Lane height assignment method and device, equipment and storage medium

Abstract

The invention relates to a lane height assignment method and device, equipment and a storage medium. The method comprises the following steps: determining height levels corresponding to different end points of a road to be assigned; determining a basic assignment point in the road to be assigned; wherein the basic assignment points are uniformly distributed in the road to be assigned; determining the target height of each basic assignment point according to the height level and the distribution condition of different basic assignment points; and according to the target height of the basic assignment point, performing height assignment on the corresponding to-be-assigned points in different lanes of the to-be-assigned road. According to the technology provided by the invention, the lane height assignment efficiency and the accuracy and rationality of the assignment result are improved.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a lane height assignment method, device, equipment and storage medium. Background Art

[0002] After high-precision map data is collected, road data contains sensitive height information, which needs to be desensitized. However, the lack of height information makes it difficult to display the three-dimensional space of different lanes in high-precision map data.

[0003] In order to realize the three-dimensional presentation of high-precision map data, a relative height can be assigned to lanes that do not carry height information. In the related art, manual assignment is usually used for presentation, which has poor efficiency and reasonableness of the assignment results. Summary of the invention

[0004] Based on this, it is necessary to provide a lane height assignment method, device, equipment and storage medium to address the above technical problems, so as to improve the rationality and efficiency of virtual height assignment for roads without height information.

[0005] In a first aspect, the present application provides a lane height assignment method, comprising:

[0006] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0007] Determine basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value;

[0008] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0009] According to the target height of the basic value-assigned point, heights are assigned to corresponding points to be assigned in different lanes of the road to be assigned.

[0010] In one of the embodiments, the target height of each basic value assignment point is determined according to the altitude level and the distribution of different basic value assignment points, including: dividing each basic value assignment point into two value assignment point groups; wherein the value assignment point group includes a preceding value assignment point group and a succeeding value assignment point group; the preceding value assignment point group includes a boundary value assignment point and each basic value assignment point before the boundary value assignment point; the succeeding value assignment point group includes the boundary value assignment point and each basic value assignment point after the boundary value assignment point; the boundary value assignment point is one of the basic value assignment points; each basic value assignment point in the preceding value assignment point group is numbered sequentially; each basic value assignment point in the succeeding value assignment point group is numbered in reverse order; according to the boundary value assignment point The position in each of the basic value assignment points and the height levels are used to determine the level difference within each value assignment point group; for any basic value assignment point, the target height of the basic value assignment point is determined according to the sequence number of each basic value assignment point in the value assignment point group to which the basic value assignment point belongs, the reference height of the basic value assignment point and the level difference within the value assignment point group to which the basic value assignment point belongs; wherein the reference height of the basic value assignment point is the target height of the previous basic value assignment point in the value assignment point group to which the basic value assignment point belongs; the target height of the first basic value assignment point in the preceding value assignment point group is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic value assignment point in the succeeding value assignment point group is the target height of the last basic value assignment point in the preceding value assignment point group.

[0011] In one of the embodiments, determining the target height of the basic value assignment point based on the serial numbers of each basic value assignment point in the value assignment point group to which the basic value assignment point belongs, the reference height of the basic value assignment point and the level difference within the value assignment point group to which the basic value assignment point belongs includes: determining the cumulative value of the serial numbers corresponding to each basic value assignment point in the value assignment point group to which the basic value assignment point belongs; determining the additional height of the basic value assignment point based on the serial number of the basic value assignment point, the cumulative value of the corresponding serial numbers and the level difference within the value assignment point group to which the basic value assignment point belongs; determining the target height of the basic value assignment point based on the reference height and the corresponding additional height of the basic value assignment point.

[0012] In one of the embodiments, the additional height of the basic value assignment point is determined according to the serial number of the basic value assignment point, the cumulative value of the corresponding serial numbers, and the intra-group level difference of the value assignment point group to which the basic value assignment point belongs, including: determining the height distribution ratio according to the serial number of the basic value assignment point and the cumulative value of the corresponding serial numbers; determining the additional height of the basic value assignment point according to the height distribution ratio and the intra-group level difference of the value assignment point group to which the basic value assignment point belongs.

[0013] In one of the embodiments, the height distribution ratio is determined based on the serial number of the basic assignment point and the corresponding serial number cumulative value, including: if the basic assignment point belongs to the previous assignment point group, then the ratio of the serial number of the basic assignment point to the corresponding serial number cumulative value is used as the height distribution ratio; if the basic assignment point belongs to the subsequent assignment point group, then the difference between the number of basic assignment points in the subsequent assignment point group and the serial number of the basic assignment point is determined, and the ratio of the difference determination result to the corresponding serial number cumulative value is used as the height distribution ratio.

[0014] In one of the embodiments, the method further includes: determining additional valued points in the road to be assigned based on lane feature points in the lane corresponding to the road to be assigned; wherein the lane feature points include lane shape points and / or lane group demarcation points; determining a target height of the corresponding additional valued points based on a target height of a basic valued point adjacent to the additional valued points; and assigning heights to the corresponding points to be assigned in the lane corresponding to the road to be assigned based on the target heights of the additional valued points.

[0015] In one of the embodiments, the road to be assigned a value is a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attribute values ​​in the same lane group, or a road without lane group attributes marked; wherein, the logical road is generated in the following manner: roads whose virtual and real attributes are actual attribute values ​​in the same lane group are obtained as roads to be spliced; for any road to be spliced, according to the road topological relationship of the road to be spliced, the first road that does not belong to the lane group to which the road to be spliced ​​is connected in a preset traversal direction is determined as the connecting road in the preset traversal direction; wherein the connecting road in the preset traversal direction includes an exit road corresponding to the road running direction, and an entry road corresponding to the opposite direction of the road running direction; the roads to be spliced ​​between the entry road and the exit road are sequentially spliced ​​to obtain the logical road under the corresponding lane group.

[0016] In a second aspect, the present application also provides a lane height assignment device, comprising:

[0017] A height level determination module is used to determine the height levels corresponding to different endpoints of the road to be assigned;

[0018] A basic value assignment point determination module is used to determine the basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value;

[0019] A target height determination module, used to determine the target height of each of the basic value assignment points according to the height level and the distribution of different basic value assignment points;

[0020] The lane height assignment module is used to assign heights to corresponding points to be assigned in different lanes of the road to be assigned according to the target heights of the basic assignment points.

[0021] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0022] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0023] Determine basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value;

[0024] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0025] According to the target height of the basic value-assigned point, heights are assigned to corresponding points to be assigned in different lanes of the road to be assigned.

[0026] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0027] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0028] Determine basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value;

[0029] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0030] According to the target height of the basic value-assigned point, heights are assigned to corresponding points to be assigned in different lanes of the road to be assigned.

[0031] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0032] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0033] Determine basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value;

[0034] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0035] According to the target height of the basic value-assigned point, heights are assigned to corresponding points to be assigned in different lanes of the road to be assigned.

[0036] The lane height assignment method, device, equipment and storage medium described above determine the target height of each basic assignment point by introducing the height levels corresponding to different endpoints of the road to be assigned and the distribution of the basic assignment points in the road to be assigned, and then according to the target height of the basic assignment points, the height-related assignment of the corresponding points to be assigned in different lanes of the road to be assigned is realized, and there is no need to perform height assignment processing for each lane separately, thereby improving the efficiency of lane height assignment. At the same time, in the process of lane height assignment, the target height of the basic assignment points of the road to be assigned is referred to, so as to ensure the identity of the height assignment corresponding to different lanes of the road to be assigned, thereby improving the rationality of the lane height assignment result. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 This is a schematic diagram of an application environment provided by an embodiment of the present application;

[0039] Figure 2A is a flow chart of a lane height assignment method provided in an embodiment of the present application;

[0040] Figure 2B It is a schematic diagram of endpoints of a road to be assigned a value provided in an embodiment of the present application;

[0041] Figure 2C This is a schematic diagram of a target height determination result of a basic assignment point provided in an embodiment of the present application;

[0042] Figure 2D It is a schematic diagram of the target height identification result of the basic value assignment point corresponding to different determination methods provided in the embodiment of the present application;

[0043] Figure 3A It is a flow chart of a method for determining the target height of a basic value assignment point provided in an embodiment of the present application;

[0044] Figure 3B This is a schematic diagram of a height assignment result provided in an embodiment of the present application;

[0045] Figure 4A is a flow chart of another lane height assignment method provided in an embodiment of the present application;

[0046] Figure 4B This is a schematic diagram of a lane height assignment process provided by an embodiment of the present application;

[0047] Figure 4C This is a schematic diagram of a lane height assignment result provided in an embodiment of the present application;

[0048] Figure 5A is a flow chart of a method for generating a logical road provided in an embodiment of the present application;

[0049] Figure 5B is a schematic diagram of a logical road determination result provided in an embodiment of the present application;

[0050] Figure 6 is a structural diagram of a lane height assignment device provided in an embodiment of the present application;

[0051] Figure 7 It is an internal structure diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] The lane height assignment method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 through a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers.

[0054] Terminal 102 can determine the range to be rendered corresponding to users who have map display requirements; terminal 102 / server 104 can select the road to be assigned from the range to be rendered; terminal 102 / server 104 can determine the height levels corresponding to different endpoints of the road to be assigned; terminal 102 / server 104 can determine the basic assignment points in the road to be assigned; wherein each basic assignment point is evenly distributed in the road to be assigned; terminal 102 / server 104 can determine the target height of each basic assignment point based on the height level and the distribution of different basic assignment points; terminal 102 / server 104 can assign heights to the corresponding points to be assigned in different lanes of the road to be assigned based on the target height of the basic assignment points.

[0055] Furthermore, the terminal 102 / the server 104 may perform three-dimensional map rendering according to the height assignment of the points to be assigned in the lanes corresponding to the different assigned roads within the range to be rendered.

[0056] The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0057] In an exemplary embodiment, Figure 2A As shown, a lane height assignment method is provided, which is applied to Figure 1 The following uses the server in as an example.

[0058] See also Figure 2A A lane height assignment method shown includes:

[0059] S210: Determine the altitude levels corresponding to different endpoints of the road to be assigned.

[0060] The road to be assigned can be understood as a road that needs to have its corresponding lanes assigned a height. The endpoints of the road to be assigned include an entry endpoint located at the entry end and an exit endpoint located at the exit end. The entry end and the exit end are respectively two endpoints sorted along the road running direction of the road to be assigned. The road running direction can be set or adjusted by technicians or users with road display requirements according to needs or experience. For example, the path direction when a user with road display requirements navigates can be used as the road running direction.

[0061] Among them, the height levels corresponding to different endpoints of the road to be assigned can be pre-stored locally in the computing device that executes the lane height assignment method, or in other storage devices that are communicatively connected to the computing device, and this application does not impose any limitations on this.

[0062] Optionally, if different road sampling points in the road to be assigned are at the same height, the height levels corresponding to different endpoints of the road to be assigned can be determined based on the road level of the road to be assigned itself, that is, the road level of the road to be assigned itself is directly used as the height level corresponding to the corresponding endpoint.

[0063] Alternatively, the height level of the entry endpoint of the entry end can be determined according to the road level of the entry road of the entry end of the road to be assigned; and the height level of the exit endpoint of the exit end can be determined according to the height level of the exit road of the exit end of the road to be assigned. That is, the road level of the entry road of the road to be assigned is used as the height level of the entry endpoint of the corresponding entry end of the road to be assigned; and the road level of the exit road of the road to be assigned is used as the height level of the exit endpoint of the corresponding exit end of the road to be assigned.

[0064] See also Figure 2B The endpoint diagram of the road to be assigned is shown in FIG. Among them, the road link2 includes an entry endpoint I and an exit endpoint O along the road running direction; the road link1 is the entry road of the road link2; and the road link3 is the exit road of the road link2.

[0065] It is worth noting that the number of entry roads or exit roads of the road to be assigned is at least one, and some roads may only have entry roads or exit roads.

[0066] Exemplarily, the entry road and / or exit road of the road to be processed can be determined according to the road topology data of the road to be assigned, so as to obtain the endpoint information of the road to be assigned. In a specific implementation, the road topology data can be a road topology map.

[0067] Among them, the height levels corresponding to different endpoints of the road to be assigned can be determined according to the road level corresponding to the road whose virtual and real attributes are actual attribute values ​​in the road to be assigned. Among them, the road whose virtual and real attributes are actual attribute values ​​can represent the overall shape skeleton of the lane group to which it belongs, and reflect the overall height and running direction of the lane group.

[0068] S220, determining basic evaluation points in the road to be evaluated; wherein the basic evaluation points are evenly distributed in the road to be evaluated.

[0069] The number of basic value points of different roads to be assigned can be the same or different, and this application does not impose any restrictions on this. For example, the roads to be assigned can be uniformly sampled according to a preset sampling step length to obtain basic value points. The preset sampling step length can be set or adjusted by technicians according to needs or experience values, and this application does not impose any restrictions on this, for example, it can be 3 meters.

[0070] For example, during the lane height assignment process, the basic assignment points of the road to be assigned can be determined in real time, or the basic assignment points of different roads to be assigned can be determined in advance, and when lane height assignment is required, the corresponding data can be obtained from the storage address where the basic assignment points of the road to be assigned are stored.

[0071] S230. Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points.

[0072] Exemplarily, the target height of the corresponding endpoint of the road to be assigned can be determined according to the specific values ​​of the height levels of different endpoints; the target height of each basic assignment point can be determined according to the distribution of different basic assignment points and the target height of each endpoint.

[0073] Optionally, the height values ​​corresponding to different height levels can be preset, and the height value corresponding to the height level of the endpoint can be used as the target height of the endpoint. The height values ​​corresponding to different height levels can be set or adjusted by technicians according to needs or experience, and this application does not impose any limitation on this.

[0074] In a specific implementation, if the height levels of different endpoints are the same, the target height of the endpoint in the road to be assigned is directly used as the target height of different basic assignment points.

[0075] In another specific implementation, if the height levels of different endpoints are different, the height levels corresponding to different endpoints are evenly divided according to the number of basic value assignment points to obtain different height values, and each height value is assigned in sequence according to the arrangement order of different basic value assignment points, thereby determining the target height of each basic value assignment point.

[0076] See also Figure 2C The target height determination result diagram of the basic value assignment point shown in the figure, wherein the roads link1 and link3 are the entry height and exit road of the road link2 to be assigned, respectively, and the corresponding entry endpoint is I and the exit endpoint is O. Among them, the height level of the entry endpoint is the same as the road level (level) of link1, both of which are the preset starting level (StartLevel), and the height level of the exit endpoint is the same as the road level of link3, both of which are the preset end level (EndLevel). Among them, the preset unit level corresponds to 3500 height units, and the height difference DivHeight between the two endpoints of link2 is determined to be (EndLevel-StartLevel)*3500. With 3 meters as the preset sampling step (linkStep), points are evenly placed between the entry end and the exit end of link2 to obtain each basic value assignment point. According to the proportion of each basic value assignment point on the road length of link2, the height value of the same proportion of the total height difference is determined, and when any target height of the entry end and the exit end is obtained, the target height is assigned to each basic value assignment point.

[0077] S240 , assigning heights to corresponding points to be assigned in different lanes of the road to be assigned according to the target heights of the basic assigned points.

[0078] Since the road to be assigned is an abstract result of roads of different lanes in the corresponding lane group, each basic assignment point in the road to be assigned can be mapped to the point to be assigned in the corresponding lane, and the target height of each basic assignment point can be used as the target height of the corresponding point to be assigned, thereby realizing the height assignment of different lanes of the road to be assigned.

[0079] The embodiment of the present application determines the target height of each basic assignment point by introducing the height levels corresponding to different endpoints of the road to be assigned and the distribution of the basic assignment points in the road to be assigned, and then realizes the height association assignment of the corresponding points to be assigned in different lanes of the road to be assigned according to the target height of the basic assignment points, without the need to perform height assignment processing for each lane separately, thereby improving the efficiency of lane height assignment. At the same time, in the process of lane height assignment, the target height of the basic assignment points of the road to be assigned is referred to, which ensures the identity of the height assignment corresponding to different lanes of the road to be assigned, thereby improving the rationality of the lane height assignment result.

[0080] Based on the above content, it can be seen that when assigning height to the road to be assigned, the difference in height levels between different endpoints of the road to be assigned and the length of the road to be assigned have a greater impact on the assignment result. Figure 2D , when the height level difference between the two end points of the road to be assigned is large, or the road length of the road to be assigned is short, the slope of the road to be assigned is large, and the final rendering result is relatively steep. When the height level difference between the two end points of the road to be assigned is small, or the road length of the road to be assigned is long, the slope of the road to be assigned is small, and the final rendering result is relatively gentle, that is, the target height difference between the basic assignment points is small.

[0081] However, when the rendering result of the road to be assigned is relatively steep, unacceptable sharp corners will appear at the end points of the road to be assigned; when the road length to be assigned is shorter and the height level difference between the two end points is greater, the sharp corners will be more obvious, and unacceptable sharp corners will appear, seriously affecting the rendering effect.

[0082] In an optional embodiment, the technician may pre-set situations where sharp corners are unacceptable based on experience or actual needs, or repeatedly determine situations where sharp corners are unacceptable through a large number of tests. Exemplarily, the level difference interval of the height level between the endpoints of the road where sharp corners are unacceptable, as well as the road length interval of the road, may be pre-set. For example, the unacceptable situations may include any one of the following: the level difference belongs to [0,2], and the road length belongs to [3500 meters, 6500 meters]; the level difference belongs to (2,4], and the road length belongs to [5000 meters, 16050 meters]; the level difference belongs to (4,6], and the road length belongs to [6500 meters, 25000 meters]; or, the level difference belongs to (6,8], and the road length belongs to [7500 meters, 35000 meters].

[0083] In order to avoid unacceptable sharp corners when rendering subsequent roads, based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which the target height determination operation of each basic assignment point in S230 is optimized and improved to achieve smooth processing of the road to be assigned with a slope. It should be noted that for the parts not described in detail in the embodiments of the present application, please refer to the relevant descriptions of other embodiments, and will not be repeated here.

[0084] See also Figure 3A A method for determining a target height of a basic value assignment point is shown, comprising:

[0085] S310, dividing each basic assignment point into two assignment point groups; wherein the assignment point group includes a preceding assignment point group and a succeeding assignment point group.

[0086] Among them, the preceding assignment point group includes the demarcation assignment point and each basic assignment point before the demarcation assignment point; the succeeding assignment point group includes the demarcation assignment point and each basic assignment point after the demarcation assignment point. Among them, the number of basic assignment points in the preceding assignment point group and the number of basic assignment points in the succeeding assignment point group may be the same or different, and the present application does not impose any limitation on this. Among them, each basic assignment point in the preceding assignment point group is numbered in sequence, that is, numbered according to the arrangement order of the basic assignment points in the road to be assigned; each basic assignment point in the succeeding assignment point group is numbered in reverse order, that is, numbered according to the reverse order of the arrangement order of the basic assignment points in the road to be assigned. For example, the basic assignment points in the preceding assignment point group may be numbered in the order obtained by sorting the direction of road travel; the basic assignment points in the succeeding assignment point group may be numbered in the order obtained by sorting the direction opposite to the direction of road travel. The road running direction can be set or adjusted by a technician or a user with a road display requirement according to needs or experience. For example, the path direction of the user with a road display requirement during navigation can be used as the road running direction.

[0087] The demarcation point is one of the basic value points. For example, the demarcation point can be a basic value point at a preset quantile. In a specific implementation, the preset quantile can be a median, and accordingly, the preceding value point group and the following value point group correspond to the first half and the second half of the basic value points, respectively.

[0088] S320, determining the intra-group level difference of each evaluation point group according to the position of the boundary evaluation point in each basic evaluation point and each height level.

[0089] Exemplarily, for the preceding assignment point group, the intra-group level difference of the preceding assignment point group can be determined based on the difference in height level between the demarcation assignment point and the entry endpoint; for the subsequent assignment point group, the intra-group level difference of the subsequent assignment point group can be determined based on the difference in height level between the demarcation assignment point and the exit endpoint.

[0090] It is worth noting that when the boundary assignment point is the midpoint of the basic assignment point, the intra-group level difference of the preceding assignment point group is the same as the intra-group level difference of the succeeding assignment point group, which is half of the difference in height levels between the two end points of the road to be assigned.

[0091] S330. For any basic value assignment point, determine the target height of the basic value assignment point according to the sequence numbers of the basic value assignment points in the value assignment point group to which the basic value assignment point belongs, the reference height of the basic value assignment point, and the level difference within the value assignment point group to which the basic value assignment point belongs.

[0092] Among them, the reference height of the basic assignment point is the target height of the previous basic assignment point in the assignment point group to which it belongs; the target height of the first basic assignment point in the previous assignment point group (that is, the basic assignment point with the smallest sequence number) is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic assignment point in the subsequent assignment point group is the target height of the last basic assignment point in the previous assignment point group (that is, the basic assignment point with the largest sequence number). It is worth noting that the first basic assignment point in the subsequent assignment point group is the last basic assignment point in the previous assignment point group, and both are boundary assignment points.

[0093] The sequence number of the basic assignment point is the sorting sequence number of the basic assignment point within the assignment point group to which it belongs.

[0094] Exemplarily, according to the preset allocation mechanism, the height can be allocated to the level difference within the group of the assignment point to which the basic assignment point belongs according to the sequence number of the basic assignment point; the height allocated to the basic assignment point is superimposed on the reference height of the basic assignment point to obtain the target height of the basic assignment point. Among them, the preset allocation mechanism can be that in the preceding assignment point group, the height allocation result increases with the increase of the sequence number, that is, along the direction of the road, the additional height allocated increases with the extension of the road; in the succeeding assignment point group, the height allocation result increases with the increase of the sequence number, that is, along the direction of the road, the additional height allocated decreases with the extension of the road.

[0095] In an optional embodiment, for any basic value assignment point, the cumulative value of the serial numbers of the basic value assignment points in the value assignment point group to which the basic value assignment point belongs can be determined; the additional height of the basic value assignment point can be determined based on the serial number of the basic value assignment point, the corresponding cumulative value of the serial numbers and the level difference within the value assignment point group to which the basic value assignment point belongs; and the target height of the basic value assignment point can be determined based on the reference height of the basic value assignment point and the corresponding additional height.

[0096] Exemplarily, for any basic value-assigning point, the additional height allocated to the basic value-assigning point can be determined from the intra-group level difference of the value-assigning point group to which the basic value-assigning point belongs, based on the sequence number of the basic value-assigning point and the corresponding sequence number cumulative value, and the corresponding additional height is added on the basis of the reference height of the basic value-assigning point to obtain the target height of the basic value-assigning point. Among them, for each basic value-assigning point in the preceding value-assigning point group, as the sequence number increases, the additional height allocated increases successively, that is, along the direction of the road, as the road extends, the additional height allocated increases successively; for each basic value-assigning point in the succeeding value-assigning point group, as the sequence number decreases, the additional height allocated decreases successively, that is, along the direction of the road, as the road extends, the additional height allocated decreases successively.

[0097] Exemplarily, for any basic value-assigning point, the height allocation ratio can be determined according to the sequence number of the basic value-assigning point and the corresponding sequence number cumulative value; the additional height of the basic value-assigning point can be determined according to the height allocation ratio and the intra-group level difference of the value-assigning point group to which the basic value-assigning point belongs. Among them, for each basic value-assigning point in the preceding value-assigning point group, as the sequence number increases, the determined height allocation ratio increases successively, so that the allocated additional height increases successively; for each basic value-assigning point in the succeeding value-assigning point group, as the sequence number decreases, the determined height allocation ratio decreases successively, so that the allocated additional height decreases successively.

[0098] Optionally, if the basic value point belongs to the previous value point group, the ratio of the sequence number of the basic value point to the cumulative value of the corresponding sequence number is used as the height allocation ratio. The advantage of this is that it ensures that the height allocation ratio increases with the increase of the sequence number of the basic value point in the previous value point group.

[0099] Alternatively, if the basic value point belongs to the post-order value point group, the difference between the number of basic value points in the post-order value point group and the basic value point is determined, and the ratio of the difference determination result to the corresponding sequence number cumulative value is used as the height allocation ratio. The advantage of this is that it ensures that the height allocation ratio decreases as the sequence number of the basic value point in the post-order value point group decreases.

[0100] The following describes in detail the process of determining the target height of each basic value point in the preceding value point group, taking the demarcation value point as the midpoint of the basic value point as an example.

[0101] Exemplarily, the following formula may be used to determine the intra-group level difference corresponding to the preceding value assignment point group:

[0102]

[0103] Among them, smothDivA is the level difference within the group corresponding to the previous valued point group; divHeight is the height level difference between the two end points in the road to be valued; pointCount is the total number of basic valued points in the road to be valued; A max The number of the basic value point with the largest number in the previous value point group; is the round-up symbol, The floor symbol.

[0104] Exemplarily, the following formula may be used to determine the cumulative value of the sequence number corresponding to the preceding assignment point group:

[0105]

[0106] Among them, sumA is the cumulative value of the sequence number corresponding to the previous order assignment point group.

[0107] Exemplarily, the following formula may be used to determine the target height of each basic evaluation point in the preceding evaluation point group:

[0108]

[0109] Among them, PointHeight[i] is the target height of the i-th basic assignment point; PointHeight[0] is the target height of the entry end point of the road to be assigned.

[0110] The following describes in detail the target height determination process of each basic value point in the subsequent value point group, taking the demarcation value point as the midpoint of the basic value point as an example.

[0111] Exemplarily, the following formula may be used to determine the intra-group level difference corresponding to the subsequent value assignment point group:

[0112] smoothDivB=divHeight-smothDivA;

[0113] Among them, smothDivA is the intra-group level difference corresponding to the preceding assignment point group; smothDivB is the intra-group level difference corresponding to the succeeding assignment point group.

[0114] Exemplarily, the following formula may be used to determine the cumulative value of the sequence number corresponding to the subsequent assignment point group:

[0115]

[0116] Among them, sumB is the cumulative value of the sequence number corresponding to the subsequent assignment point group.

[0117] Exemplarily, the following formula may be used to determine the target height of each basic evaluation point in the subsequent evaluation point group:

[0118]

[0119] Among them, PointHeight[j] is the target height of the jth basic assignment point; PointHeight[pointCount-A max ] is the target height determined by the boundary assignment point with the largest serial number in the previous assignment point group.

[0120] In order to avoid a break between the exit endpoint and the exit road of the road to be assigned, in an optional embodiment, the target height of the exit endpoint can be determined directly according to the level of the exit endpoint of the road to be assigned.

[0121] See also Figure 3B As shown in the schematic diagram of the height assignment comparison results, it can be seen that compared with not using the above method to determine the target height of the basic assignment point, the above method can achieve a smooth height transition of the road to be assigned at different basic assignment points while keeping the overall height increase (DivHeight) unchanged, avoiding the appearance of unacceptable sharp corners and improving the rendering effect of subsequent road rendering.

[0122] In order to ensure the connectivity between the road to be assigned and the exit road, in an optional embodiment, the target height corresponding to the height level of the exit end of the road to be assigned can be directly replaced by the target height of the last basic assignment point in the subsequent assignment point group (that is, the basic assignment point with the smallest serial number), thereby realizing the height correction of the last basic assignment point.

[0123] The embodiment of the present application divides each basic assignment point of the road to be assigned into two assignment point groups, and determines the level difference within the group for different assignment point groups, and determines the target height of the corresponding basic assignment point based on the level difference within the group, the sequence number of the basic assignment point within the group, and the target height of the previous basic assignment point of the basic assignment point in the group, so that the target height determination process of the basic assignment point is closely related to the target height of the previous basic assignment point in the group and its own sequence number, thereby improving the correlation of the target heights between different basic assignment points. In addition, the above method is used to assign target heights to different basic assignment points, and the operation process is convenient and fast, with a small amount of calculation, which improves the efficiency of determining the target height of the basic assignment point, and thus improves the efficiency of lane height assignment.

[0124] Since different lanes of the road to be assigned may have different lane feature points, at this time, only using the basic assignment points of the road to be assigned to perform height assignment for the corresponding points to be assigned in different lanes may result in the loss of the lane's own feature information. In order to avoid the above situation, based on the technical solutions of the above embodiments, the present application also provides an optional embodiment to further improve the height assignment mechanism for different lanes of the road to be assigned. It is worth noting that for the parts not described in detail in the embodiments of the present application, please refer to the relevant descriptions of other embodiments, which will not be repeated here.

[0125] See also Figure 4A A lane height assignment method shown includes:

[0126] S410: Determine additional valued points in the road to be valued according to lane feature points in a lane corresponding to the road to be valued.

[0127] The lane feature points include lane shape points and / or lane group demarcation points. The lane shape points are used to represent the shape information of the corresponding lane, such as the points at the lane turns. The lane group demarcation points are used to represent the topological connection points between the road to be assigned and the corresponding lane group when different sections of the road to be assigned belong to different lane groups.

[0128] Among them, the lane feature points in the lane corresponding to the road to be assigned can be pre-stored locally in the computing device that performs the lane height assignment, or in other storage devices that communicate with the computing device, and this application does not impose any limitations on this.

[0129] For example, the lane feature points in the lane corresponding to the road to be assigned can be directly mapped to the road to be assigned to obtain the corresponding additional assigned points. The mapping method can be geometric mapping or the like, and this application does not impose any limitation on this.

[0130] S420: Determine the target height of the corresponding additional value assignment point according to the target height of the basic value assignment point adjacent to the additional value assignment point.

[0131] If the additional value assignment point happens to be a basic value assignment point in the road to be assigned, the target height of the corresponding basic value assignment point can be directly used as the target height of the additional value assignment point. When the additional value assignment point is not a basic value assignment point in the road to be assigned, the target height of the additional value assignment point can be determined by geometric mapping based on the target height of the basic value assignment point adjacent to the additional value assignment point. Among them, the number of basic value assignment points adjacent to the additional value assignment point can be at least one, and this application does not impose any limitation on this.

[0132] S430 , assigning heights to corresponding points to be assigned in the corresponding lanes of the road to be assigned according to the target heights of the additional assigned points.

[0133] Exemplarily, the target heights of the additional value-assigned points are respectively assigned to corresponding points to be assigned in corresponding lanes of the road to be assigned, that is, lane feature points.

[0134] See also Figure 4B The lane height assignment process diagram shown in the figure shows that the road link to be assigned has two lanes, lanegroup-1 and lanegroup-2. Among them, LP1 to LP4 are the basic assignment points of the road to be assigned; GP1 1 ~GP3 1 It is the lane feature point in lanegroup-1; GP1 2 ~GP3 2 is the lane feature point in lanegroup-2. Among them, LGP1 in lanegroup-1 1 ~LGP2 1 The basic value points LP2 and LP3 in the road link to be valued are mapped to the points to be valued in lane group-1; LGP1 in lane group-2 2 ~LGP2 2 The basic valued points LP2 and LP3 in the road to be valued link are mapped to the valued points in lane group-2; GLP1 in the road to be valued link is GP2 in lane group-1 1Mapped to the additional valued point on the link; GLP2 in the link to be valued is GP2 in lanegroup-2 2 The additional value points mapped to the link. Among them, based on the target height of LP1 in the link, they are lane feature points GP1 1 and GP1 2 Assign height values; based on the target height of LP4 in the link, the lane feature point GP3 1 and GP3 2 Assign height; based on the target height of LP2 in link, the point to be assigned LGP1 1 and LGP1 2 Perform height assignment; determine the target height of GLP1 based on the basic assignment points (such as at least one of LP1, LP2, LP3 and LP4) adjacent to the additional assignment point GLP1, and based on the target height of GLP1, the lane feature point GP2 1 Perform height assignment; determine the target height of GLP2 based on the basic assignment points (such as at least one of LP1, LP2, LP3 and LP4) adjacent to the additional assignment point GLP2, and based on the target height of GLP2, for the lane feature point GP2 2 Assign height.

[0135] See also Figure 4C The schematic diagram of lane height assignment result is shown, where road link2 is the road to be assigned, and among roads link1 and link3, one is the entry road of link2 and the other is the exit road of link2. The lane group lanegroup corresponding to Link2 includes 5 lanes, and the height assignment points in each lane include the points to be assigned corresponding to the basic assignment points and the lane feature points.

[0136] The embodiment of the present application introduces lane feature points of the lane in addition to the basic assignment points when assigning height to the lane, thereby improving the richness of the points to be assigned in the lane, avoiding the loss of key feature points such as lane shape points and lane group demarcation points in the lane, resulting in poor lane assignment effect, improving the comprehensiveness of the lane assignment results, making the lane assignment results closer to display, and thus helping to improve the rendering effect of map rendering based on the lane assignment results.

[0137] In an optional embodiment, the aforementioned road to be assigned can be a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attributes in the same lane group, or a road without lane group attributes marked, so that the lane height assignment method provided in the present application can adapt to the height assignment of the corresponding lanes of the logical road or the road without lane group attributes marked.

[0138] It is worth noting that assigning lane heights according to the overall logical road corresponding to the lane group can overall reflect the front and back hierarchical relationship and slope effect of the lane group, which helps to improve the road flow during subsequent three-dimensional rendering of the map, and thus helps to improve the matching degree between the rendering effect and the actual situation.

[0139] Exemplarily, the height levels corresponding to different end points of a logical road can be determined by determining the entry road and exit road of the entire logical road, and according to the height level of the entry end where the entry road is physically connected to the logical road, and the height level of the exit end where the exit road is physically connected to the logical road.

[0140] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment to improve the generation method of logical roads. It is worth noting that the computing device that performs the logical road generation and the computing device that performs the lane height assignment method can be the same or different, and the present application does not make any restrictions on this. It should be noted that for the parts not described in detail in the embodiments of the present application, please refer to the relevant descriptions of other embodiments, and will not be repeated here.

[0141] See also Figure 5A The logical road generation method shown includes:

[0142] S510: Acquire roads whose virtual and real attributes are actual attribute values ​​in the same lane group as roads to be spliced.

[0143] The virtual and real attributes include actual attribute values ​​and virtual attribute values. Roads marked with actual attribute values ​​can reflect the overall shape skeleton of the road group to which they belong, while roads marked with virtual attribute values ​​cannot reflect the overall shape skeleton of the road group to which they belong. The virtual and real attributes of different roads can be pre-set, and this application does not impose any restrictions on the specific setting method of the virtual and real attributes.

[0144] S520: For any road to be spliced, according to the road topology relationship of the road to be spliced, determine the first road connected to the road to be spliced ​​in a preset traversal direction that does not belong to the lane group to which the road to be spliced ​​belongs, as the connecting road in the preset traversal direction.

[0145] Among them, the subsequent roads under the preset traversal direction include an exit road corresponding to the road running direction, and an entry road corresponding to the opposite direction of the road running direction.

[0146] The preset traversal direction may be the direction of the road, or the opposite direction of the road.

[0147] S530: sequentially splice the roads to be spliced ​​between the entry road and the exit road to obtain a logical road under the corresponding lane group.

[0148] Exemplarily, all roads in the lane group can be selected, and roads marked as virtual attribute values ​​can be removed from the roads to update the lane group. Traverse any road in the updated lane group as the current road, and determine the entry road of the current road; if the entry road of the current road still belongs to the lane group, determine that the current road is not the starting road of the lane group, and continue to use the entry road as the new current road, and return to perform the entry road acquisition operation until the entry road of the current road does not belong to the lane group, and use the current road as the starting road of the lane group. Traverse any road in the updated lane group as the current road, and determine the exit road of the current road; if the exit road of the current road still belongs to the lane group, determine that the current road is not the ending road of the lane group, and continue to use the exit road as the new current road, and return to perform the exit road acquisition operation until the exit road of the current road does not belong to the lane group, and use the current road as the ending road of the lane group. The starting road, the ending road of the lane group, and the roads whose virtual and real attributes between the starting road and the ending road are actual attribute values ​​are sequentially connected based on the road topological relationship to obtain the logical road under the lane group. Accordingly, the access road of the starting road is used as the entry road of the logical road in this lane group; and the exit road of the terminating road is used as the exit road of the logical road in this lane group; according to the road levels of the entry road and the exit road of the logical road, the height levels corresponding to different end points of the logical road are determined as the basis for subsequent lane height assignment.

[0149] It should be noted that the process of determining the starting road and the ending road of the lane group can be implemented in series or in parallel, and the present application does not impose any limitation on this. In addition, the present application does not impose any limitation on the order of determining the starting road and the ending road.

[0150] See also Figure 5B The schematic diagram of the logical road determination result is shown. Among them, the roads link2, link3, link4 and link6 belong to the same lane group, and the virtual and real attributes of link2 to link4 are actual attribute values, and the virtual and real attributes of link6 are virtual attribute values. At this time, link2 and link4 are the starting road and the ending road of this lane group respectively, and the road obtained by sequentially connecting link2 to link4 is the logical road; link1 is the entry road of the logical road, and link5 is the exit road of the logical road; link1 and link7 are the entry road and the exit road of link6 respectively.

[0151] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0152] Based on the same inventive concept, the embodiment of the present application also provides a lane height assignment device for implementing the lane height assignment method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more lane height assignment device embodiments provided below can refer to the limitations of the lane height assignment method above, and will not be repeated here.

[0153] In an exemplary embodiment, Figure 6 As shown, a lane height assignment device is provided, including: a height level determination module 610, a basic assignment point determination module 620, a target height determination module 630 and a lane height assignment module 640.

[0154] in,

[0155] The height level determination module 610 is used to determine the height levels corresponding to different endpoints of the road to be assigned;

[0156] The basic value assignment point determination module 620 is used to determine the basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value;

[0157] A target height determination module 630 is used to determine the target height of each basic value assignment point according to the height level and the distribution of different basic value assignment points;

[0158] The lane height assignment module 640 is used to assign heights to corresponding points to be assigned in different lanes of the road to be assigned according to the target heights of the basic assignment points.

[0159] In one embodiment, the target height determination module 630 includes: an assignment point group determination unit, which is used to divide each basic assignment point into two assignment point groups; wherein the assignment point group includes a preceding assignment point group and a succeeding assignment point group; the preceding assignment point group includes a boundary assignment point and each basic assignment point before the boundary assignment point; the succeeding assignment point group includes a boundary assignment point and each basic assignment point after the boundary assignment point; the boundary assignment point is one of the basic assignment points; each basic assignment point in the preceding assignment point group is numbered sequentially; each basic assignment point in the succeeding assignment point group is numbered in reverse order; an intra-group level difference determination unit, which is used to determine the level difference of each basic assignment point according to the position of the boundary assignment point in each basic assignment point and the height of each basic assignment point. The target height determination unit is used to determine the target height of any basic assignment point according to the sequence numbers of the basic assignment points in the assignment point group to which the basic assignment point belongs, the reference height of the basic assignment point and the level difference within the group of assignment points to which the basic assignment point belongs; wherein the reference height of the basic assignment point is the target height of the previous basic assignment point in the assignment point group to which the basic assignment point belongs; the target height of the first basic assignment point in the preceding assignment point group is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic assignment point in the succeeding assignment point group is the target height of the last basic assignment point in the preceding assignment point group.

[0160] In one of the embodiments, the target height determination unit includes: a serial number accumulation subunit, used to determine the serial number accumulation value of each basic value assignment point in the value assignment point group to which the basic value assignment point belongs; an additional height determination subunit, used to determine the additional height of the basic value assignment point according to the serial number of the basic value assignment point, the corresponding serial number accumulation value and the level difference within the value assignment point group to which the basic value assignment point belongs; a target height determination subunit, used to determine the target height of the basic value assignment point according to the reference height of the basic value assignment point and the corresponding additional height.

[0161] In one of the embodiments, the additional height determination subunit is specifically used to: determine the height distribution ratio based on the serial number of the basic value assignment point and the corresponding serial number cumulative value; determine the additional height of the basic value assignment point based on the height distribution ratio and the level difference within the group of the value assignment point group to which the basic value assignment point belongs.

[0162] In one of the embodiments, when the additional height determination subunit determines the height distribution ratio based on the serial number of the basic assignment point and the corresponding serial number cumulative value, it is specifically used to: if the basic assignment point belongs to the previous assignment point group, then the ratio of the serial number of the basic assignment point to the corresponding serial number cumulative value is used as the height distribution ratio; if the basic assignment point belongs to the subsequent assignment point group, then the difference between the number of basic assignment points in the subsequent assignment point group and the serial number of the basic assignment point is determined, and the ratio of the difference determination result to the corresponding serial number cumulative value is used as the height distribution ratio.

[0163] In one of the embodiments, the device also includes: an additional valued point determination module, which is used to determine the additional valued points in the road to be assigned based on the lane feature points in the lane corresponding to the road to be assigned; wherein the lane feature points include lane shape points and / or lane group demarcation points; a target height determination module 630, which is also used to determine the target height of the corresponding additional valued point based on the target height of the basic valued point adjacent to the additional valued point; and a lane height assignment module 640, which is also used to assign heights to the corresponding points to be assigned in the lane corresponding to the road to be assigned based on the target heights of the additional valued points.

[0164] In one of the embodiments, the road to be assigned is a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attribute values ​​in the same lane group, or a road without lane group attributes marked; accordingly, the device also includes a logical road generation module, which is specifically used to: obtain roads whose virtual and real attributes are actual attribute values ​​in the same lane group as roads to be spliced; for any road to be spliced, according to the road topological relationship of the road to be spliced, determine the first road that does not belong to the lane group to which the road to be spliced ​​is connected in the preset traversal direction as the continuing road in the preset traversal direction; wherein the continuing road in the preset traversal direction includes an exit road corresponding to the road running direction, and an entry road corresponding to the opposite direction of the road running direction; the roads to be spliced ​​between the entry road and the exit road are sequentially spliced ​​to obtain the logical road under the corresponding lane group.

[0165] Each module in the lane height assignment device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0166] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a lane height assignment method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0167] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0168] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0169] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0170] Determine basic value assignment points in the road to be assigned value; wherein each basic value assignment point is evenly distributed in the road to be assigned value;

[0171] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0172] According to the target height of the basic evaluation point, the height of the corresponding points to be evaluated in different lanes of the road to be evaluated is evaluated.

[0173] In one of the embodiments, the processor further implements the following steps when executing the computer program: divide each basic value assignment point into two value assignment point groups; wherein the value assignment point group includes a pre-order value assignment point group and a post-order value assignment point group; the pre-order value assignment point group includes a sequentially numbered demarcation value assignment point and each basic value assignment point before the demarcation value assignment point; the post-order value assignment point group includes a reversely numbered demarcation value assignment point and each basic value assignment point after the demarcation value assignment point; the demarcation value assignment point is one of the basic value assignment points; according to the position of the demarcation value assignment point in each basic value assignment point, and each height level, determine the intra-group level difference of each value assignment point group; For any basic value assignment point, the target height of the basic value assignment point is determined according to the serial numbers of the basic value assignment points in the value assignment point group to which the basic value assignment point belongs, the reference height of the basic value assignment point and the level difference within the value assignment point group to which the basic value assignment point belongs; wherein the reference height of the basic value assignment point is the target height of the previous basic value assignment point in the value assignment point group to which the basic value assignment point belongs; the target height of the first basic value assignment point in the preceding value assignment point group is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic value assignment point in the succeeding value assignment point group is the target height of the last basic value assignment point in the preceding value assignment point group.

[0174] In one of the embodiments, when the processor executes the computer program, the following steps are also implemented: determining the cumulative value of the serial numbers corresponding to the serial numbers of each basic value assignment point in the value assignment point group to which the basic value assignment point belongs; determining the additional height of the basic value assignment point based on the serial number of the basic value assignment point, the corresponding cumulative value of the serial number and the level difference within the value assignment point group to which the basic value assignment point belongs; determining the target height of the basic value assignment point based on the reference height of the basic value assignment point and the corresponding additional height.

[0175] In one of the embodiments, when the processor executes the computer program, the following steps are also implemented: determining the height allocation ratio based on the serial number of the basic value assignment point and the corresponding serial number cumulative value; determining the additional height of the basic value assignment point based on the height allocation ratio and the level difference within the group of the value assignment point group to which the basic value assignment point belongs.

[0176] In one of the embodiments, the processor also implements the following steps when executing the computer program: if the basic assignment point belongs to the previous assignment point group, then the ratio of the serial number of the basic assignment point to the cumulative value of the corresponding serial number is used as the height allocation ratio; if the basic assignment point belongs to the subsequent assignment point group, then the difference between the number of basic assignment points in the subsequent assignment point group and the serial number of the basic assignment point is determined, and the ratio of the difference determination result to the cumulative value of the corresponding serial number is used as the height allocation ratio.

[0177] In one of the embodiments, the processor further implements the following steps when executing the computer program: determining additional valued points in the road to be assigned based on lane feature points in the lane corresponding to the road to be assigned; wherein the lane feature points include lane shape points and / or lane group demarcation points; determining the target height of the corresponding additional valued points based on the target height of the basic valued points adjacent to the additional valued points; and assigning heights to the corresponding points to be assigned in the lane corresponding to the road to be assigned based on the target heights of the additional valued points.

[0178] In one of the embodiments, the road to be assigned is a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attribute values ​​in the same lane group, or a road without lane group attributes marked; wherein, when the processor executes the computer program, the following steps are also implemented: obtaining roads whose virtual and real attributes are actual attribute values ​​in the same lane group as roads to be spliced; for any road to be spliced, according to the road topological relationship of the road to be spliced, determining the first road that does not belong to the lane group to which the road to be spliced ​​is connected in a preset traversal direction according to the road topological relationship of the road to be spliced, as the connecting road in the preset traversal direction; wherein the connecting road in the preset traversal direction includes an exit road corresponding to the road running direction, and an entry road corresponding to the opposite direction of the road running direction; sequentially splicing the roads to be spliced ​​between the entry road and the exit road to obtain a logical road under the corresponding lane group.

[0179] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0180] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0181] Determine basic value assignment points in the road to be assigned value; wherein each basic value assignment point is evenly distributed in the road to be assigned value;

[0182] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0183] According to the target height of the basic evaluation point, the height of the corresponding points to be evaluated in different lanes of the road to be evaluated is evaluated.

[0184] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: each basic assignment point is divided into two assignment point groups; wherein the assignment point group includes a pre-order assignment point group and a post-order assignment point group; the pre-order assignment point group includes a sequentially numbered demarcation assignment point and each basic assignment point before the demarcation assignment point; the post-order assignment point group includes a reversely numbered demarcation assignment point and each basic assignment point after the demarcation assignment point; the demarcation assignment point is one of the basic assignment points; according to the position of the demarcation assignment point in each basic assignment point and each height level, the intra-group level difference of each assignment point group is determined ; For any basic assignment point, the target height of the basic assignment point is determined according to the sequence number of each basic assignment point in the assignment point group to which the basic assignment point belongs, the reference height of the basic assignment point and the level difference within the group of assignment points to which the basic assignment point belongs; wherein the reference height of the basic assignment point is the target height of the previous basic assignment point in the assignment point group to which the basic assignment point belongs; the target height of the first basic assignment point in the preceding assignment point group is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic assignment point in the succeeding assignment point group is the target height of the last basic assignment point in the preceding assignment point group.

[0185] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the cumulative value of the serial numbers corresponding to the serial numbers of each basic value assignment point in the value assignment point group to which the basic value assignment point belongs; determining the additional height of the basic value assignment point based on the serial number of the basic value assignment point, the corresponding cumulative value of the serial number and the level difference within the value assignment point group to which the basic value assignment point belongs; determining the target height of the basic value assignment point based on the reference height of the basic value assignment point and the corresponding additional height.

[0186] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the height allocation ratio based on the serial number of the basic value assignment point and the corresponding serial number cumulative value; determining the additional height of the basic value assignment point based on the height allocation ratio and the level difference within the group of value assignment points to which the basic value assignment point belongs.

[0187] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: if the basic value assignment point belongs to the previous value assignment point group, the ratio of the serial number of the basic value assignment point to the cumulative value of the corresponding serial number is used as the height allocation ratio; if the basic value assignment point belongs to the subsequent value assignment point group, the difference between the number of basic value assignment points in the subsequent value assignment point group and the serial number of the basic value assignment point is determined, and the ratio of the difference determination result to the cumulative value of the corresponding serial number is used as the height allocation ratio.

[0188] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining additional valued points in the road to be assigned based on lane feature points in the lane corresponding to the road to be assigned; wherein the lane feature points include lane shape points and / or lane group demarcation points; determining the target height of the corresponding additional valued points based on the target height of the basic valued points adjacent to the additional valued points; and assigning heights to the corresponding points to be assigned in the lane corresponding to the road to be assigned based on the target heights of the additional valued points.

[0189] In one of the embodiments, the road to be assigned is a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attribute values ​​in the same lane group, or a road without lane group attributes marked; wherein, when the computer program is executed by the processor, the following steps are also implemented: roads whose virtual and real attributes are actual attribute values ​​in the same lane group are obtained as roads to be spliced; for any road to be spliced, according to the road topological relationship of the road to be spliced, the first road that does not belong to the lane group to which the road to be spliced ​​is connected in the preset traversal direction is determined as the connecting road in the preset traversal direction; wherein the connecting road in the preset traversal direction includes an exit road corresponding to the road running direction, and an entry road corresponding to the opposite direction of the road running direction; the roads to be spliced ​​between the entry road and the exit road are sequentially spliced ​​to obtain the logical road under the corresponding lane group.

[0190] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0191] Determine the height levels corresponding to different endpoints of the road to be assigned;

[0192] Determine basic value assignment points in the road to be assigned value; wherein each basic value assignment point is evenly distributed in the road to be assigned value;

[0193] Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points;

[0194] According to the target height of the basic evaluation point, the height of the corresponding points to be evaluated in different lanes of the road to be evaluated is evaluated.

[0195] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: each basic assignment point is divided into two assignment point groups; wherein the assignment point group includes a pre-order assignment point group and a post-order assignment point group; the pre-order assignment point group includes a sequentially numbered demarcation assignment point and each basic assignment point before the demarcation assignment point; the post-order assignment point group includes a reversely numbered demarcation assignment point and each basic assignment point after the demarcation assignment point; the demarcation assignment point is one of the basic assignment points; according to the position of the demarcation assignment point in each basic assignment point and each height level, the intra-group level difference of each assignment point group is determined ; For any basic assignment point, the target height of the basic assignment point is determined according to the sequence number of each basic assignment point in the assignment point group to which the basic assignment point belongs, the reference height of the basic assignment point and the level difference within the group of assignment points to which the basic assignment point belongs; wherein the reference height of the basic assignment point is the target height of the previous basic assignment point in the assignment point group to which the basic assignment point belongs; the target height of the first basic assignment point in the preceding assignment point group is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic assignment point in the succeeding assignment point group is the target height of the last basic assignment point in the preceding assignment point group.

[0196] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the cumulative value of the serial numbers corresponding to the serial numbers of each basic value assignment point in the value assignment point group to which the basic value assignment point belongs; determining the additional height of the basic value assignment point based on the serial number of the basic value assignment point, the corresponding cumulative value of the serial number and the level difference within the value assignment point group to which the basic value assignment point belongs; determining the target height of the basic value assignment point based on the reference height of the basic value assignment point and the corresponding additional height.

[0197] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the height allocation ratio based on the serial number of the basic value assignment point and the corresponding serial number cumulative value; determining the additional height of the basic value assignment point based on the height allocation ratio and the level difference within the group of value assignment points to which the basic value assignment point belongs.

[0198] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: if the basic value assignment point belongs to the previous value assignment point group, the ratio of the serial number of the basic value assignment point to the cumulative value of the corresponding serial number is used as the height allocation ratio; if the basic value assignment point belongs to the subsequent value assignment point group, the difference between the number of basic value assignment points in the subsequent value assignment point group and the serial number of the basic value assignment point is determined, and the ratio of the difference determination result to the cumulative value of the corresponding serial number is used as the height allocation ratio.

[0199] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining additional valued points in the road to be assigned based on lane feature points in the lane corresponding to the road to be assigned; wherein the lane feature points include lane shape points and / or lane group demarcation points; determining the target height of the corresponding additional valued points based on the target height of the basic valued points adjacent to the additional valued points; and assigning heights to the corresponding points to be assigned in the lane corresponding to the road to be assigned based on the target heights of the additional valued points.

[0200] In one embodiment, the road to be assigned is a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attribute values ​​in the same lane group, or a road without lane group attributes marked; wherein, when the computer program is executed by the processor, the following steps are also implemented: roads whose virtual and real attributes are actual attribute values ​​in the same lane group are obtained as roads to be spliced; for any road to be spliced, according to the road topological relationship of the road to be spliced, the first road that does not belong to the lane group to which the road to be spliced ​​is connected in the preset traversal direction is determined as the connecting road in the preset traversal direction; wherein, the connecting road in the preset traversal direction includes an exit road corresponding to the road running direction, and an entry road corresponding to the opposite direction of the road running direction; the roads to be spliced ​​between the entry road and the exit road are sequentially spliced ​​to obtain the logical road under the corresponding lane group. In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0201] It should be noted that the data involved in this application (including but not limited to data used for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0202] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0203] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0204] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A lane height assignment method, It is characterized in that include: Determine the height levels corresponding to different endpoints of the road to be assigned; Determine basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value; Determine the target height of each basic value assignment point according to the altitude level and the distribution of different basic value assignment points; According to the target height of the basic value-assigned point, heights are assigned to corresponding points to be assigned in different lanes of the road to be assigned.

2. The method according to claim 1, It is characterized in that Determining the target height of each basic value assignment point according to the height level and the distribution of different basic value assignment points includes: Divide each of the basic value assignment points into two value assignment point groups; wherein the value assignment point groups include a preceding value assignment point group and a succeeding value assignment point group; the preceding value assignment point group includes a demarcation value assignment point and each basic value assignment point before the demarcation value assignment point; the succeeding value assignment point group includes the demarcation value assignment point and each basic value assignment point after the demarcation value assignment point; the demarcation value assignment point is one of the basic value assignment points; each basic value assignment point in the preceding value assignment point group is numbered sequentially; each basic value assignment point in the succeeding value assignment point group is numbered in reverse order; Determine the intra-group level difference of each evaluation point group according to the position of the demarcation evaluation point in each of the basic evaluation points and each of the height levels; For any basic value assignment point, the target height of the basic value assignment point is determined according to the sequence numbers of the basic value assignment points in the value assignment point group to which the basic value assignment point belongs, the reference height of the basic value assignment point, and the level difference within the value assignment point group to which the basic value assignment point belongs; Among them, the reference height of the basic assignment point is the target height of the previous basic assignment point in the assignment point group to which it belongs; the target height of the first basic assignment point in the preceding assignment point group is determined based on the height level of the entrance end of the road to be assigned; the target height of the first basic assignment point in the succeeding assignment point group is the target height of the last basic assignment point in the preceding assignment point group.

3. The method according to claim 2, It is characterized in that The step of determining the target height of the basic assignment point according to the sequence numbers of the basic assignment points in the assignment point group to which the basic assignment point belongs, the reference height of the basic assignment point, and the level difference within the group of assignment points to which the basic assignment point belongs comprises: Determine the cumulative value of the serial numbers corresponding to the serial numbers of the basic value points in the value point group to which the basic value point belongs; Determine the additional height of the basic value point according to the sequence number of the basic value point, the cumulative value of the corresponding sequence number and the level difference within the value point group to which the basic value point belongs; The target height of the basic value assignment point is determined according to the reference height of the basic value assignment point and the corresponding additional height.

4. The method according to claim 3, It is characterized in that The step of determining the additional height of the basic value point according to the sequence number of the basic value point, the corresponding sequence number cumulative value, and the level difference within the value point group to which the basic value point belongs comprises: Determine the height allocation ratio according to the sequence number of the basic value assignment point and the corresponding sequence number cumulative value; The additional height of the basic value point is determined according to the height distribution ratio and the intra-group level difference of the value point group to which the basic value point belongs.

5. The method according to claim 4, It is characterized in that Determining the height allocation ratio according to the sequence number of the basic value assignment point and the corresponding sequence number cumulative value includes: If the basic value assignment point belongs to the previous value assignment point group, the ratio of the sequence number of the basic value assignment point to the cumulative value of the corresponding sequence number is used as the height allocation ratio; If the basic value assignment point belongs to a subsequent value assignment point group, the difference between the number of basic value assignment points in the subsequent value assignment point group and the sequence number of the basic value assignment point is determined, and the ratio of the difference determination result to the corresponding sequence number cumulative value is used as the height allocation ratio.

6. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: Determine the additional valued points in the road to be valued according to the lane feature points in the lane corresponding to the road to be valued; wherein the lane feature points include lane shape points and / or lane group demarcation points; Determine the target height of the corresponding additional value assignment point according to the target height of the basic value assignment point adjacent to the additional value assignment point; According to the target height of the additional valued point, a height is assigned to the corresponding point to be assigned in the lane corresponding to the road to be assigned.

7. The method according to any one of claims 1 to 5, It is characterized in that The road to be assigned a value is a logical road obtained by sequentially splicing roads whose virtual and real attributes are actual attribute values ​​in the same lane group, or a road without lane group attributes marked; The logical road is generated in the following manner: Obtain roads whose virtual and real attributes are actual attribute values ​​in the same lane group as roads to be spliced; For any road to be spliced, according to the road topological relationship of the road to be spliced, determine the first road connected to the road to be spliced ​​in the preset traversal direction that does not belong to the lane group to which the road to be spliced ​​belongs, as the connecting road in the preset traversal direction; wherein the connecting road in the preset traversal direction includes the exit road corresponding to the road running direction, and the entry road corresponding to the opposite direction of the road running direction; The roads to be spliced ​​between the entry road and the exit road are sequentially spliced ​​to obtain a logical road under the corresponding lane group.

8. A lane height assignment device, It is characterized in that include: A height level determination module is used to determine the height levels corresponding to different endpoints of the road to be assigned; A basic value assignment point determination module is used to determine the basic value assignment points in the road to be assigned a value; wherein each basic value assignment point is evenly distributed in the road to be assigned a value; A target height determination module, used to determine the target height of each of the basic value assignment points according to the height level and the distribution of different basic value assignment points; The lane height assignment module is used to assign heights to corresponding points to be assigned in different lanes of the road to be assigned according to the target heights of the basic assignment points.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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

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