System and method for generating road image

Abstract

The embodiment of the invention provides a road image generation system and method. The system comprises a first loading module, an image editing module and a mark editing module, and the first loading module is used for loading a preset road image; the image editing module is used for performing image editing processing on the preset road image to obtain an intermediate road image; and the identifier editing module is used for performing identifier editing processing on the intermediate road image to obtain a target road image corresponding to the target virtual road. The testing accuracy of the automatic driving system in the virtual environment can be improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to a system and method for generating road images. Background Art

[0002] In the field of intelligent driving, before the intelligent driving system of a vehicle is applied, it can perform simulated driving in a virtual road. After passing the simulation test, it is then applied to the vehicle for actual testing.

[0003] In the prior art, road data in an open standard format (e.g., OpenDrive) of a road network can be obtained, and the road data is parsed and rendered to obtain a virtual road. However, there are differences between this virtual road and the road conditions in the real environment, resulting in a low accuracy of testing the autonomous driving system in the virtual environment. Summary of the Invention

[0004] Embodiments of this application provide a system and method for generating road images to improve the accuracy of testing the autonomous driving system in a virtual environment.

[0005] In a first aspect, embodiments of this application provide a system for generating road images. The system includes a first loading module, an image editing module, and an identification editing module. Among them,

[0006] The first loading module is configured to load a preset road image;

[0007] The image editing module is configured to perform image editing processing on the preset road image to obtain an intermediate road image;

[0008] The identification editing module is configured to perform identification editing processing on the intermediate road image to obtain a target road image corresponding to the target virtual road.

[0009] In a possible implementation manner, the image editing module includes a plurality of editing tools. Among them,

[0010] Any one of the plurality of editing tools is configured to edit a road feature corresponding to the editing tool on the preset road image;

[0011] The plurality of editing tools includes at least one of the following: a template tool, an adding tool, an adjusting tool, and an automatic intersection generation tool.

[0012] In a possible implementation manner, the template tool is configured to store a plurality of preset road feature templates;

[0013] The template tool is further configured to add and / or delete any one of the plurality of preset road feature templates in the preset road image.

[0014] In a possible implementation, the adding tool includes at least one of the following:

[0015] a reference line adding tool, a lane line adding tool, and an object adding tool;

[0016] wherein, the reference line adding tool is configured to add a reference line in the preset road image, and the reference line is a geometric structure for describing the center line of the road;

[0017] The lane line adding tool is configured to add lane lines in the preset road image;

[0018] The object adding tool is configured to add area objects in the preset road image.

[0019] In a possible implementation, the object adding tool includes a point adding tool, a line adding tool, and a surface adding tool, wherein,

[0020] The point adding tool is configured to add single objects on both sides of the road in the preset road image;

[0021] The line adding tool is configured to add linear objects on both sides of the road in the preset road image;

[0022] The surface adding tool is configured to add block objects on both sides of the road in the preset road image.

[0023] In a possible implementation, the adjusting tool includes at least one of the following: a curvature adjusting tool and a height adjusting tool, wherein,

[0024] The curvature adjusting tool is configured to adjust the curvature of the reference line in the preset road image;

[0025] The height adjusting tool is configured to adjust the height and / or slope of the road in the preset road image.

[0026] In a possible implementation, the reference line includes at least an arc reference line and a spiral reference line, and the spiral reference line includes a starting end and an ending end;

[0027] The curvature adjusting tool is specifically configured to adjust the degree of bending of the arc reference line and the degree of bending of the starting end and the ending end of the spiral reference line.

[0028] In a possible implementation, the automatic intersection generation tool is configured to generate an intersection according to the selected reference line in the preset road image, and the intersection includes connecting roads, stop lines, and zebra crossings.

[0029] In a possible implementation, the identification editing module includes at least one of the following: a sign adding tool and / or a sign generating tool, where

[0030] The sign adding tool is used to add a selected indication sign to the intermediate road image;

[0031] The sign generating tool is used to generate an indication sign corresponding to the selected area in the intermediate road image according to the selected area in the intermediate road image;

[0032] The indication sign is a sign that conforms to a preset standard or a sign that conforms to the sign rules within a preselected area.

[0033] In a possible implementation, the sign adding tool further includes a second loading module, and the second loading module is used to:

[0034] Obtain a captured image, perform recognition processing on the captured image, and generate an indication sign corresponding to the captured image;

[0035] Store the indication sign corresponding to the captured image.

[0036] In a possible implementation, the system further includes a simulation module, and the simulation module is used to perform simulation processing on the target road image to obtain the target virtual road.

[0037] In a second aspect, an embodiment of the present application provides a method for generating a road image, which is applied to the system as described above. The method includes:

[0038] Load a preset road image of the target virtual road;

[0039] Perform image editing processing on the preset road image to obtain an intermediate road image;

[0040] Perform identification editing processing on the intermediate road image to obtain the target road image of the target virtual road.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0042] The memory stores computer execution instructions;

[0043] The processor executes the computer execution instructions stored in the memory, so that the processor executes the second aspect and / or various possible implementation manners of the second aspect as described above.

[0044] Fourthly, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the second aspect and / or various possible implementation manners of the second aspect when executed by a processor.

[0045] Fifthly, an embodiment of the present application provides a computer program product including a computer program, which implements the second aspect and / or various possible implementation manners of the second aspect when executed by a processor.

[0046] The road image generation system and method provided by the embodiments of the present application. The road image generation system includes a first loading module, an image editing module, and an identification editing module. The preset road image can be loaded through the first loading module, the preset road image can be subjected to image editing processing through the image editing module to obtain an intermediate road image. The intermediate road image is subjected to identification editing processing through the identification editing module to obtain the target road image corresponding to the target virtual road. Fine adjustment of the road image can be realized, so that the virtual road corresponding to the target road image is more in line with the road in the real environment, and the accuracy of testing the autonomous driving system in the virtual environment can be improved. Description of the Drawings

[0047] The drawings here are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0048] Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0049] Figure 2 It is a schematic structural diagram of a road image generation system provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic structural diagram of another road image generation system provided by an embodiment of the present application;

[0051] Figure 4 It is a schematic structural diagram of another road image generation system provided by an embodiment of the present application;

[0052] Figure 5 It is a schematic flowchart of a road image generation method provided by an embodiment of the present application;

[0053] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0054] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and will be described in more detail hereinafter. These drawings and the written description are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0055] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] In the process of intelligent driving simulation development, the road is the most important element in the simulation scenario. When constructing the road in the traditional scenario, the Procedural Content Generation (PCG) tool supported by the virtual engine can be used to obtain the road data of OpenDrive for the road network, and the road data is parsed and rendered to construct a virtual road.

[0057] OpenDrive is an open standard file format for describing road networks, mainly used in the fields of simulation and autonomous driving. OpenDrive can only play a role in parsing and does not have the ability to edit roads.

[0058] However, there are differences between the constructed virtual road and the road conditions in the real environment, which do not meet the structural requirements of the real road, and the width, slope, curvature, etc. of the road cannot be accurately controlled, resulting in low effectiveness of the vehicle's simulated driving.

[0059] In the embodiments of the present application, the road image generation system includes a first loading module, an image editing module, and an identification editing module. The preset road image can be loaded through the first loading module, and the preset road image is subjected to image editing processing through the image editing module to obtain an intermediate road image. The intermediate road image is subjected to identification editing processing through the identification editing module to obtain the target road image corresponding to the target virtual road. Fine adjustment of the road image can be realized, so that the virtual road corresponding to the target road image is more in line with the road in the real environment, and the accuracy of testing the autonomous driving system in the virtual environment can be improved.

[0060] Figure 1 Schematic diagram of an application scenario provided for the embodiments of the present application. Please refer to Figure 1, including a processing device 101 and a server 102. A road image generation system can be installed in the processing device 101, and the server 102 can provide service support for the road image generation system. A user can edit and process a preset road image in the road image generation system through the processing device 101 to generate a virtual road that can be used for a vehicle to simulate driving.

[0061] Figure 2 It is a schematic structural diagram of a road image generation system provided by an embodiment of the present application. Please refer to Figure 2 , the road image generation system 200 may include a first loading module 201, an image editing module 202, and an identification editing module 203.

[0062] The first loading module 201 can be used to load a preset road image.

[0063] Specifically, through the first loading module 201, a preset format file of the road network can be obtained; the preset format file is parsed to obtain road data; and the road data is rendered to obtain a preset road image.

[0064] The preset format file can be an Extensible Markup Language (XML) file corresponding to OpenDrive.

[0065] The XML file is a text format for structured data storage and exchange, and information can be hierarchically organized through tags.

[0066] The preset format file includes information such as roads and intersections. By parsing the preset format file, road data can be obtained. Among them, the road data can be a data type recognizable by a computer. For example, the data type can be a C++ data type, a python data type, or a Java data type, etc.

[0067] Through the rendering process, the road data can be visualized to obtain a preset road image. For the specific rendering process, please refer to the following execution process: The road data is split to obtain multiple mesh data; the material corresponding to each mesh data is determined; and the preset road image is determined according to the multiple mesh data and the material corresponding to each mesh data.

[0068] A mesh is the geometric skeleton of a 3D model and is composed of vertices, normals, UV coordinates (texture mapping coordinates), and triangle meshes.

[0069] The material defines the visual properties of the model surface, including color, specular reflection, transparency, texture mapping, etc.

[0070] Rendering is to convert a data structure into a Mesh + material required for rendering.

[0071] The image editing module 202 can be used to perform image editing processing on a preset road image to obtain an intermediate road image.

[0072] Specifically, the image editing module 202 can include multiple editing tools. Among them, any one of the multiple editing tools is used to edit the road feature corresponding to the editing tool on the preset road image.

[0073] In the embodiments of the present application, different road features can be edited through multiple editing tools, which can achieve fine adjustment of the road image, improve the similarity between the virtual road and the actual road, and improve the accuracy of testing the vehicle's autopilot system in the virtual environment.

[0074] The multiple editing tools include at least one of the following: a template tool, an adding tool, an adjusting tool, and an automatic intersection generation tool.

[0075] For the template tool among the multiple editing tools, the template tool can be used to store multiple preset road feature templates.

[0076] Complex and repetitive road structures can be pre-stored through the preset road feature templates, such as intersections, roundabouts, ramp entrances, etc.

[0077] Among them, the preset road feature templates can include intersection templates, roundabout templates, ramp entrance templates, etc.

[0078] The user can quickly create the corresponding road structure on the current road image interface by dragging.

[0079] The template tool can also be used to add and / or delete any one of the multiple preset road feature templates in the preset road image.

[0080] The user can select the created road on the image interface and save it as a preset road feature template to create a preset road feature template.

[0081] In addition, for the already created preset road feature template, after it is added to the current image, it can be further edited and adjusted on the preset road feature template. For example, after adding a roundabout template, the overall size of the roundabout template, the width of the road, and the circumferential direction of the roundabout can be adjusted.

[0082] That is to say, the preset road feature template only facilitates the quick creation of common road structures, but does not limit subsequent road editing.

[0083] In the embodiments of the present application, the editing efficiency of a preset road image can be improved through a template tool, thereby improving the efficiency of obtaining a target virtual road.

[0084] For the adding tool among multiple editing tools, the adding tool may include at least one of the following: a reference line adding tool, a lane line adding tool, and an object adding tool.

[0085] Among them, the reference line adding tool can be used to add a reference line in the preset road image, and the reference line can be used to describe the geometric structure of the road center line.

[0086] The road direction determined by the reference line determines the starting position coordinate (S coordinate) and the ending position coordinate (T coordinate). The reference line can be used to calculate the length of the road, the curvature of any point, etc.

[0087] The reference line includes a straight line (Line), an arc (Arc), and a spiral (Spiral).

[0088] The lane line adding tool can be used to add lane lines in the preset road image. The lane lines are the routes on both sides of the reference line and are used to define the width of the road.

[0089] The lane line adding tool can add lane lines on both sides of the reference line based on the reference line, and the distance between the two lane lines can be adjusted.

[0090] The object adding tool can be used to add area objects in the preset road image. Among them, the area object can be a single object, a linear object, a block object, etc.

[0091] For different objects, there may be corresponding adding tools. The object adding tool includes a point adding tool, a line adding tool, and a surface adding tool.

[0092] The point adding tool can be used to add single objects on both sides of the road in the preset road image. For example, the single object can be a traffic cone (ice cream cone) and a street lamp, etc.

[0093] The line adding tool can be used to add linear objects on both sides of the road in the preset road image. For example, the linear object can be a fence and a row of street lamps, etc.

[0094] The surface adding tool can be used to add block objects on both sides of the road in the preset road image. For example, the block object can be a green belt, a building, etc.

[0095] For the adjustment tool among multiple editing tools, the adjustment tool may include at least one of the following: a curvature adjustment tool and a height adjustment tool.

[0096] The curvature adjustment tool can be used to adjust the curvature of the reference line.

[0097] The reference lines can at least include arc reference lines and spiral reference lines, and the spiral reference lines can include a starting end and an ending end.

[0098] The curvature adjustment tool is specifically used to adjust the bending degree of the arc reference line and the bending degree of the starting end and the ending end of the spiral reference line.

[0099] Since the road may not be a plane and there are changes in the slope in the longitudinal direction of the road, that is, changes in height, the height adjustment tool can be used to adjust the height and / or slope of the road in the preset road image.

[0100] The slope and the height are related. The height adjustment tool can not only adjust the height of the key points of the road, but also adjust the curvature in terms of height to achieve a smooth change in the road height.

[0101] For the automatic intersection generation tool among multiple editing tools, the automatic intersection generation tool can be used to generate intersections according to the selected reference lines.

[0102] When constructing a virtual road, there may be intersecting routes. In the embodiments of the present application, after determining multiple roads, the position where two roads intersect can be selected, and then the automatic intersection generation tool is clicked, and intersections can be automatically generated at the intersecting positions, which can improve the efficiency of constructing the virtual road.

[0103] An intersection can include connecting roads, stop lines, zebra crossings, etc.

[0104] Specifically, the automatic intersection generation tool can determine the connection relationship between multiple reference lines according to the reference lines of multiple roads, and then generate the connecting roads of the intersection, and then generate the stop lines and zebra crossings corresponding to each road according to the connecting roads.

[0105] The identification editing module 203 is used to perform identification editing processing on the intermediate road image to obtain the target road image corresponding to the target virtual road.

[0106] Specifically, the identification editing module 203 includes at least one of the following: a sign adding tool and / or a sign generating tool.

[0107] The sign adding tool can be used to store indication signs and add the selected indication signs to the intermediate road image.

[0108] The indication signs can be intersection indication sign signs, road orientations, distances from intersections, lane speed limits, speed limit signs, no parking signs, etc.

[0109] The indication signs can be stored in a custom material library. The indication signs can be signs that meet the preset standards or signs that meet the sign rules within the preselected area.

[0110] The preset standards can be the standards of a certain country or region, that is, the style of the indication sign conforms to the form of a certain national standard or regional standard. The preselected area can be a specified city, and the sign rules can be the sign rules formulated for the preselected area. By configuring the indication signs that conform to the specified regional standards or national standards, the virtual road can be made more in line with the actual road.

[0111] When clicking on the sign addition tool, the materials supporting the tool will be displayed. After selecting an indication sign and clicking to add it to the scene, it will be automatically converted into the ST coordinate system of the road according to the position of the road.

[0112] The ST coordinate system is used to indicate the coordinates constructed along the direction of the road reference line (S axis) and the vertical direction of the road reference line (T axis).

[0113] The indication signs can be added and deleted in the custom material library. After selecting an indication sign, the indication sign can be directly deleted, and the indication signs can be added through the second loading module in the sign addition tool.

[0114] The second loading module can be used to add indication signs, specifically for: obtaining a captured image, performing recognition processing on the captured image to generate an indication sign corresponding to the captured image; storing the indication sign corresponding to the captured image.

[0115] In this application, through the second loading module, the indication signs in the actual scene can be copied to the indication signs in the virtual scene, which can improve the authenticity of the virtual road.

[0116] The sign generation tool is used to generate an indication sign corresponding to the selected area according to the selected area in the middle road image.

[0117] For example, the selected area can be the selected roundabout in the middle road image, and the sign generation tool can generate a corresponding indication sign according to the selected roundabout. The indication sign can include the shape of the selected roundabout, the circular direction of the roundabout, and the corresponding positions of each exit in the selected roundabout.

[0118] For example, the selected area can be the intersection in the middle road image, and the sign generation tool can generate a corresponding indication sign according to the number of intersections and the positions of the intersections. The indication sign can include multiple intersecting intersections and the indication directions of each intersection.

[0119] In some possible embodiments, the indication signs corresponding to the selected area can also be adjusted.

[0120] Figure 3 The following is a schematic structural diagram of another road image generation system provided by an embodiment of the present application. Please refer to Figure 3 , the road image generation system 200 may include a first loading module 201, an image editing module 202, and an identification editing module 203.

[0121] The image editing module 202 includes a template tool, an adding tool, an adjusting tool, and an automatic intersection generation tool. Among them, the adding tool may include a lane line adding tool, a reference line adding tool, and an object adding tool, and the object adding tool may include a point adding tool, a line adding tool, and a surface adding tool. The adjusting tool may include a curvature adjusting tool and a height adjusting tool.

[0122] The identification editing module 203 includes a sign adding tool and a sign generating tool.

[0123] In the embodiment of the present application, splitting multiple editing tools in the image editing module can accurately edit specific attributes, improve the accuracy of virtual road editing, and at the same time, can reduce the complexity of each tool, and can realize quick call of each editing tool, thereby improving the efficiency of image editing.

[0124] Figure 4 The following is a schematic structural diagram of another road image generation system provided by an embodiment of the present application. Please refer to Figure 4 , the road image generation system 200 further includes a simulation module 204, and the simulation module 204 is used to perform simulation processing on the target road image to obtain a target virtual road.

[0125] Specifically, dynamic data such as vehicles and pedestrians corresponding to the target road image can be imported into the simulation module, and traffic flow parameters, etc. can be configured to simulate the target virtual road of the real dynamic scene.

[0126] In the embodiment of the present application, the simulation module can simulate a target virtual road that conforms to the real environment based on the edited target road image, which is beneficial to improving the accuracy of simulation testing in the field of intelligent driving.

[0127] For the convenience of understanding, the following is a usage process of a user's specific operation on the system provided by an embodiment of the present application. The usage order of multiple editing tools is not limited, and the user can call them at any time.

[0128] After installing the system in the processing device, the user can perform road editing by operating the processing device. Specifically, the user can click on the first loading module to load a preset road image. After the preset road image is displayed on the processing device, the user can use the addition tools to adjust the road. Specifically, the user can use the reference line addition tool to plan the road, and then use the lane line addition tool to add lane lines to the road to plan a complete road.

[0129] The curvature of the reference line can be adjusted through the curvature adjustment tool, and the height and slope of the road can be adjusted through the height adjuster. After the adjustment, the user can click on the template tool, and multiple preset road feature templates can be displayed in the template toolbar. The roundabout template can be selected from multiple preset road feature templates. The user can use the mouse to drag the roundabout template to the desired position in the preset road image, and the roundabout template can be merged with the road at that position. The merged roundabout can be adjusted through the adjustment tool. Area objects can also be added on both sides of the road through the object addition tool.

[0130] After performing image editing processing on the preset road image to obtain an intermediate road image, the user can then add road indication signs through the sign addition tool. After the user clicks on the sign addition tool, there will be multiple indication signs, and one sign can be selected from multiple indication signs and dragged to the specified position through the mouse. Additionally, if there is no indication sign that matches the planned road route in the sign addition tool, the sign generation tool can be clicked. After clicking the sign generation tool, an area can be selected in the intermediate road image. After the area is selected, the indication sign corresponding to the selected area can be generated.

[0131] After performing sign editing processing on the intermediate road image, the target road image can be obtained. Finally, the target road image can be simulated to obtain the target virtual road.

[0132] Figure 5 It is a schematic flowchart of a method for generating a road image provided by an embodiment of the present application. Please refer to Figure 5 This method may include:

[0133] S501. Load the preset road image of the target virtual road.

[0134] S502. Perform image editing processing on the preset road image to obtain an intermediate road image.

[0135] S503. Perform sign editing processing on the intermediate road image to obtain the target road image of the target virtual road.

[0136] S504. Perform simulation processing on the target road image to obtain the target virtual road.

[0137] The execution processes of S501 - S504 can be referred to the descriptions in the embodiments of the above - mentioned system, and will not be elaborated here.

[0138] The method for generating a road image provided by the embodiments of this application can load a preset road image of a target virtual road, perform image editing processing on the preset road image to obtain an intermediate road image, perform identification editing processing on the intermediate road image to obtain a target road image of the target virtual road, and perform simulation processing on the target road image to obtain the target virtual road. It can achieve refined adjustment of the road image, making the virtual road corresponding to the target road image more in line with the roads in the real environment, and can improve the accuracy of testing the autonomous driving system in the virtual environment.

[0139] Figure 6 It is a schematic structural diagram of an electronic device provided by the embodiments of this application. Please refer to Figure 6 , the electronic device 600 may include a processor 601 and a memory 602. Exemplarily, the processor 601 and the memory 602 are interconnected with each other through a bus 603.

[0140] The memory 602 stores computer - executable instructions;

[0141] The processor 601 executes the computer - executable instructions stored in the memory 602, so that the processor 601 executes the method for generating a road image as shown in the above - mentioned method embodiments.

[0142] Correspondingly, the embodiments of this application provide a computer - readable storage medium. Computer - executable instructions are stored in the computer - readable storage medium, and when the computer - executable instructions are executed by a processor, they are used to implement the method for generating a road image in the above - mentioned method embodiments.

[0143] Correspondingly, the embodiments of this application can also provide a computer program product, including a computer program. When the computer program is executed by a processor, it can implement the method for generating a road image as shown in the above - mentioned method embodiments.

[0144] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer - usable storage media (including but not limited to disk memories, CD - ROMs, optical memories, etc.) containing computer - usable program code.

[0145] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 in a flow or flows and / or block or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0146] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 in a flow or flows and / or block or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0147] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 in a flow or flows and / or block or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0148] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0149] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash memory. Memory is an example of computer-readable media.

[0150] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0151] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0152] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A generation system for road images, characterized in that The system includes a first loading module, an image editing module, and an identification editing module, where the first loading module is used to load a preset road image; the image editing module is used to perform image editing processing on the preset road image to obtain an intermediate road image; the identification editing module is used to perform identification editing processing on the intermediate road image to obtain a target road image corresponding to the target virtual road.

2. The system according to claim 1, wherein The image editing module includes a plurality of editing tools, where any one of the plurality of editing tools is used to edit the road feature corresponding to the editing tool on the preset road image; the plurality of editing tools includes at least one of the following: a template tool, an adding tool, an adjusting tool, and an automatic intersection generation tool.

3. The system according to claim 2, wherein the template tool is used to store a plurality of preset road feature templates; the template tool is further used to add and / or delete any one of the plurality of preset road feature templates in the preset road image.

4. The system according to claim 2, characterized in that The adding tool includes at least one of the following: a reference line adding tool, a lane line adding tool, and an object adding tool; wherein, the reference line adding tool is used to add a reference line in the preset road image, and the reference line is a geometric structure used to describe the center line of the road; the lane line adding tool is used to add lane lines in the preset road image; the object adding tool is used to add area objects in the preset road image.

5. The system according to claim 4, wherein The object adding tool includes a point adding tool, a line adding tool, and a surface adding tool, where the point adding tool is used to add single objects on both sides of the road in the preset road image; the line adding tool is used to add linear objects on both sides of the road in the preset road image; the surface adding tool is used to add block objects on both sides of the road in the preset road image.

6. The system according to claim 2, wherein The adjusting tool includes at least one of the following: a curvature adjusting tool and a height adjusting tool, where the curvature adjusting tool is used to adjust the curvature of the reference line in the preset road image; the height adjusting tool is used to adjust the height and / or slope of the road in the preset road image.

7. The system according to claim 6, wherein The reference line includes at least an arc reference line and a spiral reference line, and the spiral reference line includes a starting end and an ending end; the curvature adjusting tool is specifically used to adjust the bending degree of the arc reference line and the bending degree of the starting end and the ending end of the spiral reference line.

8. The system according to claim 2, wherein The automatic intersection generation tool is used to generate an intersection according to the selected reference line in the preset road image, and the intersection includes connecting roads, stop lines, and zebra crossings.

9. The system according to any one of claims 1-8, characterized in that, The identification editing module includes at least one of the following: a sign adding tool and / or a sign generating tool, where the identification adding tool is used to add a selected indication sign in the intermediate road image; The sign generation tool is used to generate an indication sign corresponding to the selected area in the middle road image according to the selected area in the middle road image; The indication sign is a sign that conforms to a preset standard or a sign that conforms to the sign rules within a preselected area.

10. The system according to claim 9, wherein, The identification adding tool further includes a second loading module, and the second loading module is used for: Obtaining a captured image, performing recognition processing on the captured image, and generating an indication sign corresponding to the captured image; Storing the indication sign corresponding to the captured image.

11. The system according to any one of claims 1 to 10, characterized in that, The system further includes a simulation module, and the simulation module is used to perform simulation processing on the target road image to obtain the target virtual road.

12. A method for generating a road image, characterized in that, Applying the system according to any one of claims 1-11, the method includes: Loading a preset road image of a target virtual road; Performing image editing processing on the preset road image to obtain a middle road image; Performing identification editing processing on the middle road image to obtain the target road image of the target virtual road.

13. An electronic device, characterized in that, Including: A memory and a processor, The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the method according to claim 12.

14. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by the processor, they are used to implement the method according to claim 12.

15. A computer program product, including a computer program, which implements the method according to claim 12 when the computer program is executed by the processor.

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