Road surface element height assignment method and device, equipment and storage medium

Abstract

The invention relates to a road surface element height assignment method and device, equipment and a storage medium. The method comprises the following steps: determining a reference lane associated with a to-be-assigned pavement element; determining lane feature points associated with the to-be-assigned pavement elements in the reference lane; determining reference heights of the lane feature points; wherein the reference height of the lane feature point is determined based on the road level of a reference lane to which the lane feature point belongs; and according to the reference height of the lane feature point, determining the reference height of the element feature point of the to-be-assigned road surface element. According to the technology provided by the invention, the loss of the height information of the element feature points of the to-be-assigned road surface elements in the lane is avoided, manual height assignment for each road surface element is not needed, and the height assignment efficiency and the rationality of the height assignment result are improved.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a method, device, equipment and storage medium for assigning heights of road elements. 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 road elements in different lanes in high-precision map data.

[0003] In order to realize the three-dimensional presentation of high-precision map data, the height of the road surface elements in the lanes without height information can be assigned. In the related technology, manual assignment is usually used for presentation, and the efficiency and rationality of the assignment results are poor. Summary of the invention

[0004] Based on this, it is necessary to provide a pavement element height assignment method, device, equipment and storage medium to address the above technical problems, so as to improve the rationality and efficiency of the pavement element height assignment results.

[0005] In a first aspect, the present application provides a method for assigning heights of road surface elements, comprising:

[0006] Determine the reference lane associated with the road surface element to be assigned;

[0007] Determining a lane feature point in the reference lane that is associated with the road surface element to be assigned a value;

[0008] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0009] The reference height of the element feature point of the road surface element to be assigned a value is determined according to the reference height of the lane feature point.

[0010] In one of the embodiments, determining the reference lane associated with the road surface element to be assigned a value comprises: determining the associated road of the road surface element to be assigned a value according to the road sign associated with the road surface element to be assigned a value; and selecting the reference lane from each candidate lane in the lane group to which the associated road belongs.

[0011] In one of the embodiments, the selecting the reference lane from the candidate lanes in the lane group to which the associated road belongs includes: if the pavement element to be assigned is a pavement guide strip, selecting the reference lane from the candidate lanes based on the position distribution between the candidate lanes in the lane group to which the associated road belongs and the element map corresponding to the pavement element to be assigned; if the pavement element to be assigned is a lane arrow, selecting a candidate lane from the lane group to which the associated road belongs that matches the lane sign associated with the associated road as the reference lane.

[0012] In one of the embodiments, the reference lane is selected from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned, including: for any candidate lane in the lane group to which the associated road belongs, determining the vertex distance between each vertex of the element map corresponding to the road surface element to be assigned and the candidate lane; and determining whether the candidate lane is a reference lane based on the numerical values ​​of the vertex distances between different vertices.

[0013] In one of the embodiments, determining the lane feature points in the reference lane associated with the road surface element to be assigned includes: if the road surface element to be assigned is a road guide strip, then using each lane feature point in the reference lane as a lane feature point associated with the road surface element to be assigned; if the road surface element to be assigned is a lane arrow, then using the vertex mapping points of the element map of the road surface element to be assigned in the reference lane, as well as the lane shape points of the reference lane between different vertex mapping points, as lane feature points associated with the road surface element to be assigned.

[0014] In one of the embodiments, if the road surface element to be assigned a value is a lane arrow, determining the reference height of the lane feature point includes: determining the reference height of the corresponding vertex mapping point based on the reference height of the assigned point adjacent to the vertex mapping point in the reference lane; and obtaining the reference height of the lane shape point between different vertex mapping points.

[0015] In one of the embodiments, the road level of the reference lane to which the lane feature point belongs is determined in the following manner: determining the road level of the corresponding road to be processed according to the spatial overlapping relationship between different roads to be processed; updating the road level of the road to be processed according to the road level of the associated reference road of the road to be processed; determining the road level of the reference lane to which the lane feature point belongs according to the road level of the road to be processed to which the reference lane to which the lane feature point belongs corresponds; wherein the associated reference road of the road to be processed includes at least one of an entry road of the road to be processed, an overlapping road of the entry road, an exit road, an overlapping road of the exit road, and a road with the same lane group attributes.

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

[0017] A reference lane determination module, used to determine a reference lane associated with a road surface element to be assigned a value;

[0018] A lane feature point determination module, used to determine a lane feature point in the reference lane that is associated with the road surface element to be assigned a value;

[0019] A reference height determination module, used to determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0020] The height assignment module is used to determine the reference height of the element feature point of the road surface element to be assigned a value according to the reference height of the lane feature point.

[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 reference lane associated with the road surface element to be assigned;

[0023] Determining a lane feature point in the reference lane that is associated with the road surface element to be assigned a value;

[0024] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0025] The reference height of the element feature point of the road surface element to be assigned a value is determined according to the reference height of the lane feature point.

[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 reference lane associated with the road surface element to be assigned;

[0028] Determining a lane feature point in the reference lane that is associated with the road surface element to be assigned a value;

[0029] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0030] The reference height of the element feature point of the road surface element to be assigned a value is determined according to the reference height of the lane feature point.

[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 reference lane associated with the road surface element to be assigned;

[0033] Determining a lane feature point in the reference lane that is associated with the road surface element to be assigned a value;

[0034] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0035] The reference height of the element feature point of the road surface element to be assigned a value is determined according to the reference height of the lane feature point.

[0036] The above-mentioned road surface element height assignment method, device, equipment and storage medium introduce lane feature points associated with the road surface element to be assigned in the reference lane associated with the road surface element to be assigned, and determine the reference height of the lane feature points determined based on the road level of the reference lane, thereby determining the reference height of the element feature points of the road surface element to be assigned based on the reference height of the lane feature points, thereby achieving the determination of the reference height of the element feature points of the road surface element to be assigned in the lane based on the road level of the lane. The above-mentioned technical solution avoids the loss of height information of the element feature points of the road surface element to be assigned in the lane, and does not need to manually assign height for each road surface element, thereby improving the efficiency of height assignment and the rationality of height assignment results. 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 2 is a flow chart of a method for assigning heights of road elements provided in an embodiment of the present application;

[0040] Figure 3A is a flow chart of a reference lane determination method provided in an embodiment of the present application;

[0041] Figure 3B This is a schematic diagram of a guide belt rendering result provided in an embodiment of the present application;

[0042] Figure 3C It is a schematic diagram of the process of selecting a reference lane corresponding to a road guide strip provided in an embodiment of the present application;

[0043] Figure 3D is a schematic diagram of a process for determining a connection order of different reference lanes provided in an embodiment of the present application;

[0044] Figure 4A It is a flow chart of a method for assigning a height of a road guide strip provided in an embodiment of the present application;

[0045] Figure 4B is a schematic diagram of the element characteristic points corresponding to the pavement guide strip provided in an embodiment of the present application;

[0046] Figure 5A is a flow chart of a lane arrow height assignment method provided in an embodiment of the present application;

[0047] Figure 5B It is a schematic diagram of a lane arrow result provided in an embodiment of the present application;

[0048] Figure 5C It is a lane arrow schematic diagram provided in an embodiment of the present application;

[0049] Figure 5D It is another lane arrow schematic diagram provided in an embodiment of the present application;

[0050] Figure 6 It is a structural diagram of a road surface element 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 method for assigning the height of road elements 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 different lanes within the range to be rendered; terminal 102 / server 104 can determine the road surface elements to be assigned within the range to be rendered, and the reference lane associated with the road surface elements to be assigned; terminal 102 / server 104 can also determine the lane feature points associated with the road surface elements to be assigned in the reference lane; terminal 102 / server 104 can also determine the reference height of the lane feature points; wherein the reference height of the lane feature points is determined based on the road level of the reference lane to which the lane feature points belong; terminal 102 / server 104 can also determine the reference height of the element feature points of the road surface elements to be assigned based on the reference height of the lane feature points.

[0055] Furthermore, the terminal 102 / server 104 may also perform three-dimensional rendering of the lanes according to the road levels of different lanes within the range to be rendered, and display them through the terminal 102. Optionally, the terminal 102 / server 104 may also perform three-dimensional rendering of the road surface elements according to the reference heights of the element feature points of the road surface elements assigned in different lanes, and display them through the terminal 102.

[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 2 As shown in FIG. 1 , a method for assigning the height of a road surface element is provided, and the method is applied to Figure 1 The server 104 in is used as an example for explanation.

[0058] See also Figure 2 The method for assigning the height of the road surface elements shown includes:

[0059] S210: Determine a reference lane associated with the road surface element to be assigned a value.

[0060] Among them, the road surface element is used to represent the element with identification meaning on the road surface, which can be a physical element existing on the real road surface, or a virtual element existing on the rendered road surface. In an optional embodiment, the physical element can include at least one of a road surface guide strip and a lane arrow, etc.; the virtual element can include a lane guide line, etc. Among them, the road surface element to be assigned is used to represent the road surface element that needs to be assigned a height but has not yet been assigned a height.

[0061] The reference lane can be understood as the lane to which the pavement element belongs, or the adjacent lane to which the pavement element belongs, etc. The adjacent lane can be other lanes within a preset area centered on the lane to which the pavement element belongs. The size and shape of the preset area can be set or adjusted by the technician according to needs or experience, and this application does not impose any limitation on this.

[0062] For example, if the road surface element to be assigned a value is a path guide line, the lane covered by the path guide line can be directly used as the reference lane associated with the path guide line.

[0063] S220: Determine lane feature points in the reference lane that are associated with the road surface elements to be assigned values.

[0064] The lane feature points may include lane shape points and / or lane group demarcation points. The lane shape points are used to characterize the shape information of the corresponding lane, such as points at lane turns. The lane group demarcation points are used to characterize 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.

[0065] Among them, the lane feature points in the reference lane can be pre-stored locally in the computing device that performs the road surface element height assignment, or in other storage devices that communicate with the computing device, and this application does not impose any limitations on this.

[0066] S230. Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs.

[0067] Among them, the road level is used to represent the height level of the road (link) to which the lane belongs in the three-dimensional space. It is worth noting that the road level is only used to represent the spatial relative position of different roads in the three-dimensional space, and does not carry the real height information. Therefore, the position relationship of the road in the three-dimensional space can be restored as much as possible without leaking the road height information.

[0068] In an optional embodiment, the road level of the reference lane to which the lane feature point belongs can be determined in the following manner: according to the spatial overlapping relationship between different roads to be processed, the road level of the corresponding road to be processed is determined; according to the road level of the road to be processed to which the reference lane belongs, the road level of the reference lane to which the lane feature point belongs is determined; wherein the associated reference roads of the road to be processed include at least one of the entry road of the road to be processed, the overlapping road of the entry road, the exit road, the overlapping road of the exit road and the roads with the same lane group attributes.

[0069] Among them, the spatial overlapping relationship means that in three-dimensional space, the straight lines of different roads are in different planes, and there is no other road between these two roads.

[0070] For example, for any road to be processed, the road level of the road to be processed can be determined according to the number of other roads to be processed that are cascaded and overlapped by the road to be processed, wherein cascade overlap means that any two spatially adjacent roads to be processed have a spatial overlap relationship.

[0071] Since the number of cascaded and covered roads for the same road to be processed may be different at different covered intersections, it is also possible to determine the temporary level of the covered road to be processed corresponding to the covered intersection at any covered intersection according to the road level of the covered road to be processed at the covered intersection; determine the road level of the corresponding road to be processed according to the temporary level of the road to be processed at different covered intersections; wherein the road level of the tail road to be processed is a preset initial value; and the tail road to be processed is a road to be processed without a covered road to be processed. The covered intersection is used to indicate that the two associated roads to be processed have a spatial covering relationship at this point.

[0072] Among them, in order to distinguish the two roads to be processed, the road to be processed with relatively higher spatial height can be called the road to be processed on the covering side; and the road to be processed with relatively lower spatial height can be called the road on the covered side.

[0073] Among them, the temporary level of the road to be processed at the overlapped intersection is used to determine the road level to which the road to be processed belongs when the corresponding overlapped intersection is used as the overlapped starting point. It is understandable that since the temporary levels of the road to be processed at different overlapped intersections may be different, the temporary level is only used to characterize the spatial overlap relationship of the local section of the road to be processed at the overlapped intersection, and cannot reflect the spatial overlap relationship of the entire road to be processed in three-dimensional space.

[0074] Among them, the road level of the road to be processed can be understood as the final road level determined by combining the temporary levels of the road to be processed at different overlapping intersections, which can reflect the spatial overlapping relationship between the road to be processed as a whole and other roads to be processed in three-dimensional space.

[0075] It is worth noting that the road level of the tail road to be processed is a preset initial value; the tail road to be processed is a road to be processed without a covered side road to be processed. The preset initial value can be set or adjusted by the technician according to needs or experience, for example, it can be level 0.

[0076] In a specific implementation, if there is no overlapping intersection in the road to be processed, the road to be processed is the tail road to be processed, and accordingly, the road level of the road to be processed can be set to a preset initial value.

[0077] In another specific implementation, if there is only one overlapping intersection on the road to be processed, the temporary level of the road to be processed under the overlapping intersection can be directly used as the road level of the corresponding road to be processed.

[0078] In another specific implementation, if there are at least two overlapping intersections for the road to be processed, the larger temporary level (for example, the largest temporary level) among the temporary levels of the road to be processed at different overlapping intersections can be used as the road level of the corresponding road to be processed.

[0079] It can be understood that by adopting the largest temporary level as the road level of the corresponding road to be processed, the road level of the road to be processed can be accurately set without losing the spatial overlapping relationship under different overlapping intersections, thereby improving the rationality and accuracy of the road level determination results of the road to be processed.

[0080] Since there are physically topologically connected roads in real space, their road levels should be the same or partially the same (such as the same level at one end point); for roads that are not physically topologically connected in real space, their road level determination results should not be connected or collided when the rendered roads are actually presented in three dimensions. Therefore, in order to further improve the accuracy of the road level determination results of different roads to be processed and improve the fit between the road level determination results and the actual situation, it is also necessary to update the road level of the road to be processed according to the road level of the associated reference road of the road to be processed.

[0081] Exemplarily, at least one of the following methods may be used to update the road level of the road to be processed: updating the road level of the corresponding road to be processed according to the road level of the entry road of the road to be processed; constraining the level interval to which the updated road level belongs according to the road level of the road that covers the entry road of the road to be processed; updating the road level of the corresponding road to be processed according to the road level of the exit road of the road to be processed; constraining the level interval to which the updated road level belongs according to the road level of the road that covers the exit road of the road to be processed; and ensuring the consistency of the road levels of the roads with the same lane group attributes according to the road levels of the roads with the same lane group attributes.

[0082] Exemplarily, the road level of the reference lane to which the lane feature point belongs is determined according to the road level of the road to be processed to which the reference lane to which the lane feature point belongs corresponds. This can be done by directly taking the road level of the road to be processed to which the reference lane to which the lane feature point belongs corresponds as the road level of the reference lane to which the lane feature point belongs.

[0083] It can be understood that the above-mentioned method is used to determine the road level of the reference lane to which the lane feature point belongs, which improves the accuracy and rationality of the road level determination results of the reference lane, and helps to improve the accuracy and rationality of the height assignment results of the road surface elements to be assigned in the reference lane.

[0084] S240. Determine the reference height of the element feature point of the road surface element to be assigned a value according to the reference height of the lane feature point.

[0085] The element feature points are used to characterize the key information of the road surface element to be assigned, and may include at least one of contour shape points and lane shape points. Contour shape points are used to characterize the appearance contour of the road surface element to be assigned; lane shape points are used to characterize the shape points that characterize the spatial position of the lane within the road surface element to be assigned.

[0086] Exemplarily, the reference height of the element feature point of the road surface element to be assigned can be determined according to the position distribution between the element feature point of the road surface element to be assigned and the lane feature point, based on geometric mapping and according to the reference height of the lane feature point.

[0087] The embodiment of the present application introduces lane feature points associated with the road surface element to be assigned in the reference lane associated with the road surface element to be assigned, and determines the reference height of the lane feature points determined based on the road level of the reference lane, thereby determining the reference height of the element feature points of the road surface element to be assigned based on the reference height of the lane feature points, thereby achieving the determination of the reference height of the element feature points of the road surface element to be assigned in the lane based on the road level of the lane. The above technical solution avoids the loss of height information of the element feature points of the road surface element to be assigned in the lane, and does not require manual height assignment for each road surface element, thereby improving the efficiency of height assignment and the rationality of the height assignment result.

[0088] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which the reference lane determination operation of S210 is optimized and improved to improve the accuracy of the reference lane determination result. It should be noted that for the parts not described in detail in the embodiments of the present application, reference can be made to the relevant descriptions of other embodiments, and no further description is given here.

[0089] See also Figure 3A The reference lane determination method shown includes:

[0090] S310: Determine the road associated with the road surface element to be assigned a value according to the road identifier associated with the road surface element to be assigned a value.

[0091] The road identifier is used to uniquely represent the identified road. The road associated with the road element to be assigned a value can be located according to the road identifier associated with the road element to be assigned a value.

[0092] S320: Select a reference lane from the candidate lanes in the lane group to which the associated road belongs.

[0093] Since the number of lanes in the lane group to which the road belongs is usually at least one, not all lanes in the lane group are associated with the road surface element to be assigned. Therefore, it is also necessary to select a reference lane corresponding to the road surface element to be assigned from different candidate roads in the lane group to which the associated road belongs.

[0094] In an optional embodiment, if the road surface element to be assigned is a road strip, a reference lane can be selected from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned.

[0095] The road guide strip is usually stored in the form of an external rectangular map, and when rendering the road, it is rendered in three dimensions through appropriate two-dimensional position information and assigned height. The two-dimensional position information is used to limit the position of the map when rendering the two-dimensional map, for example, it can be longitude and latitude information. Figure 3BThe schematic diagram of the guide strip rendering result shown in the figure shows that when the two-dimensional position information is accurate, the position of the map can be well matched with the corresponding lane. However, when the height assigned to the guide strip is inappropriate, the guide strip and the road will be faulted, and the guide strip and the road surface cannot be fitted, affecting the overall rendering of the road surface. Therefore, it is necessary to select the reference lane with the help of the position distribution between the element maps corresponding to the road guide strip of different candidate lanes.

[0096] Exemplarily, selecting a reference lane from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned may include: determining the map area based on a two-dimensional closed area constructed by each vertex of the element map corresponding to the road surface guide strip; for any candidate lane, determining whether the candidate lane is located within the map area; if so, using the candidate lane as a reference lane.

[0097] Exemplarily, selecting a reference lane from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned may include: determining, for any candidate lane in the lane group to which the associated road belongs, the vertex distance between each vertices of the element map corresponding to the road surface element to be assigned and the candidate lane; and determining whether the candidate lane is a reference lane based on the numerical values ​​of the vertex distances between different vertices.

[0098] In a specific implementation, for any candidate lane, the vertex distances between each vertex of the element map corresponding to the road guide strip and the candidate lane can be determined; if the number of vertex distances greater than the preset distance threshold exceeds the preset number threshold, the candidate lane is used as a reference lane; and / or, a candidate lane with smaller vertex distances, such as a smaller cumulative sum of vertex distances, is selected as a reference lane. Wherein, the side length can be a longer side length or a shorter side length. The element map of the road guide strip is a circumscribed rectangle of the image presented by the guide strip. If the angle formed by the running direction of the road associated with the guide strip is an acute angle, the shorter side length can be selected as the preset distance threshold; if the angle formed by the running direction of the road associated with the guide strip is a non-acute angle, the longer side length can be selected as the preset distance threshold. Wherein, the preset number threshold can be determined or adjusted by a technician according to needs or experience, or determined through a large number of experiments. For example, the preset number threshold can be 3.

[0099] See also Figure 3C The schematic diagram of the selection process of the reference lane corresponding to the road guide strip shown in the figure, where A, B, C and D are the element maps corresponding to the road guide strip G, that is, the four vertices of the rectangle ABCD, and lane1 and lane2 are two candidate lanes. Determine the vertex distance l between A~D and lane1 respectively 1 , l2 , l 3 and l 4 , and the vertex distance l between A~D and lane2 5 , l 6 , l 7 and l 8 Since vertex D is located on lane 2, l 8 The value is 0 and is not shown in the figure.

[0100] For example, if the shorter side of the element map corresponds to length l 0 is the preset distance threshold, and 3 is the preset numerical threshold. Then, it is determined that the lane 1 is smaller than l 0 The vertex distance includes l 1 , the total number is only 1, which is less than the preset number threshold 3. Therefore, lane1 is not the reference lane of the road guide strip G; it is determined that the number of lanes in lane2 is less than l 0 The vertex distance includes l 5 , l 6 , l 7 and l 8 , the total number is 4, which is greater than the preset threshold value 3. Therefore, lane2 is the reference lane of the road guide strip G.

[0101] For example, since lane2 corresponds to l 5 ~l 8 The values ​​of lane1 are all small; 1 ~l 4 Among the values ​​of 1 The value is small, l 2 ~l 4 The values ​​of are all large, therefore, lane2 is selected from lane1 and lane2 as the reference lane for the pavement guide strip G.

[0102] The above technical solution introduces the vertex distance between each vertex of the element map corresponding to the road guide strip and the candidate lane, and determines whether the vertex distance is a reference lane based on the numerical value of each vertex distance. The judgment logic is relatively simple and the amount of data calculation is small, which improves the efficiency of selecting the reference lane from the candidate lanes and helps to improve the efficiency of assigning the road element height.

[0103] The reference lanes selected in the above manner are essentially lane lines that constitute the edge lines of the road guide strip. These reference lanes are currently unnecessary lanes. After determining the reference lanes associated with the road guide strip, the connection order between different reference lanes can be determined based on the connection relationship between different reference lanes, and the guide strip area can be determined based on the connection order. Accordingly, in the subsequent road guide strip rendering process, the guide strip area is triangulated to improve the accuracy of the guide strip rendering result.

[0104] Exemplarily, the guide strip area can be determined in the following manner: select one of the reference lanes from the reference lane set, migrate it to the guide strip edge queue, and based on this queue, select a reference lane from the reference lane set that can be connected to the endpoint of any reference lane added to the queue, migrate the selected result to the guide strip edge queue, and mark the connection relationship between different reference lanes until the reference lane set is empty.

[0105] See also Figure 3D The schematic diagram of the connection order determination process of different reference lanes shown in FIG. 1 shows that the reference lane set includes a total of 6 reference lanes, lane1 to lane6. First, one of the reference lanes, lane1, is selected and migrated to the guide strip edge circular queue; then lane2 and lane5 are selected and migrated to the guide strip edge queue respectively, and it is marked that lane5 is connected to the A end of lane1, and lane2 is connected to the B end of lane1; subsequently, lane3 connected to the C end of lane2 and lane4 connected to the D end of lane3 are selected from the reference lane set in turn, migrated to the guide strip edge circular queue, and the connection endpoints are marked; and lane6 connected to the E end of lane5 is selected from the reference lane set, migrated to the guide strip edge circular queue, and the connection endpoints are marked. The reference lane set is empty, and the connection order of the reference lanes is determined.

[0106] In another optional embodiment, if the road surface element to be assigned a value is a lane arrow, a candidate lane that matches the lane sign associated with the associated road is selected from the lane group to which the associated road belongs as the reference lane.

[0107] Since the lane arrow is associated not only with the road sign but also with the lane sign of the lane it is in, after determining the associated road of the lane arrow according to the road sign, the candidate lane with the lane sign corresponding to the lane arrow to be assigned this time can be selected as the reference lane from the candidate lanes that match the lane sign associated with the associated road.

[0108] It can be understood that the above method is used to determine the lane arrow corresponding to the reference lane, which can make full use of the stored content of the lane arrow in the map data, thereby improving the convenience and accuracy of the reference lane determination result.

[0109] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which the height assignment process of the road guide strip is optimized and improved. 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.

[0110] See also Figure 4A The method for assigning the height of the pavement guide strip shown includes:

[0111] S410: directly use each lane feature point in the reference lane as a lane feature point associated with the road guide strip.

[0112] For example, since the reference lane is actually the edge of the road guide strip, the lane feature points that characterize the lane shape and other features of the reference lane can be directly used as lane feature points associated with the road guide strip.

[0113] S420: Determine the reference height of the element feature point of the road surface guide strip according to the reference height of the lane feature point associated with the road surface guide strip.

[0114] Exemplarily, the lane feature points associated with the pavement guide strip are directly used as element feature points of the pavement guide strip, thereby giving the lane feature points the meaning of representing the pavement guide strip, and the reference height of the lane feature points is directly used as the reference height of the element feature points of the pavement guide strip.

[0115] See also Figure 4B The schematic diagram of the element feature points corresponding to the road surface guide strip shown, wherein the element feature points include lane shape points on the guide strip edge lines lane1 and lane2 of the road surface guide strip G.

[0116] The embodiment of the present application determines the element feature points of the pavement guide strip by reusing the lane feature points of the reference lane, and directly determines the reference height of the element feature points of the pavement guide strip based on the reference height of the lane feature points, thereby improving the convenience of the reference height determination process of the element feature points corresponding to the pavement guide strip, while reducing the amount of data calculation when determining the reference height of the element feature points, thereby improving the determination efficiency.

[0117] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which the height assignment process of the lane arrow is optimized and improved. 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.

[0118] See also Figure 5A The lane arrow height assignment method shown includes:

[0119] S510: Use vertex mapping points of the vertices of the lane arrow element map in the reference lane and lane shape points between different vertex mapping points of the reference lane as lane feature points associated with the lane arrow.

[0120] S520. Determine the reference height of the element feature point of the lane arrow according to the reference height of the lane feature point.

[0121] Lanes are usually stored in the form of circumscribed rectangular maps, and when rendering the road, they are rendered in three dimensions using appropriate two-dimensional position information and assigned heights. The two-dimensional position information is used to limit the position of the map when rendering the two-dimensional map, such as longitude and latitude information. Figure 5B The lane arrow result diagram shown in the figure shows that when the two-dimensional position information is accurate, the position of the map can be well matched with the corresponding lane. However, when the height of the lane arrow is not appropriate, the lane arrow will not fit the road surface, affecting the overall presentation of the road surface.

[0122] See also Figure 5C A lane arrow schematic diagram is shown, in which the vertices A~D of the element map of the lane arrow can reflect the overall outline of the element map corresponding to the lane arrow. Therefore, the vertex mapping points E~F corresponding to the vertex in the reference lane can be directly used as the lane feature points associated with the lane arrow, and the corresponding element feature points of the lane arrow are the vertices A~D of the element map.

[0123] See also Figure 5D A lane arrow schematic diagram is shown. When there are lane shape points S in the lane arrow, if such points are ignored, the lane arrow will penetrate the road surface. Therefore, such shape points located between the vertex mapping points need to be taken as lane feature points as well.

[0124] Continue to see Figure 5C , the lane shape point S between EF can also be used as the lane feature point associated with the lane arrow, and the element feature point corresponding to the lane arrow is P~Q.

[0125] In an optional embodiment, the reference height of the corresponding vertex mapping point can be determined based on the reference height of the assigned point adjacent to the vertex mapping point in the reference lane; and the reference height of the lane shape point between different vertex mapping points can be obtained.

[0126] Exemplarily, for any vertex mapping point, if the vertex mapping point is a valued point in the lane, the reference height of the valued point is directly used as the reference height of the corresponding vertex mapping point; if the vertex mapping point is not a valued point, the reference height of the vertex mapping point can be determined based on the geometric mapping method according to the reference height of the valued points adjacent to the vertex mapping point.

[0127] Exemplarily, for a lane shape point between vertex mapping points, a reference height that has been assigned to the lane shape point is directly used as a reference height of an element feature point corresponding to the lane shape point in an element map of a lane arrow.

[0128] The embodiment of the present application introduces vertex mapping points and lane shape points between different vertex mapping points as lane feature points associated with lane arrows, thereby improving the richness and completeness of lane feature points, avoiding the situation where the lane arrow assignment is incomplete due to the loss of key information, affecting the integrity and rationality of the lane arrow height assignment result, and thus affecting the authenticity and rationality of the lane arrow rendering result when rendering the lane arrow.

[0129] 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.

[0130] Based on the same inventive concept, the embodiment of the present application also provides a road surface element height assignment device for implementing the road surface element height assignment method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more road surface element height assignment device embodiments provided below can refer to the limitations of the road surface element height assignment method above, and will not be repeated here.

[0131] In an exemplary embodiment, Figure 6 As shown, a road surface element height assignment device is provided, including: a reference lane determination module 610, a lane feature point determination module 620, a reference height determination module 630 and a height assignment module 640. Among them,

[0132] A reference lane determination module 610 is used to determine a reference lane associated with a road surface element to be assigned a value;

[0133] A lane feature point determination module 620 is used to determine a lane feature point in a reference lane that is associated with a road surface element to be assigned a value;

[0134] A reference height determination module 630 is used to determine a reference height of a lane feature point; wherein the reference height of the lane feature point is determined based on a road level of a reference lane to which the lane feature point belongs;

[0135] The height assignment module 640 is used to determine the reference height of the element feature point of the road surface element to be assigned a value according to the reference height of the lane feature point.

[0136] In one embodiment, the reference lane determination module 610 includes:

[0137] An associated road determination unit, used to determine an associated road of a road surface element to be assigned a value according to a road identifier associated with the road surface element to be assigned a value;

[0138] The reference lane selection unit is used to select a reference lane from each candidate lane in the lane group to which the associated road belongs.

[0139] In one embodiment, the reference lane selection unit includes:

[0140] The first selection subunit is used for selecting a reference lane from each candidate lane according to the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned if the road surface element to be assigned is a road surface guide strip;

[0141] The second selection subunit is used for selecting, if the road surface element to be assigned is a lane arrow, a candidate lane matching the lane mark associated with the associated road from the lane group to which the associated road belongs as a reference lane.

[0142] In one embodiment, the first candidate subunit is specifically used for:

[0143] For any candidate lane in the lane group to which the associated road belongs, determine the vertex distance between each vertex of the element map corresponding to the road surface element to be assigned and the candidate lane;

[0144] According to the numerical values ​​of the vertex distances of different vertices, it is determined whether the candidate lane is a reference lane.

[0145] In one embodiment, the lane feature point determination module 620 includes:

[0146] A first determining unit is used for directly using each lane feature point in the reference lane as a lane feature point associated with the road surface element to be assigned a value if the road surface element to be assigned a value is a road surface guide strip;

[0147] The second determination unit is used to use the vertex mapping points of the vertices of the element map of the road surface element to be assigned in the reference lane, and the lane shape points of the reference lane between different vertex mapping points, as lane feature points associated with the road surface element to be assigned if the road surface element to be assigned is a lane arrow.

[0148] In one embodiment, if the road surface element to be assigned a value is a lane arrow, the reference height determination module 630 includes:

[0149] A first height determination unit is used to determine a reference height of a corresponding vertex mapping point according to a reference height of a valued point adjacent to the vertex mapping point in a reference lane; and

[0150] The second height determination unit is used to obtain reference heights of lane shape points between different vertex mapping points.

[0151] In one embodiment, the device includes a road level determination module, which is used to determine the road level of the reference lane to which the lane feature point belongs;

[0152] The road level determination module includes:

[0153] A first level determination unit is used to determine the road level of the corresponding road to be processed according to the spatial overlapping relationship between different roads to be processed;

[0154] A first level updating unit, configured to update the road level of the road to be processed according to the road level of the associated reference road of the road to be processed;

[0155] A second level determination unit is used for determining the road level of the reference lane to which the lane feature point belongs according to the road level of the to-be-processed road to which the reference lane to which the lane feature point belongs corresponds;

[0156] The associated reference roads of the road to be processed include at least one of the entry road of the road to be processed, the covered road of the entry road, the exit road, the covered road of the exit road and the road with the same lane group attribute.

[0157] Each module in the above-mentioned road surface element height assignment device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules 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 the operations corresponding to each of the above modules.

[0158] 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 7 As 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 through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through 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 realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for assigning a height of a road surface element is realized. 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.

[0159] 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.

[0160] 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:

[0161] Determine the reference lane associated with the road surface element to be assigned;

[0162] Determine lane feature points in the reference lane that are associated with the road surface element to be assigned a value;

[0163] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0164] According to the reference height of the lane feature point, the reference height of the element feature point of the road surface element to be assigned is determined.

[0165] In one of the embodiments, when the processor executes the computer program, the following steps are also implemented: determining the associated road of the road element to be assigned a value according to the road identification associated with the road element to be assigned a value; and selecting a reference lane from each candidate lane in the lane group to which the associated road belongs.

[0166] In one of the embodiments, the processor further implements the following steps when executing the computer program: if the road surface element to be assigned is a road surface guide strip, a reference lane is selected from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned; if the road surface element to be assigned is a lane arrow, a candidate lane that matches the lane sign associated with the associated road is selected from the lane group to which the associated road belongs as the reference lane.

[0167] In one of the embodiments, when the processor executes the computer program, the following steps are also implemented: for any candidate lane in the lane group to which the associated road belongs, determining the vertex distance between each vertex of the element map corresponding to the road surface element to be assigned and the candidate lane; and determining whether the candidate lane is a reference lane based on the numerical values ​​of the vertex distances between different vertices.

[0168] In one of the embodiments, the processor further implements the following steps when executing the computer program: if the pavement element to be assigned is a pavement guide strip, then each lane feature point in the reference lane is directly used as the lane feature point associated with the pavement element to be assigned; if the pavement element to be assigned is a lane arrow, then the vertex mapping points of the element map of the pavement element to be assigned in the reference lane, as well as the lane shape points of the reference lane between different vertex mapping points, are used as the lane feature points associated with the pavement element to be assigned.

[0169] In one of the embodiments, if the road surface element to be assigned is a lane arrow, the processor also implements the following steps when executing the computer program: determining the reference height of the corresponding vertex mapping point based on the reference height of the assigned point adjacent to the vertex mapping point in the reference lane; and obtaining the reference height of the lane shape point between different vertex mapping points.

[0170] In one of the embodiments, the processor further implements the following steps when executing the computer program: determining the road level of the corresponding road to be processed according to the spatial overlapping relationship between different roads to be processed; updating the road level of the road to be processed according to the road level of the associated reference road of the road to be processed; determining the road level of the reference lane to which the lane feature point belongs according to the road level of the road to be processed to which the reference lane to which the lane feature point belongs corresponds; wherein the associated reference road of the road to be processed includes at least one of the entry road of the road to be processed, the overlapping road of the entry road, the exit road, the overlapping road of the exit road and the road with the same lane group attributes.

[0171] 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:

[0172] Determine the reference lane associated with the road surface element to be assigned;

[0173] Determine lane feature points in the reference lane that are associated with the road surface element to be assigned a value;

[0174] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0175] According to the reference height of the lane feature point, the reference height of the element feature point of the road surface element to be assigned is determined.

[0176] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the associated road of the road element to be assigned a value based on the road identification associated with the road element to be assigned a value; and selecting a reference lane from each candidate lane in the lane group to which the associated road belongs.

[0177] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: if the road surface element to be assigned is a road surface guide strip, a reference lane is selected from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned; if the road surface element to be assigned is a lane arrow, a candidate lane that matches the lane sign associated with the associated road is selected from the lane group to which the associated road belongs as the reference lane.

[0178] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: for any candidate lane in the lane group to which the associated road belongs, determining the vertex distance between each vertex of the element map corresponding to the road surface element to be assigned and the candidate lane; and determining whether the candidate lane is a reference lane based on the numerical values ​​of the vertex distances between different vertices.

[0179] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: if the road surface element to be assigned is a road surface guide strip, then each lane feature point in the reference lane is directly used as the lane feature point associated with the road surface element to be assigned; if the road surface element to be assigned is a lane arrow, then the vertex mapping points of the element map of the road surface element to be assigned in the reference lane, as well as the lane shape points of the reference lane between different vertex mapping points, are used as the lane feature points associated with the road surface element to be assigned.

[0180] In one of the embodiments, if the road surface element to be assigned is a lane arrow, the computer program also implements the following steps when executed by the processor: determining the reference height of the corresponding vertex mapping point based on the reference height of the assigned point adjacent to the vertex mapping point in the reference lane; and obtaining the reference height of the lane shape point between different vertex mapping points.

[0181] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the road level of the corresponding road to be processed based on the spatial overlapping relationship between different roads to be processed; updating the road level of the road to be processed based on the road level of the associated reference road of the road to be processed; determining the road level of the reference lane to which the lane feature point belongs based on the road level of the road to be processed to which the reference lane to which the lane feature point belongs corresponds; wherein the associated reference road of the road to be processed includes at least one of the entry road of the road to be processed, the overlapping road of the entry road, the exit road, the overlapping road of the exit road and the road with the same lane group attributes.

[0182] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0183] Determine the reference lane associated with the road surface element to be assigned;

[0184] Determine lane feature points in the reference lane that are associated with the road surface element to be assigned a value;

[0185] Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs;

[0186] According to the reference height of the lane feature point, the reference height of the element feature point of the road surface element to be assigned is determined.

[0187] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the associated road of the road element to be assigned a value based on the road identification associated with the road element to be assigned a value; and selecting a reference lane from each candidate lane in the lane group to which the associated road belongs.

[0188] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: if the road surface element to be assigned is a road surface guide strip, a reference lane is selected from each candidate lane based on the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned; if the road surface element to be assigned is a lane arrow, a candidate lane that matches the lane sign associated with the associated road is selected from the lane group to which the associated road belongs as the reference lane.

[0189] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: for any candidate lane in the lane group to which the associated road belongs, determining the vertex distance between each vertex of the element map corresponding to the road surface element to be assigned and the candidate lane; and determining whether the candidate lane is a reference lane based on the numerical values ​​of the vertex distances between different vertices.

[0190] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: if the road surface element to be assigned is a road surface guide strip, then each lane feature point in the reference lane is directly used as the lane feature point associated with the road surface element to be assigned; if the road surface element to be assigned is a lane arrow, then the vertex mapping points of the element map of the road surface element to be assigned in the reference lane, as well as the lane shape points of the reference lane between different vertex mapping points, are used as the lane feature points associated with the road surface element to be assigned.

[0191] In one of the embodiments, if the road surface element to be assigned is a lane arrow, the computer program also implements the following steps when executed by the processor: determining the reference height of the corresponding vertex mapping point based on the reference height of the assigned point adjacent to the vertex mapping point in the reference lane; and obtaining the reference height of the lane shape point between different vertex mapping points.

[0192] In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented: determining the road level of the corresponding road to be processed based on the spatial overlapping relationship between different roads to be processed; updating the road level of the road to be processed based on the road level of the associated reference road of the road to be processed; determining the road level of the reference lane to which the lane feature point belongs based on the road level of the road to be processed to which the reference lane to which the lane feature point belongs corresponds; wherein the associated reference road of the road to be processed includes at least one of the entry road of the road to be processed, the overlapping road of the entry road, the exit road, the overlapping road of the exit road and the road with the same lane group attributes.

[0193] 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.

[0194] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments 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 this 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.

[0195] 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.

[0196] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations 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 method for assigning heights of road elements, It is characterized in that include: Determine the reference lane associated with the road surface element to be assigned; Determining a lane feature point in the reference lane that is associated with the road surface element to be assigned a value; Determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs; The reference height of the element feature point of the road surface element to be assigned a value is determined according to the reference height of the lane feature point.

2. The method according to claim 1, It is characterized in that The step of determining the reference lane associated with the road surface element to be assigned a value comprises: Determining the road associated with the road element to be assigned a value according to the road identifier associated with the road element to be assigned a value; The reference lane is selected from candidate lanes in the lane group to which the associated road belongs.

3. The method according to claim 2, It is characterized in that The selecting the reference lane from the candidate lanes in the lane group to which the associated road belongs includes: If the road surface element to be assigned a value is a road surface guide strip, the reference lane is selected from each candidate lane according to the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned a value; If the road surface element to be assigned a value is a lane arrow, a candidate lane matching the lane sign associated with the associated road is selected from the lane group to which the associated road belongs as the reference lane.

4. The method according to claim 3, It is characterized in that The selecting the reference lane from each candidate lane according to the position distribution between each candidate lane in the lane group to which the associated road belongs and the element map corresponding to the road surface element to be assigned a value comprises: For any candidate lane in the lane group to which the associated road belongs, determining the vertex distance between each vertex of the element map corresponding to the road surface element to be assigned and the candidate lane; According to the numerical values ​​of the vertex distances of different vertices, it is determined whether the candidate lane is a reference lane.

5. The method according to any one of claims 1 to 4, It is characterized in that The determining of a lane feature point in the reference lane associated with the road surface element to be assigned a value comprises: If the road surface element to be assigned a value is a road surface guide strip, each lane feature point in the reference lane is directly used as a lane feature point associated with the road surface element to be assigned a value; If the road surface element to be assigned is a lane arrow, the vertex mapping points of the element map of the road surface element to be assigned in the reference lane and the lane shape points of the reference lane between different vertex mapping points are used as lane feature points associated with the road surface element to be assigned.

6. The method according to claim 5, It is characterized in that If the road surface element to be assigned a value is a lane arrow, the step of determining a reference height of the lane feature point includes: Determining a reference height of a corresponding vertex mapping point according to a reference height of a valued point in the reference lane adjacent to the vertex mapping point; and, Gets the reference height of lane shape points between different vertex map points.

7. The method according to any one of claims 1 to 4, It is characterized in that The road level of the reference lane to which the lane feature point belongs is determined in the following manner: According to the spatial overlapping relationship between different roads to be processed, the road level of the corresponding roads to be processed is determined; Updating the road level of the road to be processed according to the road level of the reference road associated with the road to be processed; Determine the road level of the reference lane to which the lane feature point belongs according to the road level of the to-be-processed road to which the reference lane to which the lane feature point belongs corresponds; Among them, the associated reference road of the road to be processed includes at least one of the entry road of the road to be processed, the covered road of the entry road, the exit road, the covered road of the exit road and the road with the same lane group attribute.

8. A device for assigning height of road surface elements, It is characterized in that include: A reference lane determination module, used to determine a reference lane associated with a road surface element to be assigned a value; A lane feature point determination module, used to determine a lane feature point in the reference lane that is associated with the road surface element to be assigned a value; A reference height determination module, used to determine a reference height of the lane feature point; wherein the reference height of the lane feature point is determined based on the road level of the reference lane to which the lane feature point belongs; The height assignment module is used to determine the reference height of the element feature point of the road surface element to be assigned a value according to the reference height of the lane feature point.

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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