail expression ability of the map can be enhanced, and the matching degree of the terrain and the road can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a method based on a two-dimensional vector map. Figure 3 Dimensional methods, devices, equipment and media. Background Art

[0002] In the field of intelligent transportation, the three-dimensionalization of maps not only significantly improves the experience of human-computer interaction, but also brings the possibility of expanding the business in depth and breadth. The three-dimensionalization of intelligent transportation services requires three-dimensional maps as data source input. The current mainstream market is still based on two-dimensional vector maps, combined with the simultaneous use of planar images, and the calculation, analysis, and rendering of related businesses are also based on two-dimensional maps. If the 3D maps of roads and surrounding facilities are re-collected and drawn, it will not only consume a lot of time and resources, but also face the transition and inheritance of existing businesses. Therefore, building a three-dimensional map based on a two-dimensional vector map is an effective way to solve the three-dimensional upgrade of intelligent transportation services.

[0003] The three-dimensionalization of intelligent transportation services also requires reference to digital elevation models. Digital elevation models, referred to as DEMs, are digital simulations of ground terrain using limited terrain elevation data. They are a type of physical ground model that represents ground elevation in the form of a set of ordered numerical arrays. Combining DEM data with plane images can obtain the height of roads and surrounding environments such as mountains and hills, thereby providing more complete technical support for the 3D visualization of intelligent transportation services.

[0004] However, the existing technology has the following problems: First, the existing two-dimensional map cannot effectively provide three-dimensional height information of the road network, such as the road level and the accurate level of the overpass, which limits the management under the complex traffic structure. Secondly, the two-dimensional map has limited ability to express detailed information such as lane distribution and lane changes in sections. Finally, although the digital elevation model (DEM) can provide terrain height information, when it is directly integrated into the two-dimensional map, there is often a problem of mismatch between the terrain and the road, resulting in an uneven road surface and affecting the visual effect. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a two-dimensional vector map in each embodiment. Figure 3 Dimensional methods, devices, equipment and media.

[0006] The first aspect of the present application provides a two-dimensional vector Figure 3 A method for dimensionalization, the method comprising:

[0007] Get 2D vector map and interchange node information;

[0008] Determine the height of the interchange road based on the interchange node information, and fit the height of the interchange road;

[0009] Based on the two-dimensional vector map, and using the fitted height data, a single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes;

[0010] The DEM data is adjusted in combination with the spatial information of the 3D map to reflect the correct terrain height and road details.

[0011] In some embodiments of the present application, determining the height of the interchange road based on the interchange node information and fitting the height of the interchange road includes:

[0012] According to the interchange node information, the road sections traveling in the same direction and having a closely related topological relationship are merged into one road section group, wherein the interchange node information includes an interchange node set and an interchange road set;

[0013] The merged road segment groups are hierarchically sorted according to their relative positions in the interchange to ensure sequential processing from the lowest level to the highest level;

[0014] Height fitting is performed for each layer of road segment grouping, the reference height and height increment are set using the interchange node information and preset standards, and the height of each inner point of each road segment is calculated by linear interpolation to obtain fitted height data.

[0015] In some embodiments of the present application, based on the two-dimensional vector map and using the fitted height data, the single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes, including:

[0016] identifying a single lane road segment that needs to be expanded into multiple lane road segments from the two-dimensional vector map;

[0017] Applying the fitted height data to the selected bicycle road segments to determine the specific three-dimensional spatial position of each bicycle road segment;

[0018] Based on the two-dimensional vector map, lane expansion is performed on each single-lane road segment whose three-dimensional spatial position has been determined to obtain a three-dimensional map with multiple lanes.

[0019] In some embodiments of the present application, the lane expansion is performed on each selected single-lane road segment based on the two-dimensional vector map to obtain a three-dimensional map with multiple lanes, including:

[0020] Extract or construct the centerline from the original two-dimensional vector map of the single-lane road section as a benchmark for subsequent lane expansion;

[0021] Set buffer zones on both sides of the determined center line and generate the three-dimensional boundaries of the new lanes according to the preset lane width;

[0022] Based on the three-dimensional boundary of the new lane, the two-dimensional coordinates of each road section are converted into three-dimensional coordinates using the road section information in the two-dimensional vector map, and the lanes of each road section are expanded according to the lane number attribute of the road section to obtain a three-dimensional map with multiple lanes.

[0023] In some embodiments of the present application, setting buffer zones on both sides of the determined center line and generating a three-dimensional boundary of a new lane according to a preset lane width includes:

[0024] Constructing a normal line for each determined center line, setting initial and final tangent points at the start and end points of the center line, and performing a cutting operation using the normal line;

[0025] Using the normal cutting result to set the boundary of the buffer zone to form a closed buffer zone, wherein the closed buffer zone is used to construct a basic area for lane expansion;

[0026] Based on the closed buffer zone, a plurality of widened buffer zones are set according to preset lane widths, and a three-dimensional boundary of a new lane is generated in each widened buffer zone through calculation and geometric operations.

[0027] In some embodiments of the present application, after using the fitted height data to expand the single-lane road segment in the two-dimensional vector map into a three-dimensional map with multiple lanes, it also includes: establishing a mapping relationship between the two-dimensional vector map and the three-dimensional map with multiple lanes, and the mapping relationship includes the mapping of the road segment of the two-dimensional vector map and the road segment of the three-dimensional map with multiple lanes.

[0028] In some embodiments of the present application, the adjusting the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details includes:

[0029] Extracting road space information from the three-dimensional map;

[0030] According to the road spatial information, identifying elevation data points corresponding to the road in the DEM data;

[0031] Using a numerical analysis algorithm to smooth the elevation data points;

[0032] The smoothed elevation data was reintegrated into the DEM data to reflect the correct terrain height and road details.

[0033] The second aspect of the present application provides a method based on a two-dimensional vector Figure 3 A dimensional device, the device comprising:

[0034] An acquisition module is used to acquire two-dimensional vector maps and interchange node information;

[0035] A fitting module, used for determining the height of the interchange road based on the interchange node information, and fitting the height of the interchange road;

[0036] An expansion module, for expanding a single-lane road segment in the two-dimensional vector map into a three-dimensional map with multiple lanes based on the two-dimensional vector map and using the fitted height data;

[0037] The adjustment module is used to adjust the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details.

[0038] The third aspect of the present application provides an electronic device, including a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the two-dimensional vector-based method described in each embodiment. Figure 3 Dimensional method.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the two-dimensional vector-based Figure 3 Dimensional method.

[0040] The technical solution provided in the embodiments of the present application has at least the following technical effects or advantages:

[0041] In each embodiment of the present application, the two-dimensional vector Figure 3 The invention discloses a method for dimensionalization, obtaining a two-dimensional vector map and interchange node information, determining the height of the interchange road based on the interchange node information, fitting the height of the interchange road, expanding the single-lane road section in the two-dimensional vector map into a three-dimensional map with multiple lanes based on the two-dimensional vector map and using the fitted height data, adjusting the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details. In this way, through the height fitting and layered processing of the interchange node information, the present application can accurately simulate the three-dimensional height of the complex traffic structure and provide more accurate management; by expanding the single-lane road section into a three-dimensional map with multiple lanes, the present application increases the number of lanes and the degree of detail of the map to better meet the needs of complex traffic needs; by adjusting the DEM data to reflect the correct terrain height and road details, the present application solves the problem of mismatch between terrain and road and improves the visual effect of the map.

[0042] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0044] Figure 1 It is a two-dimensional vector map in the exemplary embodiment of the present application. Figure 3 Schematic diagram of the steps of the dimensionalization method;

[0045] Figure 2 It is a two-dimensional plane map and a schematic diagram of the location of interchange nodes in an exemplary embodiment of the present application;

[0046] Figure 3 It is a schematic diagram of road segment grouping in an exemplary embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of a self-intersecting road section and a mutually intersecting road section in an exemplary embodiment of the present application;

[0048] Figure 5 It is a schematic diagram of a graphic effect after fitting the height of an interchange road in an exemplary embodiment of the present application;

[0049] Figure 6 is a schematic diagram of cutting multiple lanes in an exemplary embodiment of the present application;

[0050] Figure 7 is a rendering of an expanded two-lane map in an exemplary embodiment of the present application;

[0051] Figure 8 is a schematic structural diagram of a three-dimensional map construction device in an exemplary embodiment of the present application;

[0052] Fig. 9 It is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present application.

[0053] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0054] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0055] Three-dimensional maps play a key role in the field of intelligent transportation. They can not only optimize user experience, but also expand more application scenarios. Currently, the market mainly uses two-dimensional vector maps in combination with flat images, and related business operations and displays are also based on two dimensions. Considering that it takes a huge investment to completely re-make 3D maps, upgrading from two-dimensional vector maps to build three-dimensional maps has become a practical solution.

[0056] In this process, the digital elevation model (DEM) is an indispensable element. It simulates the terrain height in a digital way and presents the ground undulations in the form of a numerical array. When DEM is combined with a plane image, it can accurately reflect the height characteristics of the road and the surrounding terrain, providing important support for the three-dimensionalization of intelligent transportation.

[0057] However, the main challenges facing current technology include: two-dimensional maps are difficult to accurately express the vertical height information of the road network, especially in complex sections such as overpasses; the ability to describe details such as lane distribution is limited; in addition, alignment errors often occur during the integration of DEM data and two-dimensional maps, affecting the actual application effect.

[0058] To this end, in some embodiments of the present application, a method based on a two-dimensional vector map is provided. Figure 3 Dimensional methods, such as Figure 1 As shown, it includes steps S1-S4.

[0059] S1. Obtain a two-dimensional vector map and interchange node information.

[0060] In this step, you first need to collect the existing 2D vector map and interchange node information, refer to Figure 2 ,The 2D vector map provides the basic shape and location information of the road, while the interchange node information records the connection relationship and relative height information of each interchange road. Interchange node information includes interchange node sets and interchange road sets, which are the basis for building a 3D map. In addition, it is necessary to ensure the accuracy and completeness of this information so that it can be effectively used in subsequent steps.

[0061] This application defines link=<id,bgn,end,lane,coords> Represents a record of a road segment, where id represents the unique identifier of the road segment, bgn represents the starting node of the road segment, and end represents the ending node of the road segment. The starting and ending nodes represent the topological relationship between the road segments. i =bgn j , it means that section i can reach section j; lane represents the number of lanes in the section, coords = {(lng1,lat1),(lng2,lat2)···}, which stores the longitude and latitude set of the inner points that make up the section.

[0062] The set of interchange nodes is defined as φ =<zN1,zN2,···> , where each zN i Represents an interchange node, including the node's unique identifier, the connected road segment information, and the location index of the inner point.<id,link0,inner0,link1,inner1> , where id is the unique identifier of the node, link0 and link1 represent the segment IDs at different layers in the current node, and inner0 and inner1 represent the inner point position indexes of the corresponding segment.

[0063] The set of interchange roads is defined as ω = <link1,link2,···,link i ,···>, each link i Represents a road segment, including the unique identifier of the segment, the start and end nodes, the number of lanes, and the longitude and latitude of the inner points that make up the segment.<id,bgn,end,lane,coords> , where id is the unique identifier of the road segment, bgn and end represent the starting and ending nodes of the road segment respectively, lane represents the number of lanes, and coords = {(lng1, lat1), (lng2, lat2), ...} stores the longitude and latitude sets of points within the road segment.

[0064] S2. Determine the height of the interchange road based on the interchange node information, and fit the height of the interchange road.

[0065] In a specific implementation, for all the road sections in the interchange road set, the road sections that travel in the same direction and have a strong topological relationship are determined according to the attribute information of each node in the interchange node set; the road sections that travel in the same direction and have a strong topological relationship are merged into one road section group. It can be seen that according to the direction of travel of the road, the road sections that travel on the same side and have a strong topological relationship are merged into one road section group, which makes it easier to make the fitting effect smoother when fitting the road height. Figure 3 It is a schematic diagram of road segment grouping, such as Figure 3 (a) shows four sections on the same side of the road. Figure 3 (b) in the figure extracts the four road segments on the same side of the road into one road segment group.

[0066] Next, the merged road segment groups are hierarchically sorted according to their relative positions in the interchange to ensure sequential processing from the lowest level to the highest level. Assuming that the current interchange road segment set has n levels, each level of road segment groups are processed from low to high. Traversing the interchange node set, when a road segment is in the lower level of all node information, then the road segment must be at the bottom level of the interchange set, and the group composed of these road segments is the lowest level of road segment grouping. The processed road segment set is recorded as Iterate from low to high levels of the interchange set, processing each segment link i When traversing the interchange node information, remember link i The underlying segment set of When the conditions are met and Indicates the information of the interchange node link i The lower-level sections are all processed sections, link i At the current level.

[0067] It should be noted that some interconnected hubs have complex connections. Figure 4 The scenario of a single ramp intersecting itself and multiple ramps intersecting each other is given. Figure 4 In (b), at node A, segment 1 is higher than segment 2, and at node B, segment 1 is lower than segment 2. The self-intersecting segment is represented in the node information as link0=link1 in a certain interchange node; the mutually intersecting segment is represented in the node information as there are interchange nodes i and j, where link0 j =link1 i And link0 i =link1 j When processing these special groups, the determination set It is necessary to remove the self-intersecting sections and the mutually intersecting sections from the set Delete it and then make a judgment.

[0068] Perform height fitting for each layer of road section grouping, use the interchange node information and preset standards to set the base height and height increment, and apply linear interpolation to the inner point of each road section to calculate its height to obtain the fitted height data. In the specific implementation, according to the location of the interchange section, retrieve the national highway construction standards, refer to the standard information, and set the layer height of the interchange section to h. First, set the height of the main road and the starting and ending points to 0, obtain the level i where the current main road is located, set the height of the high-rise inner point of the current main road to i*h, and perform linear interpolation on the height of the remaining inner points based on the height difference and the distance between the inner points. The calculation method is as follows: let the height of the starting point be h1, the height of the end point be h2, the distance of the interpolation point from the starting point is l1, and the distance from the end point is l2, then the height of the interpolation point Record the processed inner point height into pt_height.

[0069] More specifically, assign the heights of the ramps in the road section set in turn. First, determine whether the starting point and end point of the current ramp exist in pt_height; if so, assign the heights of the starting point and end point of the ramp based on the information in pt_height; if not, assign the heights of the starting point and end point of the ramp to (i-1)*h. Traverse the high-level internal point indexes of the current ramp and set their height values ​​to i*h; finally, interpolate the remaining points according to the above-mentioned linear interpolation method. If the current road section is a special section such as self-intersection or mutual intersection, it is necessary to set the height of the high-level internal point index to i*h, and the height of the low-level internal point index to (i-1)*h. The setting method of the starting point and end point heights and the linear interpolation method remain unchanged. Figure 5 The diagram of the interchange section after simulating the height is given, such as Figure 5 As shown, height fitting is performed on each layer of road segment grouping to obtain a smooth height curve.

[0070] In addition, in order to prevent the abnormal phenomenon of support points overlapping with roads during specific implementation, support points of off-ground sections are also calculated. The calculation method includes: traversing the information of interchange nodes, taking out the longitude and latitude of the interchange nodes, and establishing a buffer zone with a radius of x meters with the interchange nodes as the center, and obtaining the buffer zone set region = {coords1, coords2, ···}. Traverse the inner point heights of the road section in the three-dimensional map, and take out the position set pt = {(lng1, lat1), (lng2, lat2), ···} where the inner point height exceeds h meters. Construct road support points for the inner point positions in pt, which need to satisfy the support point (lng i ,lat i ) does not intersect with any area in the buffer set region, ensuring that there will be no abnormal phenomenon that the road support point overlaps with other roads.

[0071] S3. Based on the two-dimensional vector map, and using the fitted height data, the single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes.

[0072] In one possible implementation, a single-lane road segment that needs to be expanded into multiple lane road segments is identified from the two-dimensional vector map; the fitted height data is applied to the selected single-lane road segment to determine the specific three-dimensional spatial position of each single-lane road segment; and based on the two-dimensional vector map, lane expansion is performed on each single-lane road segment whose three-dimensional spatial position has been determined to obtain a three-dimensional map with multiple lanes.

[0073] Specifically, based on the two-dimensional vector map, lane expansion is performed on each selected single-lane road segment to obtain a three-dimensional map with multiple lanes, and a center line is extracted or constructed from the original two-dimensional vector map of the single-lane road segment as a reference for subsequent lane expansion. In a two-dimensional vector map, the graphics of a road segment are polyline segments composed of a series of longitude and latitude points, which cannot intuitively express the lane attributes of the road segment, and cannot carry upper-layer services related to the lanes. Therefore, this application can effectively solve the multi-lane problem of three-dimensional maps.

[0074] A normal line is constructed for each determined center line, an initial and an ending tangent point are set at the start and end points of the center line, and a cutting operation is performed using the normal line; the boundary of the buffer zone is set using the normal line cutting result to form a closed buffer zone, and the closed buffer zone is used to construct a basic area for lane expansion; based on the closed buffer zone, a plurality of widened buffer zones are set according to a preset lane width, and a three-dimensional boundary of a new lane is generated in each widened buffer zone through calculation and geometric operations; based on the three-dimensional boundary of the new lane, the two-dimensional coordinates of each road section are converted into three-dimensional coordinates using the road section information in the two-dimensional vector map, and lane expansion is performed on each road section according to the lane number attribute of the road section to obtain a three-dimensional map with multiple lanes.

[0075] In one embodiment, the center line of the road on both sides in the two-dimensional vector map is taken as the center line of the extended lane. Buffers of different widths are sequentially established based on the center line, and after the buffers are clipped, the graphic information of the lane line can be obtained. For the specific production method, please refer to Figure 6 , Figure 6 L0 represents the shape of a certain centerline. L0 is used as input to establish a buffer zone with a width of x meters. Generally, the lane width of a highway is 3.5 meters, and a closed area (closed buffer zone) is obtained. At the end point A of the centerline, the normal line 1 of the centerline L0 is constructed, and the closed area is cut with the normal line 1. Similarly, at the end point B of the centerline, the normal line 2 of the centerline L0 is constructed, and the closed area is cut with the normal line 2. After cutting the closed area twice, four broken line segments can be obtained, among which L1 and L2 are parallel to the original centerline L0. The differences in the direction angles of L1 and L2 with the original road L0 are compared respectively. The road with a small difference belongs to the same side, and the road with a large difference belongs to the opposite direction.

[0076] In a further implementation, after the single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes using the fitted height data, a mapping relationship is established between the two-dimensional vector map and the three-dimensional map with multiple lanes, and the mapping relationship includes the mapping of the road segment in the two-dimensional vector map and the road segment in the three-dimensional map with multiple lanes. Specifically, the mapping relationship includes the mapping relationship between the road segment attributes and the spatial position. Establishing a mapping relationship between the road segment in the two-dimensional vector map and the corresponding road segment in the new three-dimensional map can ensure that the unique identification, topological relationship, number of lanes and other static road attribute information of each road segment in the two-dimensional vector map are inherited. It can be understood that establishing a mapping relationship between the two-dimensional vector map and the new three-dimensional map can well solve the problem of historical business transition to ensure the inheritance of historical business and the expansion of new business. The mapping relationship can not only inherit historical business well, but also expand a wider range of upper-layer business, etc. Specifically, the mapping relationship between the two-dimensional vector map and the three-dimensional map is recorded. Taking the road segment i in the two-dimensional map as an example, the static information is link i = <id i ,bgn i ,end i ,lane i ,coords i >. According to the above method, a three-dimensional map of the road section is constructed, and the lane lines on both sides of the three-dimensional map are connected to form a closed area covering the lanes, which is recorded as region. The closed area can be equivalent to the original road section i, then Where id i ,bgn i ,end i ,lane i The meaning of the representation remains unchanged, and it inherits the static information such as id, topological relationship, number of lanes, etc. in the two-dimensional map; [l1,l2,l3] means there are 3 lanes after the expansion, from left to right they are l1, l2, l3; It corresponds to the spatial information of the three lanes, such as Indicates the longitude, latitude, and altitude of the first inner point of the first lane. With the mapping relationship between road segment IDs, not only can historical services be well inherited, but also a wider range of upper-layer services can be expanded, such as turning road conditions, traffic simulation, etc. As for whether the statistical results of road conditions or traffic are rendered on the lane lines or on the road surface, there are multiple feasible options. Figure 7 is a rendering of an expanded two-lane map in an exemplary embodiment of the present application, such as Figure 7 As shown, the three-dimensional processing of the existing two-dimensional vector map not only improves the quality of map information, but also enhances the functionality of the system.

[0077] S4. Adjust the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details.

[0078] It should be noted that directly loading DEM data will result in uneven road surface and poor display effect. Therefore, it is necessary to make local adjustments to the DEM data based on the spatial position of the road in the 3D map, so that the loaded road surface is smooth and beautiful while retaining the real height of the surrounding environment. It can be understood that the DEM data here is the DEM data of the area aligned with the 3D map space.

[0079] In a specific implementation, the road spatial information in the three-dimensional map is extracted, for example, a set of road sections of a certain road is extracted, and the road sections are organized into an ordered sequence according to the topological relationship in the static information of the three-dimensional map, and their spatial information is obtained, which is recorded as geometry = {(lng1, lat1), (lng2, lat2),...}. Furthermore, according to the road spatial information, the elevation data points corresponding to the road in the DEM data are identified; the elevation data points are smoothed using a numerical analysis algorithm; and the smoothed elevation data is reintegrated into the DEM data to reflect the correct terrain height and road details. In this process, we will pay special attention to the acquisition accuracy of the DEM data and the spatial position of the road to ensure that the road surface is displayed smoothly and beautifully.

[0080] It can be understood that DEM data stores spatial location data represented by three-dimensional coordinates, which are generally stored in GeoTIFF files containing spatial information. The tiff file information is read to obtain the projection mode, upper left corner coordinates (x0, y0), and image accuracy corresponding to the pixel (generally in meters). Through the same projection method as in the tiff file, the spatial information of the geographic coordinates is converted into an ordered sequence of plane coordinates meters = {(X1, Y1), (X2, Y2), ···}. Based on the upper left corner coordinates and image accuracy, the index sequence in the tiff image corresponding to the plane coordinates can be calculated, and then the height sequence H = {h1, h2, ···} of the space where the road is located can be obtained. The numerical analysis algorithm is used to correct the sequence H so that the correction result is smooth. The algorithms that can be used include but are not limited to the Douglas-Peucker algorithm, mean filtering, Kalman filtering, etc. The corrected height value is assigned to the index of the corresponding tiff image to obtain the adjusted DEM data.

[0081] It should be noted that DEM data represents the elevation of the ground in the form of a set of ordered numerical arrays, and is mainly used to accurately simulate the three-dimensional morphology of the surface. DEM is used in many fields, such as geology, geographic information system (GIS), construction and municipal engineering planning. In the field of intelligent transportation, the use of DEM can realize accurate three-dimensional visualization of roads and surrounding environments (such as mountains, rivers, etc.), which is crucial for road network design and traffic management. However, in practical applications, the direct use of DEM data often encounters the following problems: if the data collection is not fine enough, the details of the terrain may not be accurately reflected, especially near roads and buildings in urban areas. Not only that, the road surface undulations in the DEM data may not match the actual road elevation, which will affect the display effect of the road, making the road surface appear rugged and uneven, which is not conducive to achieving smooth visual effects and accurate data analysis. Through the above specific implementation methods, not only the accuracy and aesthetic problems of DEM data in the application of intelligent transportation systems are solved, but also the efficiency of road design and traffic management is improved. This method is particularly suitable for realizing accurate traffic planning in complex terrain, bringing significant technical effects and application value.

[0082] In general, the present application provides a two-dimensional vector map based Figure 3 By using a dimensional method, through the high fitting and hierarchical processing of interchange node information, this application can accurately simulate the three-dimensional height of complex traffic structures and provide more precise management; by expanding a single-lane road segment into a three-dimensional map with multiple lanes, this application increases the number of lanes and the degree of detail of the map to better meet the needs of complex traffic needs; by adjusting DEM data to reflect the correct terrain height and road details, this application solves the problem of mismatch between terrain and roads and improves the visual effect of the map.

[0083] In some embodiments of the present application, a two-dimensional vector map is provided. Figure 3 Dimensional devices, such as Figure 8 As shown, the device comprises:

[0084] An acquisition module 801 is used to acquire a two-dimensional vector map and interchange node information;

[0085] A fitting module 802, configured to determine the height of the interchange road based on the interchange node information, and to fit the height of the interchange road;

[0086] An expansion module 803 is used to expand the single-lane road segment in the two-dimensional vector map into a three-dimensional map with multiple lanes based on the two-dimensional vector map and using the fitted height data;

[0087] The adjustment module 804 is used to adjust the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details.

[0088] Preferably, the two-dimensional vector-based Figure 3 The dimensionalization device also includes an establishment module, which is used to establish a mapping relationship between the two-dimensional vector map and the three-dimensional map with multiple lanes after the single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes using the fitted height data, and the mapping relationship includes the mapping of the road segment of the two-dimensional vector map and the road segment of the three-dimensional map with multiple lanes.

[0089] It can be understood that the two-dimensional vector Figure 3 The 2D vector map can provide accurate 3D height information of the road network, enhance the lane distribution and detail expression of the map, and improve the matching degree between the terrain and the road. Figure 3 The dimensionalized device can also solve the problem of historical business transition by establishing a mapping relationship between the two-dimensional vector map and the new three-dimensional map, so as to ensure the inheritance of historical business and the expansion of new business.

[0090] Please refer to the following Fig. 9 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. Fig. 9 As shown, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected via the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and the processor 200 executes the two-dimensional vector map based on any of the aforementioned embodiments of the present application when running the computer program Figure 3 Dimensional method.

[0091] The memory 201 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0092] The bus 202 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 201 is used to store programs, and the processor 200 executes the programs after receiving execution instructions. The control method disclosed in any implementation of the above-mentioned embodiment of the present application may be applied to the processor 200, or implemented by the processor 200.

[0093] The processor 200 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 200. The above processor 200 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and combines its hardware to complete the two-dimensional vector-based Figure 3 Steps of the dimensionalization method.

[0094] The present application also provides a method based on two-dimensional vector map provided in the above embodiment. Figure 3 A computer-readable storage medium corresponding to the method for dimensionalization has a computer program stored thereon, and when the computer program is executed by a processor, the computer program will execute the method based on the two-dimensional vector map provided in any of the above embodiments. Figure 3 Dimensional method.

[0095] In addition, examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0096] Those skilled in the art will appreciate that the various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components of the virtual machine creation device according to the embodiments of the present application.

[0097] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for converting a two-dimensional vector map into three-dimensional map, characterized in that: The method comprises: Get 2D vector map and interchange node information; Determine the height of the interchange road based on the interchange node information, and fit the height of the interchange road; Based on the two-dimensional vector map, and using the fitted height data, a single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes; The DEM data is adjusted in combination with the spatial information of the 3D map to reflect the correct terrain height and road details.

2. The method for converting a two-dimensional vector map into three-dimensional map according to claim 1, characterized in that: The step of determining the height of the interchange road based on the interchange node information and fitting the height of the interchange road comprises: According to the interchange node information, the road sections traveling in the same direction and having a closely related topological relationship are merged into one road section group, wherein the interchange node information includes an interchange node set and an interchange road set; The merged road segment groups are hierarchically sorted according to their relative positions in the interchange to ensure sequential processing from the lowest level to the highest level; Height fitting is performed for each layer of road segment grouping, the reference height and height increment are set using the interchange node information and preset standards, and the height of each inner point of each road segment is calculated by linear interpolation to obtain fitted height data.

3. The method for converting a two-dimensional vector map into three-dimensional map according to claim 1, characterized in that: The method of expanding a single lane road segment in the two-dimensional vector map into a three-dimensional map with multiple lanes based on the two-dimensional vector map and using the fitted height data includes: identifying a single lane road segment that needs to be expanded into multiple lane road segments from the two-dimensional vector map; Applying the fitted height data to the selected bicycle road segments to determine the specific three-dimensional spatial position of each bicycle road segment; Based on the two-dimensional vector map, lane expansion is performed on each single-lane road segment whose three-dimensional spatial position has been determined to obtain a three-dimensional map with multiple lanes.

4. The method for converting a two-dimensional vector map into three-dimensional map according to claim 3, characterized in that: The method of performing lane expansion on each selected single-lane road segment based on the two-dimensional vector map to obtain a three-dimensional map with multiple lanes includes: Extract or construct the centerline from the original two-dimensional vector map of the single-lane road section as a benchmark for subsequent lane expansion; Set buffer zones on both sides of the determined center line and generate the three-dimensional boundaries of the new lanes according to the preset lane width; Based on the three-dimensional boundary of the new lane, the two-dimensional coordinates of each road section are converted into three-dimensional coordinates using the road section information in the two-dimensional vector map, and the lanes of each road section are expanded according to the lane number attribute of the road section to obtain a three-dimensional map with multiple lanes.

5. The method for converting a two-dimensional vector map into three-dimensional map according to claim 4, characterized in that: The step of setting buffer zones on both sides of the determined center line and generating a three-dimensional boundary of a new lane according to a preset lane width includes: Constructing a normal line for each determined center line, setting initial and final tangent points at the start and end points of the center line, and performing a cutting operation using the normal line; Using the normal cutting result to set the boundary of the buffer zone to form a closed buffer zone, wherein the closed buffer zone is used to construct a basic area for lane expansion; Based on the closed buffer zone, a plurality of widened buffer zones are set according to preset lane widths, and a three-dimensional boundary of a new lane is generated in each widened buffer zone through calculation and geometric operations.

6. The method for converting a two-dimensional vector map into three-dimensional map according to claim 1, characterized in that: After the single-lane road segment in the two-dimensional vector map is expanded into a three-dimensional map with multiple lanes by using the fitted height data, the method further includes: A mapping relationship between the two-dimensional vector map and the three-dimensional map with multiple lanes is established, wherein the mapping relationship includes a mapping of a road segment of the two-dimensional vector map and a road segment of the three-dimensional map with multiple lanes.

7. The method for converting a two-dimensional vector map into three-dimensional map according to claim 1, characterized in that: The step of adjusting the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details includes: Extracting road space information from the three-dimensional map; According to the road spatial information, identifying elevation data points corresponding to the road in the DEM data; Using a numerical analysis algorithm to smooth the elevation data points; The smoothed elevation data was reintegrated into the DEM data to reflect the correct terrain height and road details.

8. A device for converting a two-dimensional vector map into three-dimensional map, characterized in that: The device comprises: An acquisition module is used to acquire two-dimensional vector maps and interchange node information; A fitting module, used for determining the height of the interchange road based on the interchange node information, and fitting the height of the interchange road; An expansion module, for expanding a single-lane road segment in the two-dimensional vector map into a three-dimensional map with multiple lanes based on the two-dimensional vector map and using the fitted height data; The adjustment module is used to adjust the DEM data in combination with the spatial information of the three-dimensional map to reflect the correct terrain height and road details.

9. An electronic device, comprising a memory and a processor, characterized in that: The memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the method for converting a two-dimensional vector map into three-dimensional map as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for converting a two-dimensional vector map into three-dimensional map as described in any one of claims 1 to 7 is implemented.

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